PTS/DeviceNet Interface Software User`s Manual Issue 3 November
Contents
1. DeviceNet Interface Version 1 3 PTS Host software Version 2 1 or later This document describes the PTS DeviceNet interface implemented on the second CANbus interface of the CPU360 PTS Mk2 or Machine Controller DeviceNet is a low level network based on CANbus which is designed to connect industrial devices such as limit switches photoelectric sensors etc to a PLC or PC The PTS DeviceNet implementation allows the PTS to be connected to DeviceNet and appear as a slave device using the Predefined Master Slave Connection Set of connections The Predefined Set contains one connection for explicit messages to allow read write of parameters variables etc and several different I O connections to allow read write of discrete I O bits Currently the only I O connection type implemented is a polled connection The remote PLC PC can access a pre defined set of PTS variables and or array elements and host level I O via the I O connection The variables array elements can also be accessed via the explicit message connection The host level I O provides 8 groups of virtual I O bits which can be used for DI lines SO CO RI RO etc Copyright 1999 Quin Systems Limited Page 3 Issue 3 PTS DeviceNet Interface User s Manual 2 Configuring the PTS for DeviceNet 2 1 Hardware Before switching the PTS on check that the DeviceNet interrupt link is installed between pins 11 amp 12 of jumper J11 as described in section 4 1 DeviceNet Interrup2. Output Connection PTS DeviceNet Interface User s Manual Outputl 14 14 bytes consumed 0 All bits significant 0x0001 Poll only Output I O amp Variable Name string 6 Connection path size 20 04 24 01 30 03 Assembly Class 4 I O Instance 1 Data Attribute 3 Output I O amp Variable Help string ParamClass Params EnumPar Groups Copyright 1999 Quin Systems Limited Page 28 Issue 3 PTS DeviceNet Interface User s Manual 6 Hardware Configuration 6 1 DeviceNet Interrupts Before attempting to use the PTS DeviceNet Interface you must ensure that the CANbus interrupt jumper J11 is correctly configured The link between pins 1 amp 2 enables the Servonet port on the lower pair of connectors 6 The link between pins 11 amp 12 enables the DeviceNet port on the upper pair of connectors 5 Figure 2 below shows the correct configuration for jumper J11 The location of the jumper pad and the connectors is shown in figure 3 J11 CANO IRQ 1 2 IRQ5 CANO IRQ 3 4 IRQ4 CANO IRQ 5 6 IRQ3 ICAN1 IRQ 7 8 IRQ5 CAN1 IRQ 9 10 IRQ4 CAN1 IRQ 11 12 IRQ3 Figure 2 CANbus Interrupt Jumper 6 2 DeviceNet Connections The connections for the CANbus interface on the front panel 9 way plug and socket 6 are shown below Note that these comply with the CAN in Automation CiA draft standard DS102 Version 2 0 CAN Phy
3. 33 10 27 31 31 31 31 31 12 31 31 31 29 11 19 20 12 17 17 16 17 4 29 29 Page 34 Issue 3 interrupt L LI license key disable enable list input line definitions list variables logged message format logging messages M MAC ID map variables mapping variable message block variable write VO input VO output single variable read single variable write message router class O object model P programming PTS R restore variable map restore variable map S save variable map save variable map shell accessing baud clear default disp help list 4 29 RR RR 33 10 23 25 19 20 21 22 16 15 16 11 10 3 I D LHHOU Un woo Copyright 1999 Quin Systems Limited PTS DeviceNet Interface User s Manual log macid map restore save stat unmap upload wa woc single variable read write SK command software license key software versions stat command Statistics statistics display stuff error T trigger variable U undefined variable unmap variable upload variable map V variable default index instance list map mapping unmap write always write behaviour variable class variable map clear restore save upload variables as parameters assignment guery command trigger oo US D I I A Ww WwW JS NN mm FP OF W PBR RNR 12 12 I I I J 3 7 Page
4. PTS DeviceNet Interface Software User s Manual Issue 3 November 1999 MAN538 Issue 3 PTS DeviceNet Interface User s Manual Contents 1 Introduction 3 1 1 General 3 2 Configuring the PTS for DeviceNet 4 2 1 Hardware 4 22 Software License Key 4 2 3 Configuration Shell 5 2 3 1 Accessing the Shell 5 2 3 2 Changing the Baud Rate 6 2 3 3 Changing the MAC ID 6 2 3 4 Mapping Variables 7 2 39 Saving and Restoring the Variable Map 8 2 3 6 Variable Write Behaviour 9 2 3 7 Displaying Statistics 9 2 3 8 Logging Messages 10 3 Programming the PTS 11 3 1 Host I O 11 3 2 Variables 12 3 3 Arrays 12 4 PTS Device Profile 15 4 1 Overview 15 4 2 Device Description 16 4 3 Object Model 16 4 3 1 Classes 16 4 3 2 Model Description 16 44 VO Access 19 4 4 1 T O Input Message Format 19 44 2 TO Output Message Format 20 4 5 Single Variable Access 21 4 5 1 Single Variable Read Message Format 21 4 5 2 Single Variable Write Message Format 22 4 6 Block Variable Access 23 4 6 1 Block Variable Read Message Format 23 4 6 2 Block Variable Write Message Format 25 S Electronic Data Sheet 27 6 Hardware Configuration 29 6 1 DeviceNet Interrupts 29 6 2 DeviceNet Connections 29 6 3 CPU360 Board Layout 30 Statistics Display 31 B Logged Message Format 33 Copyright 1999 Quin Systems Limited Page 2 Issue 3 PTS DeviceNet Interface User s Manual 1 Introduction 1 1 General This manual relates to the following versions of software in the PTS unit
5. 1 Service code 20 2 General error code 22 5 Additional code unspecified Table 10 Single Variable Write Error Response Format Copyright 1999 Quin Systems Limited Page 22 Issue 3 PTS DeviceNet Interface User s Manual 4 6 Block Variable Access Accessing blocks of variables is done by sending messages to the Variable Assembly object The read response and the write command messages are usually longer than a single CAN message packet and are therefore fragmented using the acknowledged fragmentation protocol The read and write command messages specify the block of variables by giving the instance ID of the first variable followed by the number of variables in the block It is an error to specify either the first variable or the number of variables so that any of the instance IDs is outside the range 1 to 50 This produces an error message indicating an invalid parameter 4 6 1 Block Variable Read Message Format The block variable read command message is sent as an explicit message to the Variable Assembly The command message specifies the instance ID of the first variable and the number of variables to read The format of the block variable read command is shown below Byte Contents 0 Message header 1 R R 0 Service code 50 2 Class ID 4 3 Instance ID 3 4 First variable instance ID 1 to 50 5 Number of variables Table 11 Block Variable Read Input Message Format Copyright 1999 Quin Systems Limi
6. can use these numbers to find out how well the DeviceNet link is performing A full description of the statistics display is given in Appendix 1 Copyright 1999 Quin Systems Limited Page 9 Issue 3 PTS DeviceNet Interface User s Manual 2 3 8 Logging Messages For advanced diagnostic work you can log DeviceNet messages to a message buffer in memory The size of the buffer is limited but it is designed to always hold the last n messages where n is specified by the log command The following example shows the message buffer being set to hold the last 100 messages dns gt log Buffer size 0 dns gt log 100 The messages can be displayed at any time by using the disp command The following example shows the disp command being used to display the last 10 messages dns gt disp 10 2544 187 RX CO 9A C1 5A A0 99 Al CO CF 50 02 4C 03 01 01 2544 187 TX C0 A5 C1 65 A0 99 A1 60 CF 48 02 94 OB 02 2551 843 RX C0 9A C1 5A A0 99 A1 C0 CF 60 42 4B 03 01 01 02 2551 843 TX C0 A5 C1 65 A0 99 A1 60 CF 38 42 CB 00 2551 902 RX C0 9A C1 5A A0 99 A1 80 CF 70 02 10 05 01 09 00 00 2551 902 TX C0 A5 C1 65 A0 99 A1 60 CF 48 02 90 00 00 In this example only six messages are displayed because only six have arrived since the message buffer was set up A full description of the message display is given in Appendix 2 Copyright 1999 Quin Systems Limited Page 10 Issue 3 PTS DeviceNet Interface User s Manual 3 Progr
7. default to write on change in other words the variable is only written to when the value sent by the scanner has changed This is indicated in the output from the list command when the WOC column is set to ON The alternative is to set the variable to write always in other words the variable is always written to when a value is sent by the scanner In this case the WOC column is set to OFF The woc command is used to set variables to write on change as shown in the following example dns gt woc spd This sets variable SPD to write on change If the variable is omitted from the woc command then all current variables and any mapped subsequently are set to write on change The wa command is used to set variables to write always as shown below dns gt wa Set WOC flag on ALL variables Y N y OK This command sets all current variables and any mapped subsequently to write always 2 3 7 Displaying Statistics The stat command allows you to view some statistics of the DeviceNet performance and the state of the connections The following example shows a typical display dns gt stat Version 1 1 Packets Received 2 Transmitted 5 Errors 1 Fragment msgs OK 0 NAKS 0 retries 0 timeouts 0 States Estab Closed Closed EPRS 0 0 0 The display shows the software version followed by total counts of the number of DeviceNet message packets received and transmitted and a count of the number of errors You
8. had to be abandoned because an ACK to a retried fragment was not received within the timeout period If an ACK to a transmitted message fragment is not received within the timeout period the fragment is retried once If the retry also times out the whole message transmission is abandoned Line 5 shows the states of the connections The first column is the Explicit Message connection the second column is the Polled I O connection and the third connection is not currently used Possible states are as follows e Closed The connection does not exist Config An VO connection is in the configuring state This means that the connection has been opened but the expected packet rate EPR has not yet been set by the Master node e Estab The connection is established for passing messages The Explicit Message connection changes to this state once it is opened The I O connection changes to this state only after it has been opened and the EPR has been set Tmo The connection has timed out An I O connection will time out if a packet is not received within the time specified by the EPR Line 6 shows the expected packet rates EPR for the connections in milliseconds The first column is the EPR for the Explicit Message connection normally set to zero The second column is the EPR for the Polled I O connection always positive for an established connection The third connection is not currently used Copyright 1999 Quin Systems Lim
9. s Manual Electronic Data Sheet The information in an Electronic Data Sheet EDS allows configuration tools to provide informative screens that guide a user through configuring a DeviceNet device An up to date copy of the EDS is available from Quin Systems Ltd The text of the EDS is shown below UO Un Un U UAA Quin Systems Ltd EDS for PTS Revision Hist Tali 23 1 2 02 Mar onnection 1 3 09 Nov tory File DescText CreateDate CreateTime 11 50 00 ModDate 09 11 99 ModTime 14 00 00 Revision LES PTS 23 12 98 Device VendCode VendName ProdType ProdTypestr ProdCode MajRev 1 MinRev 3 ProdName Catalog 455 r Control Te PTS ww A nfo Default PollInfo OXOOO1 OXOOOL 1 Input Connection Inputl 14 0 p OT ut I O amp Variable 04 24 01 30 03 ut Inp I O amp Variable Quin Systems Lt DeviceNet interface EA MK Station 1 All bit Dec 98 Written by John Lambe 99 Modified to include variable access in 99 Returns correct serial number from NVM 14 bytes produced ts significant Pol Name st Connect Assembly Class 4 ll only tring tion path size O Instance 1 Data A Help si Copyright 1999 Quin Systems Limited ttribute 3 tring Page 27 Issue 3
10. which is to be read and returned in the I O output response message If the index is zero or out of range or does not correspond to a valid variable no variable is read The mapping between the variable index and the variable name is described in chapter 2 Configuring the PTS for DeviceNet Copyright 1999 Quin Systems Limited Page 19 Issue 3 PTS DeviceNet Interface User s Manual 4 4 2 VO Output Message Format The I O output response message consists of 8 data bytes which map directly on to the Host I O virtual output lines When an output line is set the corresponding bit in the response message is set and vice versa The message also contains 6 bytes which hold the index and value of a PTS variable being read by the scanner The following table shows the correspondence between the bits in the message and the Host output lines and the variable Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Output variable value byte 3 Output variable value most significant byte Table 4 I O Output Message Format The output variable index corresponds to the output variable or array element index specified in the input command message and indicates which PTS variable is being read The output variable value bytes give the value of the variable or array element being returned to the scanner If the output variable index in the output response message is zero then the variable has not been read and the value
11. 35 Issue 3 PTS DeviceNet Interface User s Manual W write on change 9 write always 9 Copyright 1999 Quin Systems Limited Page 36
12. To use this command first set your PC to capture the output from the PTS then type in the upload command The system will output a stream of map commands followed by the dns gt prompt as shown below dns gt upload CLEAR MAP V1 1 WOC V1 dns gt When the output has finished save the file to disk It is a good idea to edit the file to remove the initial upload command and the prompt at the bottom to avoid any errors when the file is down loaded The restore command restores the variable map from non volatile memory The map is automatically restored on power up so this command is only needed to restore a known map from non volatile memory when you have been experimenting with different settings The restore command is shown below If the map is restored successfully the OK message is displayed on the following line dns gt restore OK Copyright 1999 Quin Systems Limited Page 8 Issue 3 PTS DeviceNet Interface User s Manual 2 3 6 Variable Write Behaviour When a particular variable is written to from DeviceNet it is often not desirable to write to the mapped PTS variable or array element unless the value has changed This is because the variable may be a trigger variable and every write by the DeviceNet scanner would cause the trigger variable s command string to be executed At high scan rates this would put an unnecessary load on the PTS which could slow down more important operations Because of this variables are set by
13. al variables are used extensively to map onto Devicenet In all cases where a variable is called for an array element can be used instead It is important to create the arrays using the IA command before they are used SP saves the array declaration so that it is restored automatically on start up Copyright 1999 Quin Systems Limited Page 14 Issue 3 PTS DeviceNet Interface User s Manual 4 PTS Device Profile 4 1 Overview DeviceNet units are described by a device profile which is a formal definition of the device behaviour VO data and configuration data The device profile consists of the object model see below the I O data format the configuration data and the interface to that data The Object model specifies The components that make up the unit The externally visible behaviour of the unit How the components fit together to provide the required behaviour The information which can be sent to or read from the components The components mentioned above are represented by Objects in the Object model Objects which are of the same type are said to belong to the same Class This means that all the objects in a given class hold the same type of information provide the same services and implement the same behaviour From a practical point of view if you know what attributes an object has and what services it provides you can use DeviceNet messages to read or write the attributes or invoke the services The rest of thi
14. amming the PTS 3 1 Host VO The PTS host VO bits map onto the DeviceNet discrete I O bits such that when the master node writes to an output bit the result appears in the corresponding PTS host input bit Similarly when the master node reads an input bit it gets the contents of the corresponding PTS host output bit The PTS currently supports 8 host input groups 10 17 and 8 host output groups 10 17 Note that the host VO is system wide and is not channel or node specific like the standard I O The host inputs are supported by a subset of the normal input commands as follows BIg n Inhibit function input Dig n Define function input restricted Elg n Enable function input e Ig n If input true do command line LIg List input line definitions MIg n Mask function input RIg n Read input line s in group g The host outputs are similarly supported by a subset of the normal output commands as follows COg n Clear output line n in group g IOg n If output true do command line LOg List output line definitions ROg n Read output line state s in group g SOg n Set output line n in group g The following example shows host input line 10 5 being defined as a function input to execute sequence 200 When the DeviceNet master sets output number 5 then the corresponding host input is set and the function input is triggered to execute sequence 200 DI10 5 XS200 Copyrig
15. and the extended code Xtd which is always zero as DeviceNet uses only standard 11 bit identifiers Data Up to eight bytes of data in hexadecimal format Copyright 1999 Quin Systems Limited Page 33 Issue 3 variable assignment A acknowledge error arrays IA command assembly VO variable assembly class B baud rate bit 1 0 error block variable write C CANbus interrupt class assembly connection devicenet identity message router variable class diagram class ID classes clear variable map component configuration shell configuring hardware PTS connection state connection class CPU360 board layout CRC error D database default variables device profile devicenet class devicenet connections 23 PTS DeviceNet Interface User s Manual Index 12 31 12 12 16 16 16 25 29 15 16 16 16 16 16 16 17 17 16 15 29 32 16 30 31 12 15 16 29 Copyright 1999 Quin Systems Limited disp command displaying messages DQ command E EDS error acknowledge bit 1 0 CRC format stuff error messages undefined variable F format error fragmentation fragmented messages H hardware configuration help command host I O I VO input message VO output message IA create array ID class instance identity class index variable input line definitions instance variable instance ID interrupt jumper introduction J J11 jumper
16. atus of the physical connection to DeviceNet Identity 1 Provides identification and general information about the PTS Message 1 Provides a message connection point for all the objects and Router classes in the PTS Variable 0 to 50 Each variable object provides read write access to a PTS varia ble Blocks of variables can be accessed via the variable assembly Variables can also be accessed via the I O assembly Table 1 DeviceNet Classes 4 3 2 Model Description The I O Assembly object provides access to the Host I O and the variables in the PTS via the Poll I O connection The Variable objects provide access to the PTS variables via the Explicit message connection and the Message Router The Variable Assembly object provides access to blocks of PTS variables Copyright 1999 Quin Systems Limited Page 16 Issue 3 PTS DeviceNet Interface User s Manual The diagram below shows the objects and classes within the PTS DeviceNet Interface and the connections between them Variable Class Variable 1 Identity Class Variable Assy Message Router Assembly Class DeviceNet Class Explicit Message Connection Class DeviceNet Figure 1 PTS DeviceNet Interface Object Model The table below shows the DeviceNet objects along with their class and instance IDs Object Class ID Instance ID DeviceNet O3hex 1 Identity Olhex 1 Explicit Connectio
17. bytes are not valid This can occur is no variable was requested index was zero the output variable index was out of range or the requested variable did not exist Copyright 1999 Quin Systems Limited Page 20 Issue 3 PTS DeviceNet Interface User s Manual 4 5 Single Variable Access 4 5 1 Single Variable Read Message Format The single variable read message is sent as an explicit message to the appropriate instance of the Variable class The instance ID is the same as the variable index shown by the list command described in chapter 2 Configuring the PTS for DeviceNet The service code used is READ_VAR 50 The format of the single variable read command message from the master is shown below Byte Contents 0 Message Header 1 R R 0 Service Code 50 2 Class ID 100 3 Instance ID 1 to 50 see above Table 5 Single Variable Read Input Message Format In response the PTS returns either a message containing the variable value or an error message indicating that the object does not exist The same error message is also returned if the requested Instance ID is outside the range 1 to 50 The format of the normal response message is shown below Byte Contents Message header R R 1 Service code 50 Variable value LS Byte Variable value Byte 2 Variable value Byte 1 Variable value MS Byte Table 6 Single Variable Read Output Message Format The format of the error response is shown b
18. city to be set to the value of SPD each time the variable is updated 1 gt SSPD gt CH1 SVSSPD 3 3 Arrays An array is effectively a block of variables which can be referenced by the index number Before an array can be used it must be created using the IA command for example IASA 10 This creates an array A with 10 elements A 1 A 2 A 3 up to A 10 Each element of the array can be used in the same way as a variable namely as a command parameter to trigger commands or with query commands The following example shows a position being read into an array element and then being used in an expression CH1 SA 1 DP RF 100 SA 1 Copyright 1999 Quin Systems Limited Page 12 Issue 3 PTS DeviceNet Interface User s Manual The array index can be a constant a variable or an expression The following example sets the elements of a speed array to ascending values TASV 10 ST 1 SV I 1I 1000 I Ur 1 RP9 Arrays are particularly useful with Devicenet when you have a number of different products and you need to set up a number of parameters for each product Say for example you are designing a cut to length machine which must be able to make 20 different products For each product there is a cut length a registration offset and a maximum machine speed This would normally require 60 variables a switch sequence and 20 set up sequences similar to the following to change prod
19. elow Byte Contents 0 Message header 1 R R 1 Service code 20 2 General error code 22 3 Additional code unspecified Table 7 Single Variable Read Error Response Format Copyright 1999 Quin Systems Limited Page 21 Issue 3 PTS DeviceNet Interface User s Manual 4 5 2 Single Variable Write Message Format The single variable write message 1s sent as an explicit message to the appropriate instance of the Variable class The instance ID is the same as the variable index shown by the list command described in chapter 2 Configuring the PTS for DeviceNet The service code used is WRITE_VAR 51 The format of the single variable write command message from the master is shown below Variable value Byte 1 Byte Contents 0 Message Header 1 R R 0 Service Code 51 2 Class ID 100 3 Instance ID 1 to 50 see above 4 Variable value LS Byte 5 Variable value Byte 2 6 7 Variable value MS Byte Table 8 Single Variable Write Input Message Format In response the PTS returns either a normal response message or an error message The format of the normal response message is shown below Message header 1 R R 1 Service code 51 Table 9 Single Variable Write Output Message Format An error message is returned if the requested Instance ID is outside the range 1 to 50 The format of the error response is shown below Byte Contents 0 Message header 1 R R
20. estarted with the new MACID and the new setting has been saved to non volatile memory If the shell does not display OK then it is likely that another unit with the same MAC ID is already on DeviceNet and the duplicate MAC ID check has failed Copyright 1999 Quin Systems Limited Page 6 Issue 3 PTS DeviceNet Interface User s Manual 2 3 4 Mapping Variables You can access up to 50 PTS variables or array elements over DeviceNet By default these variables are V1 up to V50 and are accessed from DeviceNet by their index or instance number In the default case variable V1 is instance number and so on up to variable V50 which is instance number 50 The instance number and name of all the available variables can be displayed by the list command as shown in the following example dns gt list Index Variable WOC 1 VI ON 2 V2 ON 3 V3 ON 4 v4 ON 5 VS ON The default command can be used to reset the PTS to use the default variables dns gt default If the default set of variables is not what you want it is possible to change which variable or array element is mapped at any index or instance number For example to map variable SPD to variable instance number 10 use the map command as shown below dns gt map spd 10 dns gt list Index Variable WOC 10 SPD ON In this case accessing variable instance number 10 from DeviceNet actually accesses the PTS variable SPD If there is already a variable mapped at instance number 10 t
21. g transitions to the message A stuff bit is inserted in the bit stream after 5 consecutive equal value bits have been transmitted the stuff bit being the opposite polarity to the 5 preceding bits All message fields are stuffed except the CRC the ACK field and the End of Frame Format error The fixed format part of a received frame has the wrong format Acknowledgement error The message transmitted by the PTS was not acknowledged by another node Bit 1 0 error During transmission of a message with the exception of the arbitration field the PTS wanted to send a recessive bit logic level 1 but the monitored CANbus value was dominant or vice versa CRC error The CRC received for an incoming message does not match the value calculated by the PTS for the received data Line 4 shows the statistics for fragmented messages as follows msgs OK The number of complete fragmented messages successfully transmitted since start up A fragmented message will generally consist of more than 1 message packet NAKS The number of messages which were NAKed This means that the receiving node ran out of buffer space for the message e retries The number of transmitted fragments which had to be retried because an ACK was not received within the timeout period Copyright 1999 Quin Systems Limited Page 31 Issue 3 PTS DeviceNet Interface User s Manual e timeouts The number of fragmented message transmissions which
22. he old variable is removed and the new variable replaces it If the second parameter the instance number is omitted from the map command the variable is mapped at the first free instance number It is also possible to remove a mapped variable or array element using the unmap command as shown below dns gt unmap spd 5 This removes array element SPD 5 Assuming SPD 5 was mapped at instance number 10 the unmap command leaves instance number 10 without an attached variable Any writes to instance number 10 will be ignored and any reads will return zero The clear command is used unmap all variables and array elements It is normally used to clear the variable map to known empty state before downloading a variable configuration file dns gt clear Copyright 1999 Quin Systems Limited Page 7 Issue 3 PTS DeviceNet Interface User s Manual 2 3 5 Saving and Restoring the Variable Map Once the variable map has been specified it must be saved to non volatile memory so that it is still available when the system is next switched on This is done with the save command shown below dns gt save OK If the map is saved successfully the OK message is displayed on the following line It is also useful to save the map to a file on a PC This means that you can configure another machine or a spare in the same way as this one The upload command makes the system output the variable map as a set of map commands which can later be downloaded
23. ht 1999 Quin Systems Limited Page 11 Issue 3 PTS DeviceNet Interface User s Manual 3 2 Variables The variable database is a centralized facility which is accessible to all tasks in the system and holds a set of integer variables Because variables are generally accessible it is possible for the user to change a variable via DeviceNet and for the variable to be used subsequently to set a motor parameter in the PTS Similarly a variable can be set to some motor parameter such as the position which can then be read over DeviceNet A variable can also be set up to trigger execution of a command string on the PTS A variable can be set to a constant value using equals For example the following command sets the variable SPD to a value of 5000 1 gt SSPD 5000 A variable can be used in place of a numeric parameter in most commands For example the following command sets the velocity to the value of the variable SPD which is currently 5000 If the variable has not been assigned a value then the undefined variable error message is displayed 1 gt SVSSPD Conversely it is possible to query a parameter and place the result in a variable The following example updates variable SPD with the current velocity value 1 gt SSPD SV A variable can be defined as a trigger variable so that when it is updated a string of commands is executed The following example defines SPD as a trigger variable which causes the velo
24. iable in the block The format of the block variable write command is shown below before fragmentation Byte Contents 0 Message header 1 R R 0 Service code 51 Class ID 4 Instance ID 3 First variable instance ID 1 to 50 Number of variables Value of 1st variable LS Byte Value of Ist variable Byte 2 Value of 1st variable Byte 1 VO oo AO nm AJ D Value of 1st variable MS Byte Value of 2nd variable LS Byte Value of 2nd variable Byte 2 N Value of 2nd variable Byte 1 Oo Value of 2nd variable MS Byte More variables Table 14 Block Variable Write Input Message Format If the variable instance IDs are in range the PTS returns the normal response message as shown below Byte Contents 0 Message header 1 RR 1 Service code 51 Table 15 Block Variable Write Output Message Format Copyright 1999 Quin Systems Limited Page 25 Issue 3 PTS DeviceNet Interface User s Manual An error message is returned if any of the variable instance IDs is outside the range 1 to 50 The format of the error response is shown below Byte Contents 0 1 Message header R R 1 Service code 20 2 3 Table 16 Block Variable Write Error Response Format General error code 32 Additional code unspecified Copyright 1999 Quin Systems Limited Page 26 Issue 3 S PTS DeviceNet Interface User
25. ited Page 32 Issue 3 PTS DeviceNet Interface User s Manual B Logged Message Format The following example shows a typical logged message display produced by the shell command disp dns gt disp 1 2544 187 TX CO A5 C1 65 A0 99 A1 60 CF 48 02 94 OB 02 The fields of the message represented as hexadecimal bytes are as follows Timestamp The time the message was sent or received in seconds and milliseconds since start up TX RX TX means the message was transmitted by the PTS RX means it was received e CO The Control O register in the message object structure Each field in the two Control registers is represented by 2 bits which are read as 01 when the field is zero and 10 when the field is set The fields in this register are as follows Transmit Receive Message Interrupt f Interrupt Interrupt vale Enable Enable Pending Table 18 C1 The Control 1 register in the message object structure The Message Lost field is only valid for a received message For a transmitted message the field becomes CPU Updating The fields in this register are as follows Remote Transmit Message Frame New Data Request Lost Pending Table 19 A0 A1 AO and the top 3 bits of Al combine to form the 11 bit CAN message identifier CF The message configuration register This contains the data length code DLC which is the number of data bytes in the message the direction code Dir which is 1 for transmit
26. n OShex 1 I O Connection O5hex 2 Table 2 PTS Object IDs Copyright 1999 Quin Systems Limited Page 17 Issue 3 PTS DeviceNet Interface User s Manual Object Class ID Instance ID Message Router O2hex 1 VO Assembly Odhex 1 Variable Assembly O4hex 3 Variable 64hex 1 to 50 Table 2 PTS Object IDs Copyright 1999 Quin Systems Limited Page 18 Issue 3 PTS DeviceNet Interface User s Manual 4 4 VO Access 4 4 1 VO Input Message Format The I O input command message consists of 8 data bytes which map directly on to the Host I O virtual input lines When a bit is set in the command message the corresponding input line is set and vice versa The message also contains 6 bytes which specify the index or instance number of a variable to be read and the index and value of a variable to be written The following table shows the correspondence between the bits in the message and the Host input lines and the variables Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Input variable value byte 3 Input variable value most significant byte Table 3 I O Input Message Format The input variable index specifies the index of a PTS variable or array element to be written and the input variable value bytes specify the value to be written to it If the index is zero or out of range no variable is written The output variable index specifies the index of a PTS variable or array element
27. n the section Software License Key and cycle the power to the PTS to start the DeviceNet software Copyright 1999 Quin Systems Limited Page 5 Issue 3 PTS DeviceNet Interface User s Manual 2 3 2 Changing the Baud Rate The DeviceNet baud rate can be set using the baud command The baud rate can be set to 125 250 or 500 kB The following example shows how to change the baud rate from 125 to 500 kB dns gt baud Baud rate 125k dns gt baud 500 OK Entering the baud command without a value displays the current setting Entering the command with a value causes the setting to be changed The shell displays OK when the new value has been validated communications have been restarted at the new rate and the new setting has been saved to non volatile memory If the shell does not display OK then it is likely that the new baud rate is not correct or the PTS is not connected to DeviceNet 2 3 3 Changing the MAC ID The MAC ID is the address of a unit on the DeviceNet Each unit on the network must have a unique MAC ID between 1 and 63 The MAC ID of the PTS can be changed using the macid command The following example shows how to change the MAC ID from 25 to 30 dns gt macid MAC Id 25 dns gt macid 30 OK Entering the macid command without a value displays the current setting Entering the command with a value causes the setting to be changed The shell displays OK when the new value has been validated communications have been r
28. rface specific to DeviceNet which allows you to configure the MAC ID and baud rate for DeviceNet as well as displaying the communications status and logging DeviceNet message packets for diagnostic purposes To enter the shell type the DQ command at Port A the main programming port in privileged mode 1 gt DO dns gt The dns gt prompt shows that the configuration shell is ready for a new command Typing help makes the shell display a list of available commands as follows dns gt help baud lt baudrate gt Set DeviceNet baud rate clear Unmap all variables default Map default variables disp lt num gt Display lt num gt logged messages list List variable mapping log lt num gt Set message log to lt num gt messages log all Log all messages default log exp Log explicit messages only macid lt id gt Set DeviceNet MAC Id map lt var gt lt idx gt Map variable at index quit Quit from this shell restore Restore variable map from NVM save Save variable map in NVM stat Display DeviceNet statistics unmap lt var gt Unmap variable upload Output map as commands to logfile wa lt var gt Set variable to write always woc lt var gt Set variable to write on change help Display this list If DeviceNet is not enabled an error message is displayed instead 1 gt DQ DeviceNet is not enabled 1 gt In this case you need to enter a software license key as described i
29. s chapter is the formal device profile for the PTS Copyright 1999 Quin Systems Limited Page 15 Issue 3 PTS DeviceNet Interface User s Manual 4 2 Device Description The PTS controls the position and velocity of one or more electric motors In typical PTS applications the position velocity profiles are either pre defined or can be calculated at run time so there 1s no need to control these via DeviceNet Instead the DeviceNet interface to the PTS operates at a higher level providing access to a set of virtual VO lines and a set of general purpose variables The VO lines can be used for control and signalling while the variables can be used to set operational parameters such a speed length of cut and to return status information The PTS is a Group 2 only slave device without UCMM and supports the Poll VO and Explicit connections from the Predefined Master Slave Connection Set 4 3 Object Model 4 3 1 Classes The table below shows the classes which are supported by the PTS along with the number of objects within each class and a description Number of one Class Objects Description Assembly 2 The VO assembly provides access to the Host I O and varia bles The Variable assembly provides access to blocks of varia bles Connection 2 The PTS implements the Poll I O and Explicit connections from the Predefined Master Slave Connection Set DeviceNet 1 The DeviceNet object provides the configuration and st
30. sical Layer for Industrial Applications Reserved GND 2 CAN L 7 CAN H 3 CAN GN 8 ERROR D 4 Reserved 9 CAN_V 7 13V 5 CAN_SHL D screen Table 17 DeviceNet Connections Copyright 1999 Quin Systems Limited Page 29 Issue 3 PTS DeviceNet Interface User s Manual 6 3 CPU360 Board Layout CPU360 module component side Top J4 P4 P3 oo 1 1 g EE J9 z J11 1 i J1 Bottom Figure 3 Jumper and connector locations Copyright 1999 Quin Systems Limited Page 30 Issue 3 PTS DeviceNet Interface User s Manual A Statistics Display The example below shows a typical statistics display produced by the shell command stat dns gt stat Version 1 1 Packets Received 2 Transmitted 5 Errors 1 Last error was Acknowledgement error Fragment msgs OK 0 NAKS 0 retries 0 timeouts 0 States Estab Estab Closed EPRS 0 1000 0 NOB WN H Line 1 shows the DeviceNet software version in this case 1 1 Line 2 shows the number of DeviceNet packets received and transmitted and the number of errors detected since start up Line 3 shows the last error detected Once the error condition has cleared this line will not be displayed The error is one of the standard CANbus error conditions as follows Stuff error More than 5 equal bits have occurred in part of a received message where this is not allowed Stuff bits help synchronization by addin
31. ted Page 23 Issue 3 PTS DeviceNet Interface User s Manual If the variable instance IDs are in range and all variables exist the PTS returns the normal response message which contains the values of each variable The format of the normal response message is shown below before fragmentation Byte Contents 0 Message header 1 RR 1 Service code 50 Value of Ist variable LS Byte Value of Ist variable Byte 2 Value of Ist variable Byte 1 Value of 1st variable MS Byte Value of 2nd variable LS Byte Value of 2nd variable Byte 2 Value of 2nd variable Byte 1 VO oo nl BY WwW WN Value of 2nd variable MS Byte More variables Table 12 Block Variable Read Output Message Format The errors which may be returned by the PTS instead of the normal response message are shown below Code Meaning Object does not exist One or more variables in the block is not defined Invalid parameter The block has been defined so that one or more variable instance IDs is outside the range 1 to 50 Table 13 Block Variable Read Error Codes Copyright 1999 Quin Systems Limited Page 24 Issue 3 PTS DeviceNet Interface User s Manual 4 6 2 Block Variable Write Message Format The block variable write command message is sent as an explicit message to the Variable Assembly The command message specifies the instance ID of the first variable and the number of variables to read followed by the values of each var
32. ts Without this jumper link the DeviceNet software will not work 2 2 Software License Key The software for the DeviceNet interface will not operate unless a software key has been entered to enable this option The software key is different for each PTS and can be obtained from your sales office given the system serial number which can be found by using the SK command as shown below To enable the software the following command should be entered on Port A the main programming port in privileged mode You enter the text in bold while the PTS displays something similar to the rest 1 gt SK Serial number 006545 Feature Version Key New feature devicenet Version 1 3 Key abcd OK Note that the feature name devicenet must be entered in lower case exactly as shown above Note also that it is necessary to turn the power off and back on again to run the Devicenet software If the software needs to be disabled first make a note of the software key in case it is needed in the future Then proceed as above but simply press the Return key in response to the Version prompt as follows 1 gt SK Serial number 006545 Feature Version Key devicenet Ded ABCD New feature devicenet Version Feature devicenet removed Copyright 1999 Quin Systems Limited Page 4 Issue 3 PTS DeviceNet Interface User s Manual 2 3 Configuration Shell 2 3 1 Accessing the Shell The DeviceNet configuration shell is a command inte
33. uct ES100 XS 100 PNO ES101 SMO1 SLI RFSRI1 SV 81 7 2 ES102 M01 L2 ES120 SMO1 SL20 RFSR20 SV S20 2 Sequence 100 is run when a new product number PNO is selected This switches to a set up sequence 101 to 120 which sets the master axis length for the Motion Generator sets the reference offset and sets the initial speed at half the maximum If you use arrays however the solution becomes much simpler You only need 3 arrays and a single sequence TASLEN 20 TASRF 20 TASMAX 20 ES100 SMO01 SLEN S PNO RF SRF SPNO SV SMAX SPNO 2 You now only need one set up sequence because you can use the product number PNO as an array index to select the correct array element for the product Copyright 1999 Quin Systems Limited Page 13 Issue 3 PTS DeviceNet Interface User s Manual Not only is the solution simpler it is also much easier to make changes To increase the number of different products all you have to dois to increase the array sizes and increase the upper limit on PNO Sequence 100 does not need to change Without arrays any change to the number of products means writing a lot of extra sequences If you use arrays changes to the product handling change the initial speed to 3 4 of maximum for example involve changing a single sequence Without arrays you would have to change dozens of sequences and it would be very easy for mistakes to creep in Note In this manu
Download Pdf Manuals
Related Search