Integration with ControlLogix Programmable Automation controllers
Contents
1. optional pad byte 00 when length of string length is odd When a service references a dimensioned tag eg an array the array members are referenced using a member ID Table 2 shows the three types of Logical Segments used to to specifiy the array dimensions There may be one two or three Member ID segments used to address individual elements of a dimensioned tag for one two or three dimension arrays respectively Member IDs are also used to reference members of a structured tag Table 2 Member ID Logical Segments Used to Access Arrays and Structures in Logix Type of Logical Segment Segment Type Byte order representation low byte first 0 1 a n n l 8 bit Element ID 0x28 ee n a n a n a n a 16 bit Element ID 0x29 00 ee LSB ee MSB n a n a 32 bit Element ID 0x2A 00 ee LSB ee ee ee MSB More details of accessing tags can be found in the Logix Data Access Manual reference 1 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Glossary Glossary Rockwell Automation terms only for other terms see EtherNet IP Developers Guide 9 Add on Instruction AOI Add on instructions or AOJIs are reusable code objects introduced in Rockwell Software RSLogix 5000 Version 16 These instructions enable encapsulation of commonly used logic as sets of reusable instructions Add on instructions are created using the Ladder Diagram Figure 9 Function Block Dia2. INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP ETHERNET Module Profile ETHERNET Module Connection Path ETHERNET Module Electronic Key ETHERNET Module Application Path Input Only connections with eight communications format options Input Data DINT Input Data DINT with Status Input Data INT Input Data INT with Status Input Data SINT Data SINT with Status Input Data REAL Data REAL with Status None communications format This format does not establish any connection at all Devices using this format have an explicit message relationship with the controller and or share data with the controller through produced consumed tags For more details refer to the tag I O data exchanges section below The above connection formats identified as with Status have two connections opened with the target one for the I O data and another for the Input Only Status connection By using the latter connection the controller receives status information or additional input data from the target device The target device requires a second set of different connection points one for the status data one for the heartbeat in order to utilize this type of communications format If the user specifies a configuration size the first ForwardOpen will contain the configuration data segment Since it cannot be guaranteed which connection w
3. Networks Library Appendix C Data Management as this document will not define the format of this If CIP Routing information is present in a ForwardOpen request it immediately precedes the Configuration Path and contains the necessary Port Segments to traverse hops between the controller and the target device ETHERNET Bridge Profile For modular devices that have a CIP backplane and resemble a remote ENBT ina chassis use the ETHERNET BRIDGE profile These devices contain an adapter in slot zero with slots 1 99 available to insert a CIP Generic module The ETHERNET BRIDGE profile provides support for modular devices and can achieve multiple connections to a non modular device if it can simulate a CIP backplane with slots With the exception of the Version 16 and earlier versions that do not have a none communications format it supports the same connection types as the ETHERNET MODULE See the ETHERNET MODULE Profile above Controller Tags Associated with Generic Devices Each ETHERNET MODULE or ETHERNET BRIDGE inserted into the I O tree will result in the creation of tags in the controller s tag database Figure 6 Organized according to function eg Input data Output data and Configuration Data the tag name is based on the module tag name entered in the Module Properties screen Using the example above Remote_Bridge 0 the zero refers to the slot in the CIP Bus is followed by a T O or C and t
4. the CIP concepts were made public a range of legacy products were developed Although these products are true explicit messaging servers and sometimes clients as well they use special older protocol mechanisms such as PCCC see 5 meaning they communicate through a vendor specific object using object specific services The data portion of the explicit message contains additional address information Newer products especially those within the Logix family are explicit messaging servers with fully integrated CIP principles In order to leverage their capabilities several product details need to be understood CIP is the preferred method of communicating to these products The Logix family also supports the PCCC encapsulated messages to access controller data organized in PLC 5 style Please refer to the Logix Data Access manual for details about this communication method INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Use of CIP Routing Data Organization in the Controller Use of CIP Routing Communication Modules TL Chassis with slot numbers Figure 1 General Principle of a Logix System As shown in Figure 1 a Logix system is modular in nature with modules sitting in a physical and or logical chassis also called a rack Modules in a rack communicate using CIP as implemented on a backplane bus Network communications modules e g DeviceNet Control
5. time based polling in order to best utilize processor resources 6 Configure message instructions to ease user configuration use one message per CIP service Using a single MSG instruction for multiple objects Figure 16 further streamlines configuration Since a MSG instruction needs to be configured each time a user creates an AOI users should utilize as few MSG blocks as possible To accomplish this set up one MSG block for each service For example configure one MSG with the Get Attribute All service and another as Set Attribute Single Class Instance and Attribute values can then be set within the AOI code Although creating an AOI requires additional programming effort it simplifies AOIs and eases use 7 Copy explicit data into a UDT The MSG instructions should be configured to read the data received from the device as a temporary storage array To move data in this storage array into an instance of the UDT use MOV and COP instructions Figure 14 amp Figure 15 8 Evaluate raw data and provide meaningful information to user Data received from the device may not be in the most user friendly format so processing may be necessary For example users could byte swap devices using the big endian format or configure a MAC address into a user readable character string 9 Configure second message with Set Attribute All service to set necessary device parameters 10 Copy data from UDT to output image 1
6. 1 Prepare online documentation Ensure sufficient information is entered in the online help file for the AOI The file also can include contact details for support purposes INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Steps to Building an AOI 12 Set security settings for AOI Determine whether the code in the AOI should be invisible visible but locked or open to all for viewing and modification 13 Make your AOI available to customers Approaches include downloading from vendor Web sites and uploading a vendor sample code to the Rockwell Automation sample code site Sample files for RSLogix 5000 and FactoryTalk View softwarecan be found here http samplecode rockwell com For more information videos and tutorials for add on instructions as well as other features in Version 16 visit the Integrated Architecture Tools Web page at www rockwellautomation com go v16tj Integration with FactoryTalk View Software Creating and populating a UDT allows users to utilize global objects in FactoryTalk View Instances of these pre prepared screens can be created within a FactoryTalk View package Figure 17 Since the RSLogix 5000 tag database has pre defined links user configuration is limited to providing a path that indicates the specific device instance within a parameter file At run time the screens are identified by the parameter file and transfer data with the UDT Like sample code and AOI
7. EDS files of the Logix controllers INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP I O Using Tag I O Data Exchange I O Messaging Presumptions Made in Logix The following connection restrictions apply when Logix acts as the target device Only cyclic connection transport triggers will be accepted Logix does not support change of state and application triggered connections RPI must be at least 2 ms Logix only accepts connections to a data entity witha tag name not connection points Connections can be set up with O gt T unicast and T gt O as multicast or unicast when if the target producer is a Logix controller V16 in RSLogix 5000 V16 If it is an ETHERNET MODULE the unicast option is grayed in which case define the producer as a Logix controller V16 I O Messaging Presumptions Made in Logix Several connection settings implied within Logix cannot be changed despite increased freedoms allowed by CIP specifications The following settings apply to controller originated connections such as consumed tag connections and I O connections made by devices in the I O configuration tree Only cyclic connections can be created Logix does not support change of state and application triggered connections with the exception of the consumed tags mentioned above RPI values are shown in ms with a resolution of 100 us even though the wire transmits RPI values in us For Exclusive Owner c
8. LISTEN HINK SOLVE INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Concepts and Principles of EtherNet IP Communication with Rockwell Automation Products Authors Vivek Hajarnavis Richard Piggin Ray Romito Viktor Schiffer Version 1 0 Rockwell Allen Bradley Rockwell Software Automation Contents Introduction Explicit Messaging Use of CIP Routing Data Organization in the Controller Outbound Explicit Messages Inbound Explicit Messages Explicit Message Response Times I O Messaging Further design considerations EtherNet IP communication with Add On Instructions Introduction Why Add On Instructions Generic benefits of Add On Instructions Creating an AOI Steps to building an AOI Integration with FactoryTalk View software Appendix A Accessing Tags in a Logix Controller Glossary References Developer Resources INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP 18 19 20 22 24 26 27 29 30 31 32 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Introduction Explicit Messaging Introduction Many Rockwell Automation products support communication via EtherNet IP however the type of communication it supports and the details of the communication vary from product to product The CIP Networks Library from ODVA Open DeviceNet Vendor As
9. Net or EtherNet IP allow processor modules in the rack to communicate with the outside world via CIP networks Communication modules are not an integral part of any processors at least not logically meaning that all communication from the outside world into a processor and vice versa must use the routing principles built into CIP These principles state that processors should message across routed connections or through the Unconnected Send service which carries at least one port segment To communicate with a Logix system a routed explicit message Unconnected Send or Forward Open must contain a port segment identifying the backplane port 1 and the slot number of the module to be reached All typical CIP principles apply inside the individual modules of the Logix system Data Organization in the Controller Logix processors store and organize all data relevant to the outside world in tags whose user defined names have meaning in the control application Tags have the following properties e A name with up to 40 characters One of two scopes e Controller i e global scope is accessible by external means e Program i e local scope is not accessible by external means A defined data type for organizational purposes e Atomic e BOOL SINT INT DINT REAL e These types follow the data definitions in CIP note that Logix does not support all CIP defined types See Appendix C of reference 8 for details e Structures e Thi
10. P Informational Seminars Global http www odva org e EtherNet IP Library Publication 100 General Recommendations for EtherNet IP Developers http www odva org e EtherNet IP Implementors Workshops advanced topics workshop North America Europe http www odva org Others e IXXAT Classroom Training Europe http www ixxat de ethernet_ ip seminar_de 812 147 html e Pyramid Training http www pyramidsolutions com network connectivity solutions and services html e Rockwell Automation eCIP Training CD http www rockwellautomation com enabled cipetraining html Implementation Rockwell Automation recognized Value Added Design Partners with Enabling Technologies e IXXAT Gmbh Adapter and Scanner Software Freescale Coldfire EtherNet IP Netsilicon Net Arm http www ixxat de e Nippon System Development Ltd Adapter and Scanner Software http www nsd co jp e Online Development Inc Adapter and Scanner Software http www oldi com e Pyramid Solutions Inc NetStaX suite of EtherNet IP developer kits and tools http www pyramidsolutions com e SoftDel Systems Ltd Adapter and Scanner Software DELCIP middleware http www softdel com e Softing AG Adapter Portable Protocol Software and FPGA based Hardware Integration http softing com 29 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP References 30 CIP Safety Design Assistance and En
11. abling Technology e Molex Woodhead Software and Electronics http www woodhead com Other Enabling Technologies e Tata Elxsi CIP stack implementation http www talaelxsi com e NetModule EtherNet IP Stack for Siemens NEC ERTEC 200 and 400 Profinet controllers http www netmodule com en products ethip Deutschmann Automation Unidgate IC http www deutschmann de Fieldserver Protocessor Protocol Modules http www protocessor com Grid Connect LX and EX chips http www gridconnect com Hilscher NetX hetp www hilscher com netx html HMS Anybus M Anybus S Anybus CompactCom http www anybus com HMS Anybus IC http wwwanybus com eng products products asp PID 90 amp Product ype AnyBus IC e ODVA Example Source Code Public http www odva org Real Time Automation EtherNet IP Modbus TCP Board Level Gateway http www rtaautomation com Real Time Automation 510 E Embedded Module and Source Code Stacks http www rtaautomation com Smart Network Devices 4NetOS and HyperstoneOS http www smartnd com Tools ODVA e EZ EDS EDS authoring tool http www odva org e EDS Authenticator Software Tool http www odva org e Protocol Conformance Test Software Tool also check device functionality during development http www odva org Others e Frontline Test Equipment FTS4Control Protocol Analyzer http www fte com products FTS4Control 01 asp e IXXAT EtherNet IP Scanner Simulatio
12. ablish communication with other devices Consequently the use of unconnected messaging for obtaining device information instead of using connected messaging can result in slower establishment of I O connections and slower messaging overall To maximize performance use connected messaging wherever possible This requires that devices support connected messaging Asa general tule explicit communication requires greater care than I O data as discussed in the explicit messaging section of this guide Extensive use of this technique impacts control performance in larger customer implementations where a controller INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Further Design Considerations EtherNet IP Communication with Add On Instructions communicates with several EtherNet IP devices Since transferring information over the I O channel is easier to use and more efficient consider including parameters that an end user might need to frequently read or write within an I O connection This helps dedicate explicit messaging for infrequent configuration changes Planning your EtherNet IP Implementation for successful integration with RSLogix 5000 software e When designing your EtherNet IP interface consider the user experience Given the different mechanisms for communicating with the device these choices will impact processor performance and how the user utilizes the device e Consider how th
13. ag must be controller scope and of type Produced so another device can make a connection to it Figure 8 To request a produced tag connection with the Logix controller a device does not need to be in the controller s I O tree The unidirectional produced tag connection does not provide controller status information eg Run Program mode Similarly the user denotes a tag as a Consumed Tag during tag creation Consumed Tags require the user to enter the remote tag name and browse to the tag producing device as shown in Figure 8 The producing device must be present in the Logix controller s I O tree to be a consumed tag data source See the sections above pertaining to ETHERNET MODULE and or ETHERNET BRIDGE for a description of how to add a device to the I O tree The unidirectional Consume Tag connection does not expect to receive controller status e g Run Program mode from the producer Tag Properties ExampleConsumedTag ABETHERNET_ ABETHERNET_ AB ETHERNET_ ABETHERNET_ ABETHERNET ABETHERNET ABETHERNET_ _AB ETHERNET_ Figure 8 Configuring a Consumed Tag in Logix5000 The event task allows users to implement COS behavior for consumed tags For more information about this task please refer to the Rockwell Automation Support Knowledge Base The only types of target I O connections accepted by the Logix system are the produced tag connection and Input Only connection described in the
14. apability to consume or produce tags e Consume Tags Add the device to the controller s I O tree using the ETHERNET MODULE profile and configure Consume Tags in Logix to use this as the data source Logix will then open a unidirectional I O connection using a CIP Extended ANSI Symbolic Segment in the connection path For more information please refer to the explanation of tag I O exchanges below e Produce Tags If the device can open a connection using a CIP Extended ANSI Symbolic Segment in the connection path it can request that the Logix controller produce a tag Only tags configured as Produced a selection made during tag creation can be connected to The device does not need to be in the I O tree of the Logix controller For further explanation please refer to the below section about tag I O exchanges 1 O Exchange Using Logix Device Profiles I O data exchange between Logix and networked devices typically use the controller s I O tree to organize the devices according to how they connect For example devices may connect in the local chassis via a network interface or in another manner The controller has device profiles for items in the I O tree to manage the communications with the device Figure 4 These device profiles differ from the CIP Device Profiles INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP 1 O Exchange Using Logix Device Profilles 1788 Ether
15. ast for I O connections Beginning with Version 17 the user has the ability to select unicast in the T gt O direction for Produced and Consumed tags CIP does not define the behavior of multiple connections that have the same producing target although Logix behaves as follows e The first arriving connection has the requested RPI value s e Ifthe second connection comes in with a RPI value larger than the existing API value Logix accepts the connection and adjusts the returned API value for T gt O to the existing API INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP I O Messaging Presumptions Made in Logix Further Design Considerations If the second connection comes in with a RPI value smaller than the existing API value Logix accepts the connection and adjusts the returned API value for T gt O to the new smaller value Existing connections with a larger RPI will receive the desired data at a faster rate e When one of several existing connections goes way the production rate of the target data slows to the smallest API value of the remaining connections Length limitations of CIP data I O 500 bytes for input data 496 bytes for output data They differ in length because the output tag does not include the four bytes of real time header If the input data from an adapter contains a real time header Logix treats these four bytes as typical input data Explicit messaging conne
16. ct user manuals and the Logix security tool help ESS es Gaas DY D prrs joy Sie m Source amp Courter ACT Source Steragel2 a Der Swhcr Parameters kianiiy vencor D wesa 1 Logt 5 n aM oop Cupr Pe Sourze Storsge 12 Cee Swatch Parwenetars demty Sarm Nurbar sewer Storage 15 Deel Swich Poramstersesnity Kore LEN n OP Steeaga 17 bi Swath Pararmters entity Aisne DATA isp Swich Poranmerzjoemty Kome LEN Figure 13 AOI Ladder code used to move data into a UDT Creating an AOI For integration purposes an AOI typically performs the following functions transferring data over the I O channel and explicit messaging to obtain or set device parameters together with the necessary data processing Working with implicit data on the I O channel requires Copy COP or Move MOV instructions to transfer data as shown in Figure 14 and Figure 15 COP Switch _Inputs O Dest Switch_Paramefers inputs Length 1 Figure 14 Code to copy data from device input word to UDT INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Creating an AOI 9 CC eae MON JE Move Source Switcn_Persmeters Data HM _hputs 7 Dest Switch Output 0 Figure 15 Code to copy data from UDT to device output word Implicit data from the I O channel and information from any CIP object can be obtained through explicit mes
17. cted 486 bytes sending receiving Explicit messaging unconnected 502 bytes When sending data the unconnected the route path size must be subtracted minimum 1 word since EtherNet IP includes the IP address in ASCII format Configuration data 400 bytes Produced Tags 500 bytes Special behavior of CompactLogix and FlexLogix controllers When creating I O or explicit connections CompactLogix and FlexLogix controllers accept the same RPI values as other Logix controllers and return the same values in the API fields in the ForwardOpen response They produce packets at an RPI rate that is an integral power of two milliseconds with a maximum of up to 1024 Since these controllers use the highest possible value without exceeding the requested RPI packet rates can attain speeds nearly twice as fast as expected For explicit connections this behavior affects the rate of sending duplicate packets to keep the CIP connection alive Default settings send duplicate packets every 1024 ms instead of every 7500 ms Routing of I O data Most I O connections should be used within the local subnet With the exception of produced tags I O connections should be set up with a TTL value of one These routable produced tags RSLogix Version 14 and higher should have a TTL value as configured for the TCP IP stack Further Design Considerations Unconnected messaging functionality in the ControlLogix controller is intended primarily to est
18. e Response Times If the user does not enable Cache Connection the connection closes immediately An example of this sequence is ForwardOpen Request ForwardOpen Response Explicit Request Explicit Response ForwardClose Request ForwardClose Response This sequence is repeated each time the MSG rung goes from false to true Inbound Explicit Messages To send explicit messages to a Logix system connected messaging is recommended instead of unconnected messaging Unconnected messaging resources are limited and can be come overwhelmed with activity When this happens response times become very long and the user application can suffer as a result Users should also reuse TCP connections and Encapsulation sessions whenever possible because the Logix server sequentially executes messages in the order received The client sequentially sends messages using a single connection rather than opening and closing separate connections for each new message Ifa message request times out for example re try the CIP request If it fails again then consider if the session or TCP connection needs to be torn down and rebuilt Incoming explicit messages are processed by the message router object Class ID 0x02 The message router locates the target class code of the service based on the EPATH or ANSI Extended Symbolic Segment and gives the message to the appropriate object class for processing See the section Appendix A Accessing Tags in a Logix Controlle
19. e 12 Add On Instruction help in RSLogix 5000 software As a basis for object oriented programming methodology Add On Instructions encapsulate the code into pre validated modules for easy reuse Add On Instructions may be created using the Ladder Diagram Figure 13 Function Block Diagram and Structured Text editors available in RSLogix 5000 software Once created the instructions may then be used in any of the RSLogix 5000 programming languages without additional effort This feature of RSLogix 5000 does not require additional software or licenses Users can create and use add on instructions with RSLogix 5000 Version 16 If users have an earlier version of RSLogix 5000 software that does not support AOI using sample code achieves similar functionality As with all sample code users should exercise care when replicating code for multiple instances of a device 21 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Generic Benefits of Add On Instructions Creating an AOI 22 Sometimes it may be inappropriate or undesirable for end users to add or remove functionality from the CIP interface code or AOL Since CIP and AOI have a standard application code anyone can easily modify them without additional programming tools or licenses RSLogix 5000 security features can prevent the code from being viewed or modified For more information about RSLogix 5000 security features please refer to the produ
20. e automatically reconfigured when being replaced Providing automatic device configuration on replacement results in efficient system operation improved user experience and if a device fails minimal downtime All Comm Format selections include Configuration Instance and Size fields If the device does not support this feature enter zero in the configuration box This configuration will have no configuration data at the end of the ForwardOpen Request If the target device supports receiving configuration data via the ForwardOpen request then the expected Data Segment size can be entered here The controller creates a 400 byte tag in user memory called C suffix data for nonzero size entries For more information about C suffix data please refer to the Controller Tags section of this document Based on information from the device s manual the user can enter the configuration data in this tag A Data Segment Logical Segment type 0x80 added to the end of the ForwardOpen request delivers the data from this tag to the device Since the Data Segment size specifies the number of bytes in words to follow CIP protocol it adds an extra byte for odd sized entries in the module properties screen A Data Segment can send up to 400 bytes of configuration data CIP Routing CIP routing information describes the network hops required to get from the originator to the target For more information please refer to the Volume 1 of the CIP
21. e device may be used in a typical customer implementation Would the user be expected to configure a single device or multiple devices with a single controller In the latter scenario a well planned implementation ensures that the processor effectively utilizes resources for explicit messaging e Consider the nature of the device s data and the frequency of user access Since users regularly transfer data as required data transfer should be included in the I O channel e To ease integration and use processor resources most effectively design the EtherNet IP interface to minimize explicit messaging during normal operation Product developers can accomplish this by placing as much information as possible in the I O channel when they design their product e Ifthe situation requires a significant amount of explicit messaging consider designing a vendor specific user data CIP object that holds relevant information and can be obtained using a single MSG instruction e To minimize the use of unconnected message buffers implement connected messaging functionality in the device To improve user experience and product integration with Logix controllers consider providing specific logic for EtherNet IP communications Logic can be implemented using RSLogix 5000 Add On Instructions as well as HMI integration with FactoryTalk View software The following pages provide an overview of the benefits and implementation of Add On Instructions and Fact
22. e see E Switeh_Inguts Feil Switch Data Ospi NT inputs E l yee Swich Output Reil_SwtchO Dataf0 a tetra CF OF T SeHevege i ES nAra Sul fee ta swept cee FP tenn a poem tage Fo Si n hen some FS20GHMessage Sethessage le sy j Ae ya lype ae VIAE I Figure 11 Creating an Add On Instruction a vendor authored instruction for EtherNet IP with implicit and explicit communication Generic Benefits of Add On Instructions e Time Savings Encapsulating commonly used logic as a set of reusable instructions saves time e Improved Change Management Add On Instructions share code throughout the controller and automatically inherit modifications e Consistency Reusing instructions promotes consistency and reduces errors e Troubleshooting Context views help visualize the logic for a specific use and simplify troubleshooting e Protection Using the RSLogix 5000 source protection capability limits access to instructions and stops unwanted changes with view only or no access status e Online Documentation Online integration helps distribute documentation instruction as part of the code Figure 12 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Generic Benefits of Add On Instructions Benefits when used in conjunction with EtherNet IP include e Minimal configuration and messaging instruction setup just Set and Get MSG blocks e Removes the user requir
23. ement for device CIP implementation knowledge e User friendly presentation of explicit and implicit data e Processing and presenting of data in meaningful format without any further intervention e The ability to handle large number of variants such as a product range with no additional user input Ease of replication e Add On Instructions may be combined with RS View global objects to provide pre configured HMI screens or faceplates Camel Pesan Lece tag Sza bedre Canga 1537 Gamma Fasentws Lovs Taze San Heiss rwt H t Fotcube woaaitin Tree ih aah pustke awaa la catagory m D cachu a dae RSD cle cule of apaa n uia a dass the sadil vara aa bieh comse a ranig mi vi aan pradane ae a paana 5 ihe bacain tag name eke stance of the Hrachwanr adit AD Fytended Descriptian 5s block provides a vechanian tor sontigerisg an I O chee bo a isracman REO rati seite bie Lich alu be cum yu sal svum sarimi ives dirot parameter io ths backing tay ume for instozor Jf vhs Miroskvonn oviran ACI paysical ta aGdrese for zhe svitch inputs should be provided in che Seiccn_inpate f2eld i creed tag maitre fe she amitnh murp sche lee te poridit in the Swish Cunpata Tibit Amotence of the UTT type Svizeh A11 abould be provided in the Sviteh Parameters ficld nus tHeosage requires sa instanoe of vag of type Zeseage whioh wust have corteclier osopr Tor tte configuration Lest Wessage Trpe ae SIP Gercecio E ES e am Figur
24. ere the target device supports multiple connection types Connection Data Sizes Connection Data Sizes The data sizes entered in this screen determine the size of the data in the packets on the wire However the ForwardOpen request includes one or two other protocol transport items that are unnoticeable in this view To determine the value in bytes of the ForwardOpen consider the data size specified in the Comm Format field In Figure 5 above the data type is DINT which is 4 bytes long so the Input data size is 4 4 or 16 bytes and the Output data size is 4 2 or 8 bytes All T O data packets also include a two byte long sequence count which adds two bytes to those totals Finally output data contains a 32 bit Run Idle header that conveys controller mode Run Program to the target This adds four bytes to the output size This yields the final values of 18 bytes for Input data and 14 bytes for Output data These values are used in the ForwardOpen T O Size and O T Size fields respectively INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Configuration Path CIP Routing ETHERNET Bridge Profile Controller Tags Associated with Generic Devices Configuration Path Product manufacturers are strongly encouraged to support a Configuration Assembly in their products and to accept configuration data in a Data Segment appended to the ForwardOpen service request Doing this allows devices to b
25. gram and Structured Text editors available in RSLogix 5000 software Copy File COP Instruction The Copy File COP instruction copies the value s in the source to the destination The source remains unchanged Message MSG Instruction The message MSG instruction asynchronously reads or writes a block of data to another module on a network Move MOV Instruction The Move MOV instruction copies the source to the destination The Source remains unchanged User defined Data Type UDT A UDT isa software structure consisting of different elements and the communication channel 27 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP References 28 References 1 Logix5000 Data Access Manual available from http www rockwellautomation com enabled guides html 2 Type Encoding of Logix Structures in CIP Data Table R W available from http www rockwellautomation com enabled guides html 3 DF1 Protocol and Command Set Reference Manual available from http www rockwellautomation com enabled guides html 4 Delivery of CIP Over RA Serial DF1 Networks available from http www rockwellautomation com enabled guides html 5 Communicating with Rockwell Automation Products Using EtherNet IP Explicit Messaging available from http www rockwellautomation com enabled guides html 6 I O Communications with the ControlLogix controller on EtherNet TP available from http www r
26. hen an array Data n The number of elements in the array corresponds to the size entered in the Module Properties screen for this device 13 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Controller Tags Associated with Generic Devices I O Using Tag I O Data Exchange These tags resemble those created by the ETHERNET MODULE profile although they do not contain a slot number 1756 Backplane 1756 410 0 1756 163 Test_Aopl cation 1 1756 ENOT A Local_BtherWetIP_Intertace fs Ethernet Figure 6 Creation of controller tags in the Logix5000 I O Tree 1 0 Using Tag I O Data Exchange Logix controllers provide the ability to exchange data through direct connections to tags known in Logix parlance as produced consumed tags This method of I O data exchange allows the exchange of tags symbolic representations of data items by referencing the symbolic name instead of the assembly object instances as described earlier Since no current mechanism can verify this I O data exchange assumes that both ends of the data transfer understand the structure and content of the data being transferred gt Jag Properties ExampleProduced ag a PF _System_Test_L63 a a L SL Figure 7 Configuring a Produced Tag in Logix5000 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP I O Using Tag I O Data Exchange A t
27. ill open first the device maker should accept the configuration data in either ForwardOpen request Please note that Input Only and Listen Only connections appear the same from the controller s point of view because the target side distinguishes the behavior ETHERNET Module Connection Path The ForwardOpen request parameters include the connection path It consists of the following elements in the order in which they are sent electronic key segment application path optional port segment and optional data segment ETHERNET Module Electronic Key Electronic Key segments contain the vendor ID Device Type product code and major minor revision of the expected target device Some or all of these fields can be set for don t care Before accepting the connection the target verifies that the identity information matches the electronic key criteria The ETHERNET MODULE profile sends an Electronic Key with fields set for don t care zeros ETHERNET Module Application Path The Application Path consists of four items the Class ID Configuration Instance Consume Connection Point and Produce Connection Point The ControlLogix controller sends all four items with the ETHERNET MODULE profile The Class ID value is always 0x04 which refers to the Assembly object class The user enters the remaining fields in the module properties screen shown below using values from the device s user manual For devices that support multiple connect
28. ions each connection type has one set of numbers For example if the product supports an Exclusive Owner INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP ETHERNET Module and an Input Only connection the Produce Connection Point for each connection can Application Path be the same value likewise for the Configuration Instance But the Consume Connection Point for each connection must be different Mismatches between Connection Point number and size prevent the connection from opening Application Path encoding appears in the form of four logical segments For example 20 04 24 03 2C 64 2C 65 corresponds to the Connection Parameter values entered in the new module properties screen shown in Figure 5 New Module Type ETHERNET MODULE Generic Ethemet Module Vendor Allen Bradley Parent Local_EtherNetlP_Interface Name f Ether sP Device Description Connection Parameters Comm Format Data DINT Address Host Name IP Address 192 168 C Host Name i F Open Module Properties Figure 5 Configuring I O connections in Logix5000 software Since RSLogix 5000 software does not read information from device EDS files the user must choose the heartbeat connection point assembly object instance provided by the target device manufacturer This connection point distinguishes Input Data Output Data Input Only and Listen Only connections in instances wh
29. ix5000 MSG Instruction Message Configuration CIP Services that are directed towards data structured into objects can be chosen by selecting CIP generic messaging A user can select from several predefined standard services or enter a valid service code in the Service Type field To access tag oriented data select the CIP Data Table Read or CIP Data Table Write services Devices that support these vendor specific services will respond to commands as explained in the chapter Appendix A Accessing Tags in a Logix Controller Logix uses default timeout settings that can be changed by the user These settings are Please note that items in italics are members of the tag structure for the MSG instruction e Approximately 30 seconds for connected explicit messages ConnectionRate x 24TimeoutMultiplier x 4 please note that ConnectionRate is the RPI in microseconds INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Outbound Explicit e Approximately 30 seconds for unconnected explicit messages Unconnected Timeout Messages e Approximately 30 seconds for Forward Open requests UnconnectedTimeout Any communication with another EtherNet IP product initiated by Logix utilizes the List Services encapsulation command If a device does not respond to this service support of List Services is required per the EtherNet IP specification Logix will not proceed with the communica
30. message delivery Ifa reply is not received within the RPI time resend the message using the same INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP I O Message I O Exchange Using Logix Device Profilles sequence count Continue resending at the RPI interval until the server receives the response or the client s watchdog times out If this approach does not work the client can assume the request has been lost The client should report this to its application and issue a ForwardClose to free up the reserved resources on the server side I O Message I O messaging with a Logix controller can be accomplished in several ways and depends on the version of the controller and RSLogix 5000 software In two of the I O messaging relationships the controller originates the connection by sending the messages to establish the I O connection The controller acts as a target in the third I O messaging option For Version 16 or later the following options exist e I O Communications via Device Profiles Add the device to the controller s I O tree using either the ETHERNET MODULE or the ETHERNET BRIDGE profiles in the RSLogix 5000 software so the controller will open a bidirectional I O connection with the device For details please refer to the section I O Exchange Using Logix Device Profiles below This type of communications can be combined with either of the next two items if the device has the c
31. n Tool EIP Scan http www ixxat de INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP References e Pyramid Solutions Inc EtherNet IP Scanner Simulation Tool EIPScan http www pyramidsolutions com e Pyramid Solutions Inc EtherNet IP Device Interoperablity Test Tool EDITT http www pyramidsolutions com e Wireshark Free Ethernet Analyzer http www wireshark org Testing Conformance Test Centers e ODVA Michigan North America http www odva org e ASTEM RI Japan Asia Pacific http securesitejp ODVA english e University of Magdeburg Germany Europe http lamp urz uni magdeburg de wiaf Ifp cvs home_ethernet_eng php Other e Plug Fests Interoperability Testing http www odva org 31 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 November 2008 Copyright 2008 Rockwell Automation Inc All Rights Reserved Printed in USA
32. net bo DeviceNet Linking 1788 10 100 Mbps Ethernet Bridge Twis 1788 10 100 Mbps Ethernet Bridge wE L794 10 100 Mbps Ethernet Adapter Twis 1794 10 100 Mbps Ethernet Adapter Tots LOfLOO Mbps Ethemet Port on D agie5 Gereric EtherNet IP CIP Brides SoftLogic5800 EtherNet IF Ethernet Adapter Tested Pair Media Figure 4 Logix5000 I O Tree When connecting third party EtherNet IP devices to the I O tree of a Logix controller the user can choose either the ETHERNET MODULE profile or ETHERNET BRIDGE profile The ETFHERNET MODULE profile is used for devices directly on EtherNet IP The ETHERNET BRIDGE profile is used for devices with a network adapter and a modular CIP backplane The controller will individually share real time data with each slot in the CIP backplane using a single connection for each slot ETHERNET Module Profile ETHERNET Module Profile Configuring the ETHERNET MODULE profile offers several options for real time data communications through an I O connection Figure 5 When choosing the communications format selecting the proper data type assures the device s tags correctly represent the data The following list outlines the software only available choices Exclusive Owner connections with eight communications format options Data DINT Data DINT with Status Data INT Data INT with Status Data SINT Data SINT with Status Data REAL Data REAL with Status
33. ntain large quantities of information This streamlines the data acquisition process while enhancing programmer usability 23 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Steps to Building an AOI 24 Steps to Building an AOI 1 Determine the most relevant data Identify which device parameters and functions a user wants to access or configure 2 Determine the data s location which objects and whether the data is implicit or explicit If the I O channel does not contain relevant information determine which objects contain the parameters of interest 3 Create UDTs Replicate the structure of the input and output channel as well as relevant objects as necessary Figure 10 Combining several UDT instances into a single structure can aid replication and ease integration with visualization tools 4 Copy input image into UDT 5 Ifusing explicit messaging determine whether a time or condition based polling mechanism should be implemented The nature of the device and type of data will determine the most appropriate approach For example device specific information will not change unless the unit is disconnected A disconnected device has a single poll of the identity object following a status change which may be sufficient A time based polling mechanism may be most appropriate for other parameters such as the device s continuously changing CPU temperature As stated previously avoid
34. ockwellautomation com enabled guides html 7 Logix5000 Controllers I O and Tag Data Publication 1756 PM004A EN P available from http literature rockwellautomation com idc groups literature documents pm 1756 pm004_ en p pdf 8 Volume 1 of the CIP Networks Library The Common Industrial Protocol Specification available from ODVA http www odva org 9 Volume 2 of the CIP Networks Library The EtherNet IP Adaptation of CIP available from ODVA http www odva org 10 CIP eTraining Classroom CD available from Rockwell Automation Technologies http www rockwellautomation com enabled cipetraining html 11 EtherNet IP Developers Guide available from ODVA http www odva org References 1 through 6 can be downloaded for free from the Rockwell Automation Web site reference 8 and 11 are available from ODVA Reference 10 can be purchased from Rockwell Automation CompactLogix ControlLogix FactoryTalk FlexLogix Integrated Architecture Logix5000 PLC 5 Rockwell Software and RSLogix are trademarks of Rockwell Automation Inc CIP DeviceNet and EtherNet IP are trademarks of ODVA ControlNet is a trademark of ControlNet International Ltd INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP References Developer Resources Education ODVA e Classroom Training http www odva org e Essential EtherNet IP Developer Guide http www odva org e EtherNet I
35. onnections it uses the same RPI values for the O gt T and TsO directions even though CIP allows setting them individually per direction It chooses The Connection Timeout Multiplier to yield a resulting timeout of at least 100 ms For Input Only connections with I O Tree and I O tag exchanges the controller beginning in Version 16 adjusts the O T RPI to slow the rate of heartbeat transmissions The controller selects a RPI and Connection Timeout Multiplier for the O gt T direction that yields an approximately two second connection timeout For Input Only connections Logix chooses a Connection Timeout Multiplier for the TO side to establish a resulting timeout of at least 100 ms Logix currently limits the RPI range to1 0 3 200 0 ms By choosing a with Status connection the status connection uses the same RPI value as the I O connection To establish a connection Logix sends three Connection Points in the ForwardOpen Message even if it has a zero length configuration size specified in the Module Properties dialog In this case it does not send configuration data with the Forward_Open request either Consumed tag connections use a symbolic segment which the I O Tag Exchanges section discusses in greater detail When creating a connection Logix sends an empty Keying Segment that can neither be switched off nor filled with values Data in the O gt T direction is sent unicast while data in the T gt O connection is sent multic
36. oryTalk View software illustrated with a case study EtherNet IP Communication with Add On Instructions RSLogix 5000 Version 16 introduces the concept of reusable code objects called Add On Instructions AOIs Figure 9 Designed to improve standardization and code reuse these instructions enable encapsulation of commonly used logic as sets of reusable instructions y rton Sweor 3 i Hirschmann _Sw ct RS20 iad ERY Swich rets RS20_Switctr Data Swich _Ouipt RS20_SwichO Deta 0 0s Swech_Parameters MyRS20 Getntess age GetMsg SetMessage SetMsg torage Storage Figure 9 Add On Instructions in RSLogix 5000 software encapsulates logic to create sets of reusable instructions INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Introduction Why Add On Instructions Introduction Why Add on Instructions Vendors use Add On Instructions with EtherNet IP to set up communications between a Logix Controller and their product with RSLogix 5000 software By providing Add On Instructions with commonly used instructions for communications users can save time and increase consistency while reducing errors and the need for technical support Add On Instructions can also be used to enhance customization in the specific application of products or across a range of products with different features Users tend to utilize more features when provided with Add On Instruction
37. r for a brief description of the explicit message format To close Explicit messaging connections use the ForwardClose service request instead of letting the connection time out Too many open unused connections could result in the Logix system like any other system unexpectedly running out of connection buffers Ifa client fails to receive a response to a CIP message request do not automatically close the EIP TCP session FIN Closing the session will cause the EtherNet IP network interface card to immediately abort the session which takes several seconds to reopen Attempt CIP level retries first If that does not resolve the issue close and reopen the CIP connection and try the explicit message request again before closing and reopening a new TCP session Explicit messaging connections do not perform as well as I O data messaging To yield a timeout of approximately five seconds an inbound explicit message connection should have an RPI no lower than approximately 1 25 seconds and a connection timeout multiplier set to at least 4x Although faster RPIs and shorter timeouts may work in ideal situations heavily loaded systems require longer timeouts Explicit Message Response Times Messages get lost or arrive later than expected for myriad reasons Noise and other network disturbances can cause lost messages while time consuming tasks and servers too preoccupied with other tasks to process incoming requests result in slow
38. s featuring full product capability because it is easier to use The creation of a user defined data type UDT that holds data relevant to the device Figure 10 serves as the basic principle behind this technique The AOI code populates the UDT Implicit data from the input channel can be easily and directly copied to the UDT while placing explicit data in a UDT is more complex Selecting appropriate element names within the UDT presents device information in a format appropriate for that device The AOI provides the opportunity to process incoming data from the EtherNet IP object and present it in a meaningful format to the user Similarly output information can be copied from a UDT to the output channel and parameter changes in the device can be made through the Set Attribute Single service Members Data Type Size 48 bytels Figure 10 UDT User Defined Data Type with Identity Object data INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Introduction Why Add On Instructions Generic Benefits of Add On Instructions 20 Figure 11 shows a vendor authored AOI with data input and output definition and AOI code in this case written in ladder logic Ir Genera Peereten Loos taga S227 Moaea Change Hamm bap mee hrs zhmann Swel Teema Traba be Eyan nind Forana a Sone FOP inbctunt samoa He chinann Switch Ln J KER poe ea
39. s grouping of atomic data items functions as a single unit for a specific purpose structures can be predefined eg TIMER COUNTER CONTROL or user defined eg UDTs INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Arrays Outbound Explicit Messages Arrays e A sequence of elements of the same data type can be one two or three dimensional array members can be atomic or structures The details of creating and using tags are beyond the scope of this document Please see reference 7 for further details For information about how to access tags please read the chapter entitled Appendix A Accessing Tags in a Logix Controller Outbound Explicit Messages The MSG message instruction handles all Explicit messaging initiated by a Logix Controller program To utilize connected or unconnected messaging the user configures MSG instruction A later section will address how connected messaging can be cached to keep the connection open Message Configuration ExpConWrMSG Configuration Communication Tag Mesacta E Set Attribute Singe Source Element EwpRDdatal0 roam SourceLenate 50 Bytes ee 10 Hex Class la Hex Destination xl Instance in Attribute 3 Hex New Tag Enable Enable Waiting O Start 2 Done Done Length 0 O Eror Code Extended Error Code I Timed Out Etror Path Eror Text Lok ca ny Hew Figure 2 Log
40. saging using the MSG instruction Although multiple MSG instructions can be configured to poll individual CIP objects this approach complicates AOI configuration and use as well as places heavy demands on the controller s explicit message buffers Alternatively an AOI or code can be created to acquire data from several CIP objects with the class instance and attribute settings for the MSG instruction changed after completion ready for the next scan of the program Figure 16 An input state program condition or a timer can trigger CIP object polling For many continuous operations the timer is the most appropriate option While timer based messaging allows data to be read from several objects it can also lead to slow cycle times particularly if several objects need to be interrogated in turn Polling CIP objects on a condition based basis uses controller resources more effectively because it only triggers the MSG instruction when necessary For example certain types of information can be obtained by pressing a control panel button or continuously retrieved by selecting the appropriate screen on an HMI system Figure 16 MSG instruction used to obtain data from multiple CIP objects When designing the device consider creating a single vendor specific CIP object that contains relevant information an end user may require from the device This allows users to obtain device information through a single MSG instruction which can co
41. sociation provides detailed information about EtherNet IP and the specifications that define Common Industrial Protocol CIP as well as its adaptation to various network protocols What is commonly referred to as the EtherNet IP Specification comprises two volumes see references 8 and 9 of this seven volume library All EtherNet IP enabled products support the minimum explicit messaging server functionality by allowing explicit messaging access to ID Object and other required objects Although useful to identify a product this communication is not the core requirement of an industrial application Several guide documents see references 1 through 6 detail the communication with Rockwell Automation products This document does not aim to replace these guides but intends to highlight the communication concepts For more information about the Common Industrial Protocol and EtherNet TIP please refer to the the CIP Training ClassroomI M 10 an instructional CD designed to help developers understand and apply the fundamentals of the Common Industrial Protocol The CD provides a cost effective alternative to traditional training and can assist in product development and reducing time to market For an introduction to EtherNet IP interface development the ODVA guide to EtherNet IP development 11 provides a complete background to EtherNet IP along with steps to follow for a successful development Explicit Messaging Before
42. tion Logix EtherNet IP interfaces automatically create and manage TCP connections and CIP encapsulation sessions The user has no direct influence on this process When an interface establishes a TCP connection and CIP encapsulation session it will continue until it carries no CIP connection or has carried no CIP traffic for 125 seconds The number of supported TCP connections depends on the interface module used S Corir TT T500 DN ExpCorivrMSG EN EO E Message Message Control ExpConVwrMSG ER Message Configuration FxpConWrMSG C_Scanner_Test_Node_57 cr 4 CD Ce Enable O Enable Waiting Start 2 Done Done Length 0 Enor Code Extended Eror Code F Timed Out Eror Path Eror Text ee ee ee LL Figure 3 Logix5000 MSG Instruction Communication Configuration When using the MSG instruction to initiate a connected message the user may enable the Cache Connection option which keeps the CIP connection open indefinitely If a cached connection is inactive for a period equal to the RPI ConnectionRate the controller repeats the last message The repeated message has an unchanged sequence number which does not affect the application Logix controllers have a limit of 32 cached connections If it exceeds this limit the controller closes the least recently used connection INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Inbound Explicit Messages Explicit Messag
43. users can easily customize these global objects Integration with FactoryTalk View Software Diagnostics Configure IGMP Configure Ports Switch Info Port Stats Return tin up Enabled Po Full Duplex a OK OK id a Return Figure 17 FactoryTalk View global objects provide pre configured HMI screens 25 INTEGRATION WITH CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS PACS USING ETHERNET IP Appendix A 26 Appendix A Accessing Tags in a Logix Controller As mentioned previously tags are how ControlLogix organizes data The section Data Organization in the Controller discusses the types of tags and resources for where more detailed information can be found To access data in the controller CIP services are used with the same symbolic names given to the data in the controller This is accomplished using one or more ANSI Extended Symbolic Segments to replace the typical CIP address information that uses three Logical Segments one for Class ID one for Instance ID and one for Attribute ID Table 1 shows the encoding of an ANSI Extended Symbolic segment Note For more information on the CIP defined ANSI Extended Symbolic Segments and all Logical Segments shown here refer to Appendix C of reference 8 Table 1 ANSI Extended Symbolic Segment Encoding Type of Logical Segment Segment Type Byte order representation low byte first ANSI Extended Symbolic 0 1 es n n l 0x91 length Istchar nth char
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