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6. Configuring the Gateway

1. 96 6 13 2 ABC LUFP Element 97 6 13 3 Sub Network Element 100 6 14 Adding a Broadcaster Node 102 Appendix A Technical Characteristics 103 Appendix B Default Configuration 106 Appendix C Practical Example RSLogix 500 109 Appendix D DeviceNet Objects 118 Appendix E Modbus Commands 138 Index 142 Glossary 143 4 1744088 03 2009 Safety Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or call attention to information that clarifies or simplifies a procedure PLEASE NOTE Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material 1744088 03 2009 5 About the Book Validity Note This document applies to
2. Default communication mode The query is transmitted periodically on the Modbus network see Update time On data change The gateway transmits the query on the Modbus network when at least one item of data from this query is changed by the DeviceNet master So this is an aperiodic communication mode Single Shot This transmission mode only allows a single Modbus exchange for the whole of the time that the gateway is operating This exchange takes place just after the initialization of the gateway Change of state on trigger With this aperiodic communication mode the Modbus query is sent every time that the DeviceNet master changes the value of an 8 bit counter designated by the Trigger byte address element For instance this is the case with the queries associated with Transactions 1 and Transactions 2 personalized commands for the TeSys U n 1 node of the gateway s default configuration These queries are transmitted when the values of the related trigger bytes addresses 0x021E and 0x021F are changed by the DeviceNet master Please see the description of this element for further information about how to use this communication mode 6 Configuring the Gateway 82 1744088 03 2009 Configuration element Description Update time 10ms Default value 10ms x 100 1s This element is only used by the gateway if Update
3. Bit 7 Bit 8 Bit 15 LUFP9 gateway status word Managing the downstream Modbus network I 1 1 MSB 0xxx LSB 0x xx I 1 2 Value of the motor starter status register I 1 3 Value of the motor starter status register I 1 4 Value of the motor starter status register I 1 5 Value of the motor starter status register I 1 6 Value of the motor starter status register I 1 7 Value of the motor starter status register I 1 8 Value of the motor starter status register Periodic communications Monitoring of TeSys U motor starters I 1 9 Value of the motor starter status register Description Service PLC output Bit 0 Bit 7 Bit 8 Bit 15 DeviceNet master command word Managing the downstream Modbus network O 1 1 MSB 0xxx LSB 0x xx O 1 2 Value of the motor starter command register O 1 3 Value of the motor starter command register O 1 4 Value of the motor starter command register O 1 5 Value of the motor starter command register O 1 6 Value of the motor starter command register O 1 7 Value of the motor starter command register O 1 8 Value of the motor starter command register Periodic communications Controlling TeSys U motor starters O 1 9 Value of the motor starter command register 10 Transferring the DeviceNet scanner configuration Following the changes made to the list of DeviceNet scanner ex
4. 1 480 1 000 300 01 600 bits s For 8 TeSys U motor starters 8 480 1 000 300 012 800 bits s As a result on a network operating at 9 600 bits s you will need to considerably increase the cycle time for all or part of the periodic Modbus commands On the other hand at a speed of 19 200 bits s default speed the available bandwidth is sufficient to allow proper communications even in occasional degraded mode frames re transmission and to allow the use of aperiodic setup exchanges Appendix B Default Configuration 1744088 03 2009 107 Content of the Gateway DPRAM Memory The LUFP9 gateway s DPRAM memory contains all of the data exchanged between the gateway and the 8 TeSys U motor starters as well as two special registers only exchanged between the gateway and the DeviceNet master words used for managing the downstream Modbus network The flow of data exchanged between the TeSys U motor starters the gateway and the DeviceNet master is shown below in order to highlight the role of the gateway s memory in these exchanges TeSys U motor starters Modbus Outputs Inputs OUTPUT data memory zone INPUT data memory zone LUFP9 Gateway DeviceNet Outputs Inputs DeviceNet SLC500 Master Input Data Memory Area The gateway has 512 input bytes Only the first 32 bytes are used All of these 32 bytes make up the gateway
5. 22 2 7 3 Sample Gateway Configurations 22 3 Signaling 23 4 Software Implementation of the Gateway 25 4 1 Introduction 25 4 1 1 System Architecture 25 4 1 2 Configuring the Motor Starters 26 4 1 3 Modbus Cycle Time 26 4 1 4 Managing Degraded Modes With the Gateway Default Configuration 26 4 2 Configuring the Gateway in RSNetWorx 31 4 2 1 Selecting and Adding the Master PLC s DeviceNet Scanner 31 4 2 2 Installing the Gateway Description File 31 4 2 3 Selecting and Adding a Gateway to the DeviceNet Network 32 4 2 4 Editing Gateway Parameters 32 4 2 5 Configuring the DeviceNet Scanner 34 4 2 6 Configuring Inputs from the Gateway 35 4 2 7 Configuring Outputs Intended for the Gateway 36 4 2 8 Transferring the DeviceNet Scanner Configur
6. O 1 1 in the case of the default configuration is as follows Bits Description 8 15 CD Control Data for activation deactivation of Modbus slave s 7 FB_HS_CONFIRM Acknowledgement bit of a gateway diagnostic 6 FB_HS_SEND New DeviceNet master command word 5 FB_DU Modbus exchange startup Reserved if Diagnostic and Control 0 4 CC Control Code for activation deactivation of Modbus slave s e g If the O 1 1 output word is set to 0x00A0 the DeviceNet master command word will be set to 0xA000 The correct use of this command word by the DeviceNet master to transmit a new command to the gateway goes through the following steps checking of FB_HS_SEND ABC_HS_CONFIRM If FB_HS_SEND ABC_HS_CONFIRM then the Modbus exchange startup command FB_DU is updated the control of the Modbus slaves through CC and CD is updated if the master wants to inhibit activate one or more slaves the value of the FB_HS_SEND bit is inverted NOTE It is possible to simplify this use as follows The FB_DU and FB_HS_SEND bits are set to one to activate the Modbus communications The FB_DU and FB_HS_SEND bits are reset to halt Modbus communications Though both 8 bit and 16 bit writes to the DeviceNet Master Command Word are permissible in theory writing directly to the DeviceNet master command word in 16 bit format can cause errors Such 16 bit writes can disrupt the operation of the transfer of th
7. Scanlist tab and add the LUFP9 gateway to the Scanlist gt or gt gt buttons After selecting the gateway from this list the Edit I O Parameters button becomes accessible Click on the Edit I O Parameters button In the window that appears check the Polled box then configure the size of the data received Rx 32 bytes and the size of the data transmitted Tx 32 bytes by the scanner With the LUFP9 gateway s default configuration these values allow you to exchange all of the data shown in Appendix B Default Configuration NOTE If you create or change a configuration using ABC LUFP Config Tool see chapter 6 WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Since only Input1 and Output1 areas are described in this manual and because using more than one I O connection on the same area is forbidden you must not configure more than one I O connection E g if you configure a Polled connection you must not configure a Strobed or a Change of State Cyclic connection Failure to follow this instruction can result in death serious injury or equipment damage 4 Software Implementation of the Gateway 1744088 03 2009 35 4 2 6 Configuring Inputs from the Gateway On the Input tab select the LUFP9 gateway then click on the AutoMap button RSNetWorx then automatically establishes the correspondence between the 32
8. 0x01 This object contains general information allowing you to identify the gateway and diagnose its status This object is described in chapter 6 2 of volume II of the DeviceNet specifications on the ODVA website Attributes of class 0x01 ID Access Name Need Type Value Description 0x01 Get Revision Required UINT 1 Major and minor indices for the revision of the Identity Object Services in class 0x01 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows the value of one of the attributes of the class to be read Appendix D DeviceNet Objects 120 1744088 03 2009 Attributes of instance 0x01 of class 0x01 ID Access Name Need Type Value 0x01 Get Vendor ID Required UINT 243 All vendor IDs for DeviceNet products are managed by the ODVA With the LUFP9 gateway this ID is set to 243 gateways from Schneider Automation Inc 0x02 Get Device type Required UINT 12 The list of the various types of DeviceNet products is managed by the ODVA This attribute allows a DeviceNet subscriber s profile to be identified and the minimum requirements and options commonly used by the subscribers in this profile to be deduced The LUFP9 gateway is a Communication Adapter product see chapter 3 7 of volume II of the DeviceNet specifications 0x03 Get Product code Required UINT 10937 This attribute is managed by the manufacturer of the pro
9. 1 ms per 10 ms step This attribute allows the gateway to evaluate the values of the Transmission Trigger Timer and the Inactivity Watchdog Timer for exchanges made using the Explicit Connection object Please see chapter 5 4 4 in volume I of the DeviceNet specifications for further information on this subject 0x0C Get Set Watchdog timeout action Required USINT 3 This attribute defines the action taken when the watchdog timer is triggered or when the connection is inactive The various possible values are as follows 0 Transition to timed out 1 Auto Delete and 3 Deferred Delete 0x0D Get Set Produced connection path length Required UINT 0 Size of the USINT array of attribute 0x0E produced connection path 0x0E Get Set Produced connection path Required USINT empty path This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to produce the connection s data In the case of the current instance there is no production path for the Explicit Connection 0x0F Get Set Consumed connection path length Required UINT 0 Size of the USINT array of attribute 0x10 consumed connection path 0x10 Get Set Consumed connection path Required USINT empty path This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to receive the data consumed by the connection In the case of the current instance there
10. Check that the gateway has a valid configuration and that it is working properly that is to say that LED GATEWAY is flashing green In ABC LUFP Config Tool choose Upload configuration from ABC LUFP from the File menu or click on the button in the toolbar A window called Upload will then open and a progress bar shows you the state of progress of the gateway configuration uploading process This window disappears as soon as the whole configuration has been uploaded successfully This step is particularly important if you wish to read details about the content of the gateway s default configuration after unpacking it You can then use this configuration as a template for any changes you wish to make subsequently thus avoiding having to create all of the items and reducing the potential risk of error NOTE Save this configuration to your hard disk so that it is always available This will allow you to reconfigure the gateway cleanly should the configuration become invalid 6 Configuring the Gateway 1744088 03 2009 51 6 5 Transferring a Configuration to the Gateway When using ABC LUFP Config Tool you can transfer the configuration you are editing to the gateway at any time Choose Download configuration to ABC LUFP from the File menu or click on the button in the toolbar ABC LUFP Config Tool initializes a check test of the gateway type NOTE During this very fast test the PC should
11. I 1 1 Gateway Status Word O 1 1 Gateway Control Word I 1 2 TeSys U Status Register 455 O 1 2 TeSys U Command Register 704 I 1 3 Significant Data length bits 0 7 O 1 3 Number of registers to read 1 5 I 1 4 I 1 5 I 1 6 I 1 7 I 1 8 1st status register 455 2nd status register 456 3rd status register 457 4th status register 458 5th status register 459 6 Configuring the Gateway 1744088 03 2009 95 For a motor starter commanded into RUN mode O 1 2 0x0001 its status can be read in I 1 2 0x0043 but also from I 1 4 to I 1 8 depending on the number of registers actually read O 1 3 0x0001 to 0x0005 Resulting Value of O 1 3 Inputs 0x0001 0x0002 0x0003 0x0004 0x0005 I 1 3 0x 02 0x 04 0x 06 0x 08 0x 0A I 1 4 0x0043 0x0043 0x0043 0x0043 0x0043 I 1 5 0xFFFF 0x0000 0x0000 0x0000 0x0000 I 1 6 0xFFFF 0xFFFF 0x000D 0x000D 0x000D I 1 7 0xFFFF 0xFFFF 0xFFFF 0x0001 0x0001 I 1 8 0xFFFF 0xFFFF 0xFFFF 0xFFFF 0x0000 Please note that the gateway sets to 0xFF the Filler Value any byte located beyond the last significant byte Example 2 The configuration described in Example 1 is also used here with the two following exceptions In the Variable Data the Byte Limits renamed as Byte count and with Minimum Value 0x02 and Maximu
12. The configuration of these three elements plus the commands they give access to are described in the next three chapters 6 13 1 Fieldbus Element Below this element there is a list of the mailboxes configured by default These elements are not described here as they are only designed for the internal management of the gateway These mailboxes can neither be changed nor deleted Both their number and their nature depend on the type of upstream network When the Fieldbus element is selected you can choose the type of upstream network DeviceNet with the LUFP9 gateway If the network selected does not match the gateway an error message will pop up at loading and the configuration will not be loaded If your PC is connected to the gateway using the PowerSuite cable and you are using ABC LUFP Config Tool in on line mode when ABC LUFP Config Tool starts up the type of upstream network will be automatically detected The only command accessible from the Fieldbus menu is Restore Default Mailboxes The usage of this command is recommended if you inadvertently inserted a user defined Mailbox under the Fieldbus device Since the usage of user defined Mailboxes is not described in the present document only the DeviceNet Default Mailboxes should be set under the Fieldbus device in the following order StartInit AnybusInit Fieldbus specific EndInit Should any other Mailbox also appear
13. 0x01 0x08 Function no 0x06 Address of the parameter written I 1 14 MSB 0xxx LSB 0x xx Value of the parameter written Aperiodic communications Writing the value of a motor starter parameter RESPONSE I 1 15 MSB 0xxx LSB 0x xx Aperiodic communications Trigger bytes for the responses I 1 16 Read parameter response counter Write parameter response counter 4 Software Implementation of the Gateway 36 1744088 03 2009 4 2 7 Configuring Outputs Intended for the Gateway On the Output tab select the LUFP9 gateway then click on the AutoMap button RSNetWorx then automatically establishes the correspondence between the 32 data bytes 8 bit format to be sent to the gateway and the corresponding 16 PLC outputs O 1 1 to O 1 16 16 bit format Please check that a correspondence between all of the data sent to the gateway and the PLC outputs O 1 1 to O 1 16 has been established The correspondence between the contents of the gateway s output memory see Appendix B Default Configuration Output Data Memory Area and PLC outputs O 1 1 to O 1 16 is given in the following table Description Service PLC output Bit 0 Bit 7 Bit 8 Bit 15 DeviceNet master command word Managing the downstream Modbus network Command Word O 1 1 MSB 0xxx LSB 0x xx O 1 2 Value of the motor s
14. 6 5 Transferring a Configuration to the Gateway 51 6 6 Monitoring the Content of the Gateway s Memory 51 6 7 Deleting a Modbus Slave 54 6 8 Adding a Modbus Slave 55 6 9 Changing Periodic Data Exchanged With a Modbus Slave 57 6 9 1 Replacing a Periodic Input Data Element 57 6 9 2 Replacing a Periodic Output Data Element 58 6 9 3 Increasing the Amount of Periodic Input Data 59 6 9 4 Increasing the amount of periodic output data 63 6 10 Deleting Aperiodic Parameter Data 68 6 11 Changing a Modbus slave Configuration 70 6 11 1 Changing the Name of a Modbus Slave 71 6 11 2 Changing the Address of a Modbus Slave 71 6 11 3 Changing the Name of a Modbus Command or Transaction 72 6 12 Adding and Setting Up a Modbus Command 73 6 12 1 With TeSys U Motor Starters 73 6 12 2 With a Generic Modbus Slave 75 6 12 3 Adding a Special Modbus Command 89 6 13 Configuring the General Characteristics of the Gateway 96 6 13 1 Fieldbus Element
15. LEDs 24 Line resistance 20 LU9GC3 hub 19 M MAC ID address 33 Modbus cable 19 Modbus slaves 9 10 P Parameters 33 Protective Earth 13 R Related documents 5 RJ45 connector 12 17 RSLogix 500 38 RSNetWorx 36 37 S Selector switch 21 SLC500 38 T SCA junction boxes 17 Topology bus 16 star 14 TSXCA50 SCA junction box 19 V VW3 A68 306 cable 17 VW3 A8 306 RC double termination 19 VW3 A8 306 TF3 T junction box 19 143 1744088 03 2009 Glossary 0x Value expressed in hexadecimal which is equivalent to the H h and 16 notations sometimes used in other documents NOTE The ABC LUFP Config Tool software uses the 0x notation E g 0x0100 16 0100 256 2 Value expressed in binary The number of digits depends on the size of the item of data represented Each nibble group of 4 bits is separated from the other nibbles by a space E g byte 2 0010 0111 39 word 2 0110 1001 1101 0001 0x69D1 27089 ABC LUFP Name of the PC software used to configure and monitor the LUFP9 DeviceNet Modbus Config Tool Gateway ATS Abbreviation of Altistart soft start soft stop unit ATV Abbreviation of Altivar drive CRC Cyclical Redundancy Check EDS Electronic Data Sheet Refers to the file format eds extension which allow a tool used for configuring and preparing DeviceNet ma
16. Specific DeviceNet features of the LUFP9 gateway The LUFP9 gateway is a group two only server DeviceNet subscriber please refer to DeviceNet Specifications Fragmentation support for transactions requiring more than 8 bytes of data Connections supported 1 Explicit Connection 1 Polled Command Response connection 1 Bit Strobed Command Response connection 1 Change of State Cyclic connection Communication speed configured using 2 selector switches Gateway s DeviceNet address MAC ID configured using 6 selector switches address between 0 and 63 Configuration facilitated by the use of a specific EDS file Modbus RTU characteristics Physical media RS485 serial link Network topology Multipoint linear topology with adapted line terminations impedance of 120 in parallel with a capacitance of 1 nF Communication speed 1 200 to 57 600 bits s Data bits 8 Subscriber addresses 1 to 247 Address 0 reserved for broadcasting Addresses 65 126 and 127 reserved if drives and or starters from Schneider Electric are used on the same Modbus network Period of silence Equivalent to the transmission of 3 5 characters WARNING USE OF RESERVED MODBUS ADDRESSES Do not use Modbus addresses 65 126 or 127 if a gateway s Modbus slaves will include a Schneider Electric Adjustable Speed Drive System device such as an Altistart soft starter or an Altivar motor dri
17. The combination of Data location and Maximum Data length properties determines the input output memory used to exchange data between the DeviceNet master and the Modbus slave exactly like the Data Location and the Data length properties of the Standard Data fields NOTE This maximum length must include the end character or the length character if any one of these characters is used see Object Delimiter below When used this character is always present in the input output memory even if it is not exchanged with the Modbus slave i e if the optional visible item has not been chosen Object Delimiter This property is critical because it dictates the method used to sort out useful data from the whole input output data allocated for the Variable Data There are five possibilities Length Character The first byte in the input output memory represents the length of the significant data length character excluded This character is not located in the Modbus Query or Response it is either produced by the gateway based upon the length of the Modbus Response or by the DeviceNet master who alone updates the output data Length Character visible Same as Length Character but this character becomes part of the Modbus Query or Response it is either produced by the Modbus slave in the Response or by the DeviceNet master in the Query End Character The sig
18. The value of this field is identical to that of the Slave Address field of the query involved Function Command code with exception indicator The value of this field is set to 0x80 the value of the Function field of the query involved Exception Code Code indicating the nature of the error which has caused the exception response see table on next page Checksum Lo Checksum Hi Error check Appendix E Modbus Commands 1744088 03 2009 141 Code Name of the exception Description of the exception 0x01 ILLEGAL FUNCTION The query s Function command code is not implemented in the Modbus slave software or it is unable to process it for the moment 0x02 ILLEGAL DATA ADDRESS The combination of the query s Starting Address and No of Registers fields or assimilated fields gives access to one or more addresses which are not accessible on the Modbus slave 0x03 ILLEGAL DATA VALUE The value of one of the Modbus query s fields is outside the authorized limits This error does not affect the content of the Data or assimilated fields as this error only takes account of the fields used for managing the Modbus protocol 0x04 SLAVE DEVICE FAILURE An unrecoverable failure has occurred when processing the command 0x05 1 ACKNOWLEDGE The Modbus slave informs the gateway that it has accepted the command acknowledgement but that it will take too long to process it and it cann
19. add or remove a Modbus slave add or change a Modbus command etc This chapter also shows the changes to be made to software implementation operations in RSNetWorx Appendix A describes the technical aspects of both the gateway and the DeviceNet and Modbus RTU networks it is interfaced with Appendix B describes the main features of the default configuration of the LUFP9 gateway However it does not go into ABC LUFP Config Tool in detail Appendix C gives a simple example using the LUFP9 gateway s default configuration This example exploits the command and monitoring registers for 8 TeSys U motor starters and uses the aperiodic read and write services to access the value of any motor starter parameter Appendix D describes both the generic DeviceNet objects and the DeviceNet objects specific to the LUFP9 gateway The values of the attributes of these objects are also given Appendix E describes the content of the Modbus command frames supported by the LUFP9 gateway 1 Introduction 1744088 03 2009 7 1 Presentation of Hardware and Connections See Chapter 2 Using ABC LUFP Config Tool install 6 2 connect 6 1 remove slaves 6 6 2 User of TeSys U Products See Chapter 4 2b reducing the number of slaves See Chapter 6 2a with 8 slaves powering mounting Modbus connecting DeviceNet connecting Transmission speed and address selecting Using ABC LUFP Config Tool to access ot
20. because it indicates the type of protocol used on the downstream network of the gateway With the LUFP9 gateway Master Mode must be selected The other possibilities available are reserved for other products from the same family as this gateway Statistics This property dictates the presence or absence of the two Receive and Transmit Counters in the input memory of the gateway see below The four possibilities are Disabled The two Receive Counter Location and Transmit Counter Location properties are ignored Enable Receive Counter Only the Receive Counter Location property is used by the gateway Enable Transmit Counter Only the Transmit Counter Location property is used by the gateway Enable Transmit Receive Counter Both the Receive Counter Location and Transmit Counter Location properties are used by the gateway Receive Counter Location This property is only used by the gateway if Statistics Enable Receive Counter or Statistics Enable Transmit Receive Counter It represents the 1 byte input memory address from 0x0000 to 0x00F3 where the Modbus Responses counter is copied into As any other used input memory data this byte will increase the size of data exchanged with the DeviceNet master This is a modulo 256 counter i e it starts over at 0 once it goes past 255 which is updated each time a Modbus frame is received by the gateway Transmit Cou
21. is physically located at either end of the DeviceNet network you will need to connect a line termination to the terminals on its DeviceNet connector The resistance of this line termination should be equal to 121 and it should be connected between pins 2 and 4 on the gateway connector that is to say between the CAN_L and CAN_H signals DeviceNet cable Pin Name Wire colour 1 GND Black 2 CAN_L Blue 3 SHIELD None bare wire 4 CAN_H White 5 V Red Detachable female connector Pinouts Modbus LUFP9 Gateway 2 Hardware Implementation of the LUFP9 Gateway 1744088 03 2009 21 2 7 Configuring DeviceNet Communication Features This configuration should be carried out when the gateway is powered off CAUTION OPENING LUFP COVER WITH POWER ON The power supply of the gateway must be turned off before opening the cover Once the cover has been removed make sure you touch neither the electrical circuits nor the electronic components as this may damage the device Failure to follow this instruction can result in injury or equipment damage The block of selector switches allowing you to configure the DeviceNet communication functions is hidden behind the gateway cover see illustration in chapter 2 2 To remove this cover all you have to do is slide the end of a small screwdriver between the top of the cover and the gateway box then carefully remove it The block of selector switch
22. that is to say the card on which the block of selector switches and the DeviceNet connector are located e g 0x 20 DD 00 23 0x02 Get Vendor ID Optional UINT 0x0001 The value of this attribute is set to 0x0001 for the LUFP9 gateway The value 0x0000 cannot be used and values between 0x0002 and 0xFFFF are reserved for the gateway suppliers 0x03 Get Fieldbus type Optional UINT 0x0025 With the LUFP9 gateway this attribute always takes the same value 0x0025 as it characterizes the DeviceNet network Any other value would be incorrect e g 0x0001 for a Profibus DP network 0x04 Get DeviceNet module software version Optional UINT 0x0136 This attribute shows the software version on the gateway s AnyBus S DeviceNet card The major index of this version is given by the most significant byte and its minor index is given by the least significant byte both in BCD format e g 0x0136 corresponds to version 01 36 0x05 Get Interrupt count Optional UINT counter The value of the interrupt count is incremented by one every time an interrupt related to the management of the downstream Modbus network do occur 0x06 Get Watchdog counter in Optional UINT 0x0000 This counter is not implemented and using this attribute is pointless The primary function of this counter is to provide feedback from the lifetime counter represented by attribute 0x07 which would allow the AnyBus S DeviceNet card to ensure that the ca
23. times the corresponding memory locations will be displayed in red in the General Area section of the Sub network Monitor window see page 60 for an example However this will have no consequences on the gateway during run time Data transfer order swapping DeviceNet network LSB first and MSB last Modbus RTU network MSB first and LSB last LUFP9 gateway MSB stored in the lowest memory address In most cases the option which should be chosen for Modbus data stored in the gateway s memory is Swap 2 bytes This option relates to all Data Preset Data and Variable Data fields for Modbus queries and responses frames 106 1744088 03 2009 Appendix B Default Configuration The configuration described below corresponds to the LUFP9 gateway s default configuration NOTE This chapter mainly gives the user information about the performance obtained on the downstream Modbus network It allows the user to decide whether for example he should change the period for cyclical exchanges with one or more of the TeSys U motor starters see chapter 6 Configuring Modbus exchanges The LUFP9 gateway carries out four types of exchanges with each of the 8 TeSys U motor starters The first two exchanges are cyclical and allow you to control and monitor the motor starter The last two exchanges are aperiodic only when there is a change in the values of the data to be transmitted to the motor sta
24. 0 3 is reset to show that the command is finished thus avoiding having to run the rest of the sub program Appendix C Practical Example RSLogix 500 116 1744088 03 2009 Management of the response timeout T4 1 Until the response arrives or if its content is incorrect bit B3 0 4 0 a 3 second timer is set When this timeout T4 1 DN 1 is triggered the timer is reinitialized the parameter s address O 1 14 after LSB MSB have been swapped using scratch variable N9 0 and an erroneous value N9 1 1 are placed in the array of results into two successive locations reserved for the motor starter currently being polled Finally the write process is halted bit B3 0 3 is reset The various data used by this sub program are shown in the following table Address Symbol Description B3 0 2 WR_COMMAND User command Writing a parameter on a TeSys U motor starter This bit is activated by the user and reset by the program B3 0 3 WR_RUNNING Writing a parameter on a TeSys U motor starter In progress B3 0 4 WR_OK Writing a parameter on a TeSys U motor starter Writing OK if the response has arrived and is correct B3 0 6 The trigger byte of the query has been updated Yes 1 No 0 I 1 13 CR_WRPAR_SLAVE_FCT Result of writing the value of a parameter Slave 0x01 to 0x08 as LSB function always 0x06 as MSB The values of these fields are compared to those of the query I 1 14 CR_WR
25. 1 is triggered the related timer is reinitialized and a result set to 1 is placed in the array of results at the location normally reserved for the motor starter being polled On receipt of the response or after the timeout has been triggered the internal data used by this sub program is updated to allow the same parameter to be read on the next motor starter up to the last of the 8 motor starters addresses 1 to 8 Counter C5 0 is used to count the number of motor starters which have been polled so far When the reading of the 8th motor starter is finished counter C5 0 reaching its preset value the reading process is halted bit B3 0 0 is reset However until the reading of the parameter for the 8th motor starter has finished the sub program restarts the next PLC cycle from the beginning moving onto the next motor starter or continuing to wait for a response for the motor starter currently being polled Appendix C Practical Example RSLogix 500 114 1744088 03 2009 The various data used by this sub program are shown in the following table Address Symbol Description B3 0 0 RD_RUNNING Reading a parameter on all TeSys U motor starters In progress B3 0 1 RD_OK_KO Reading a parameter on all TeSys U motor starters Reading is correct OK or incorrect KO for a motor starter if the response has arrived or when timeout T4 0 is triggered B3 0 5 The trigger byte of the query has been upda
26. 2 I O connections or Explicit messages Acknowledge handler object 0x2B No 1 I O connections or Message router I O data input mapping object 0xA0 No 1 Message router I O data output mapping object 0xA1 No 1 Message router Diagnostic object 0xAA No 1 Message router 1 One input area and one output area are created in the gateway s memory 2 The four instantiated connections are as follows Explicit Connection Polled Command Response Bit Strobed Command Response and Change of State Cyclic The last three connections are of the I O Connection type Appendix D DeviceNet Objects 1744088 03 2009 119 Graphical Representation of the Gateway s DeviceNet Objects Connection Object Message Router DeviceNet Object Identity Object Assembly Objects Acknowledge Handler Object Diagnostic Object I O Data Output Mapping Object I O Data Input Mapping Object LUFP9 Gateway Memory 0x0000 0x01FF 0x0200 0x03FF 0x0400 0x07FF Input data 1 Output data 1 General data area I O Connections DeviceNet network The classes which correspond to the grey objects are required Applicative Objects Objects Reserved for Communications Explicit Messages 1 The input and output data areas can be read or written either using I O connections or using explicit messages Identity Object class 0x01 The Identity object only has a single instance Instance ID
27. B 4 4 D B 4 4 D A 5 5 D A GND 5 5 GND 6 6 6 6 10 V 7 7 10 V 7 7 0 V 8 8 0 V 8 8 9 9 NOTE The inversion of the Rx and Tx signals between the gateway and the PC is shown on the 9 point SUB D connectors because beyond this junction the RS 232 signals are replaced by the D A and D B polarisations of the RS 485 signals 6 1 2 RS 232 link protocol There is no need to configure the PC s COM port as ABC LUFP Config Tool uses a specific setup which replaces the one for the port being used This replacement is temporary and is cancelled as ABC LUFP Config Tool is closed 6 Configuring the Gateway 1744088 03 2009 49 6 2 Installing ABC LUFP Config Tool The minimum system requirements for ABC LUFP Config Tool are as follows Processor Pentium 133 MHz Free hard disk space 10 Mb RAM 08 Mb Operating system MS Windows 95 98 ME NT 2000 XP Browser MS Internet Explorer 4 01 SP1 The ABC LUFP Config Tool installation program can be found on the http www schneider electric com website To install it run ABC LUFP153 exe then follow the on screen instructions You can read about how to use ABC LUFP Config Tool in a user manual entitled AnyBus Communicator User Manual We strongly recommend that yo
28. Hertz frequency cyclic Modbus exchanges are enabled and write access Modbus registers are set to 0 The example which follows illustrates the independent management of each of the two networks Managing Gateway Modbus slaves exchanges 12 1744088 03 2009 2 Hardware Implementation of the LUFP9 Gateway 2 1 On Receipt After opening the packaging check that you have an LUFP9 DeviceNet Modbus RTU Gateway equipped with a detachable power connector and a detachable open style DeviceNet connector 2 2 Introduction to the LUFP9 Gateway The cables and other accessories for connecting to DeviceNet and Modbus networks need to be ordered separately Legend Detachable power connector for the gateway 24V Female RJ45 connector to a PC running ABC LUFP Config Tool configuration software Female RJ45 connector for the downstream Modbus RTU network Six diagnostic LEDs Removable cover for the selector switches used to configure the gateway shown and described in chapter 2 7 The label describing the LEDs is stuck onto this cover Detachable female DeviceNet connector 2 Hardware Implementation of the LUFP9 Gateway 1744088 03 2009 13 The LUFP9 enables communications between a DeviceNet network and Modbus devices for the purpose of industrial automation and control As with any component used in an industrial control system the designer must evaluate the potential hazards arising fro
29. PLC must be configured so that it has access to all of the data described in Appendix B Default Configuration Input and Output data Memory The following chapters describe the steps in RSNetWorx which you will need to go through so that the gateway is correctly recognised by the DeviceNet master PLC NOTE The DeviceNet network which is described in the following chapters only includes one master and one slave LUFP9 gateway So you will need to adapt the addressing of the inputs and outputs shown below IW and QW according to any other slaves on the DeviceNet network which you need to configure 4 2 1 Selecting and Adding the Master PLC s DeviceNet Scanner In RSNetWorx select the type of scanner you have and add it to the DeviceNet network topology In our example this scanner is a 1747 SDN Scanner Module 4 and its MAC ID address is set to 00 4 2 2 Installing the Gateway Description File The EDS file describing the gateway must be placed on the PC s hard disk so that RSNetWorx has access to it at all times This file can be found on the http www schneider electric com website LUFP9_136 eds Once you are inside RSNetWorx see the documentation to read how to import an EDS file This procedure should then be applied to the file LUFP9_136 eds It uses the EDS wizard which is accessible from the Tools menu The following two entries are then added to the tree structure for recognised DeviceNet prod
30. Software error outputs reset to default state or hold their present state depending on configuration Hardware error EEPROM or hardware failure output state will be indetermined Inputs PLC stops responding to inputs in any error state DeviceNet scanner response Depending on scanner configuration the scanner stops to communicate with the LUFP9 gateway or forces DeviceNet outputs to 0 and refreshes the inputs or holds DeviceNet outputs in their last position and refreshes the inputs LUFP9 gateway response If the scanner stops to communicate with the gateway the behavior depends on the fieldbus Offline options Clear All data sent to the concerned Modbus slave is set to 0 Freeze All data sent retains its current value No scanning The query is no longer transmitted If the scanner forces DeviceNet outputs to 0 and refreshes the inputs all data sent Write requests is set to 0 reading from slaves continues to run normally If the scanner holds DeviceNet outputs and refreshes the inputs all data sent Write requests retains its current value reading from slaves continues to run normally Slave response Depending of the slave DeviceNet scanner stopped or on failure PLC processor response The PLC processor provides some error and or diagnostic objects to the application in case of DeviceNet scanner stop or failure input output not valid Refer to the PLC user manual to have their description This information must
31. The selection of odd data locations complicates application programming and increases the likelihood of improper Modbus values being written to or read from the slave devices Depending on the user s configuration unintended equipment operation may result Failure to follow this instruction can result in death serious injury or equipment damage Returning to our previous example the value to be assigned to the ATS48 s CMD register should be placed in the gateway s output data memory area We will be using the first free location starting at an even address that is to say the one located at 0x0220 with the gateway s default configuration Data length Length of the block of output data in the gateway s memory whose values must be transmitted in the Preset Data field of the query s frame It is expressed in number of bytes NOTE The Data length field is always used together with the Data location field described above E g since the Preset Single Register command is used to write the value of a single register 16 bit the value of the Data length field must be set to 2 See the documentation for each Modbus slave to find out the maximum amount of 8 bit data which can be placed in Data type fields in queries and responses for this slave With the ATS48 for instance it is limited to 30 16 bit words Data length field limited to 60 6 Configuring the Gateway 86 1744088 03 200
32. a direct influence on the value of the attribute presented here as the corresponding connection path is changed to allow access to the selected output area These changes should only be made using the EDS file supplied with the gateway 0x11 Get Production inhibit time Required UINT 0 Defines the minimum time in milliseconds between new data production A value of zero the default value indicates no inhibit time Attributes of instance 0x03 of class 0x05 Bit Strobed Command Response Connection ID Access Name Need Type Value 0x01 Get State Required USINT 0 to 4 This attribute represents the status of the Bit Strobed Command Response Connection object The LUFP9 gateway supports the following values 0 non existent 1 in the process of being configured 3 connection established and 4 timed out Please see figures 5 16 and 7 4 in volume I of the DeviceNet specifications for further information on this subject 0x02 Get Instance type Required USINT 1 This attribute defines the instance s connection type Messaging connection 0 or I O connection 1 0x03 Get Set Transport class trigger Required BYTE 0x83 This attribute defines the behaviour of the connection In the case of the LUFP9 gateway s Bit Strobed Command Response Connection object this attribute takes the value 0x83 broken down as follows Bits 0 3 2 0011 Transport Class Class 3 Bits 4 6 2 xxx Value igno
33. according to the commands he wishes to undertake The faults on the TeSys U motor starter are reset Register N7 0 is used in the same way as above and the input and output words are the same as for controlling the motor starter When there is a fault on the motor starter bit 2 of the monitoring register equal to 1 this fault is copied to one of the bits 2 to 9 one bit per motor starter in register N7 34 Faulty device 1 Motor starter OK 0 simply to show this state together with the user command which allows you to reset motor starter faults This user command corresponds to one of the bits 2 to 9 of register N7 35 fault reset 1 and is used to activate bit 3 of the command register of the corresponding TeSys U motor starter Reset bit that is to say bit O 1 N7 0 3 This fault reset user command is then cancelled by the program when the TeSys U motor starter no longer shows that there is a fault Appendix C Practical Example RSLogix 500 112 1744088 03 2009 The various data used by this sub program are shown in the following table Address Symbol Description I 1 N7 0 00 Bit 00 Ready of the TeSys U status register I 1 N7 0 01 Bit 01 On of the TeSys U status register I 1 N7 0 02 Bit 02 Fault of the TeSys U status register I 1 N7 0 14 Bit 14 Reserved Local control of the TeSys U motor starter status register N7 32 N7 0 CMD_RUN MODULE User com
34. all V2 gateways Functions and improvements compared to previous product version Increased number of instances transactions from 50 to approximately 100 Password protection for configuration upload download in LUFP9 Sub network Line Analyzer debugging feature Improved response trigger behaviour MS Windows association of configuration CFG files possible A double click will automatically open the configuration file in the ABC LUFP Config Tool Extended display functionality in node monitor updated column width and hexadecimal decimal display Simplified usability New and improved options menu The data and illustrations in this manual are not contractual We reserve the right to modify our products in line with our policy of continuous development The information given in this document may be modified without notice and must not be interpreted as binding in the part of Schneider Electric _________________________________________________________________________ Related Documents Title of Documentation Reference Number AnyBus Communicator User Manual ABC_User_Manual pdf SDN 7061 059 Safety Guidelines for the Application Installation and Maintenance of Solid State Control Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems NEMA ICS 1 1 latest edition NEMA ICS 7 1 latest edition Modbus User Guide TSX DG MDB E Modicon Modbus Pro
35. and 0x0200 0x0201 are also shown whichever node is selected In the window shown above the data displayed correspond to the values at the memory locations designated by the Data fields in the commands and transactions configured for the TeSys U n 1 node that is to say the following commands Read Holding Registers Preset Multiple Registers Transactions 1 and Transactions 2 NOTE The data exchanged with the Modbus slave previously selected are displayed LSB first that is in the LSB MSB order as read from left to right with growing memory addresses provided that the Byte Swap option from the Data Preset Data or Variable Data element of the corresponding Modbus command was set to Swap 2 bytes see chapter 6 12 2 5 For the two reserved words dedicated to the management of the downstream Modbus network it is the contrary MSB first However but only as far as the TeSys U n 1 node is concerned the data beginning at addresses 0x0013 0x0018 0x0212 and 0x0218 see Appendix B Content of the Gateways s DPRAM Memory follow the same byte order as the content of the frames they are related to see Appendix E Modbus Commands from first to last byte checksum excluded and following growing adresses in the memory of the gateway Finally bytes 0x001E 0x001F 0x021E and 0x021F correspond to the reception and emission counters for these frames Trigger bytes fr
36. be managed in the PLC application DeviceNet scanner response If the DeviceNet scanner is stopped command coming from the application the scanner stops to communicate with the LUFP9 gateway If the DeviceNet scanner is on failure the scanner stops to communicate with the processor and the LUFP9 gateway LUFP9 gateway response If the scanner stops to communicate with the gateway the behavior depends on the fieldbus Offline options Clear All data sent to the concerned Modbus slave is set to 0 Freeze All data sent retains its current value No scanning The query is no longer transmitted Slave response Depending on the slave 6 Configuring the Gateway 78 1744088 03 2009 LUFP9 gateways disconnected on DeviceNet side PLC response The PLC processor provides some error and diagnostic objects coming from the DeviceNet scanner in case of a slave disconnection from the application Refer to the PLC user manual to have their description This information must be managed in the PLC application DeviceNet scanner response The DeviceNet scanner provides the processor with some error and diagnostic objects in case of DeviceNet slave disconnection LUFP9 gateway response The behavior depends on the fieldbus Offline options Clear All data sent to the concerned Modbus slave is set to 0 Freeze All data sent retains its current value No scanning The query is no longer transmitted Slave response Depending of the s
37. class 0x2B Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of one of the attributes of the class Attributes of instance 0x01 of class 0x2B ID Access Name Need Type Value 0x01 Get Set Acknowledge timer Required UINT 20 unit 1ms The value of this attribute determines the waiting time for acknowledgement of the message from a connection Once this time has elapsed the gateway proceeds to re transmit the message which has just failed to be acknowledged The value of this attribute ranges from 1 to 65 535 and its default value is 20 0x02 Get Set Retry limit Required USINT 1 This attribute determines the maximum number of times that the acknowledge timeout can be successively triggered for the same message and therefore the number of re transmissions allowed for each message The value of this attribute ranges from 0 to 255 and its default value is 1 0x03 Get Set COS producing connection instance Required UINT 4 The value of this attribute is set to the instance number Instance ID of the Connection Object class corresponding to the Change of State connection associated with the Acknowledge Handler object This association allows the latter to transmit the acknowledgements it receives to the corresponding connection if they are addressed to it 0x04 Get Ack list size Optional BYTE 1 This attribute repres
38. configured 4 1 3 Modbus Cycle Time The LUFP9 gateway s default configuration sets a cycle time of 300 ms on Modbus commands This cycle time corresponds to the polling time necessary to cover all of the 8 motor starters 4 1 4 Managing Degraded Modes With the Gateway Default Configuration The degraded modes with the gateway default configuration is described below but it takes no account of the PLC used or of the DeviceNet scanner Please see chapter 6 12 2 1 if you would like to manage the degraded modes for any other configuration 4 1 4 1 Description of the Gateway Degraded Mode Options Offline options for fieldbus This option affects the data sent to a Modbus slave if there is no communication coming from the DeviceNet master It is defined at the Query level of each command or transaction sent to the different slaves This option can take 3 values Clear All data sent to the concerned Modbus slave is set to 0 Freeze All data sent retains its current value No scanning The query is no more transmitted With the gateway s default configuration Clear option is selected for periodic exchanges No scanning is selected for aperiodic exchanges Which means that Tesys Command and Status registers continue to be refreshed but output memory associated Tesys U command registers is forced to 0 and input memory Tesys U status registers works normally Aperiodic Modbus exchanges are stopped Timeout time This option defi
39. corresponding Modbus frames Here is an example of a correspondence for a full frame including the start and end of frame fields shown above based on the Read Holding Registers Command Elements under ABC LUFP Config Tool Modbus Frame Fields Size Slave Address Slave Address 1 byte Function Code Function Code 1 byte Starting register address Starting Address 2 bytes Number of registers Quantity of Registers 2 bytes Modbus Query Checksum CRC16 2 bytes Slave Address Slave Address 1 byte Function Code Function Code 1 byte Byte count Byte Count 1 byte First Register Value 2 bytes Data Last Register Value 2 bytes Modbus Response Checksum CRC16 2 bytes Appendix E Modbus Commands 1744088 03 2009 139 Chapter 6 12 also shows a few examples of correspondences between the elements displayed in ABC LUFP Config Tool and the corresponding Modbus frame fields See also Chapter 6 12 2 and chapter 6 12 3 if the implementation of one of these commands would be incompatible with its implementation in the gateway for example You then have to create a special Modbus command to compensate for this incompatibility Read Holding Registers Command 0x03 Frame ABC LUFP Config Tool field Value or properties Query Starting Register Address Address of the register Number of Registers Number of registers Checksum CRC16 Res
40. data This attribute is not created if the size of the gateway s output area is null The Output1 offset attribute corresponds to an offset from the start of the memory area reserved for the output data 0x0200 The values located in the Value column correspond to the LUFP9 gateway s default configuration Output1 area located at address 0x0200 and made up of 32 bytes Services in class 0xA1 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of one of the class attributes Attributes of instance 0x01 of class 0xA1 ID Access Name Need Type Value 0x01 Get Set Data Optional USINT output area no 1 This attribute corresponds to the gateway s Output1 area Reading it gives access to the values of all the data located in this area and writing it allows to change them These values take the form of an array of bytes whose size corresponds to the size of the area This very same attribute is also involved when using instance 0x96 of the Assembly Objects described in Appendix D DeviceNet Objects NOTE With the default configuration attribute 0x01 corresponds to an array of 32 bytes whose content is described in Appendix B Output Data Memory Area Services of instance 0x01 of class 0xA1 Service code Name of the service Need Description 0x0E Get_Attribute_Single Optional This service allows to read the array
41. data bytes 8 bit format from the gateway and the corresponding 16 PLC inputs I 1 1 to I 1 16 16 bit format Please check that a correspondence between all of the data from the gateway and the PLC inputs I 1 1 to I 1 16 has been established The correspondence between the contents of the gateway s input memory see Appendix B Default Configuration and PLC inputs I 1 1 to I 1 16 is given in the following table Description Service PLC input Bit 0 Bit 7 Bit 8 Bit 15 LUFP9 gateway status word Managing the downstream Modbus network Status Word I 1 1 MSB 0xxx LSB 0x xx I 1 2 Value of the motor starter status register I 1 3 Value of the motor starter status register I 1 4 Value of the motor starter status register I 1 5 Value of the motor starter status register I 1 6 Value of the motor starter status register I 1 7 Value of the motor starter status register I 1 8 Value of the motor starter status register Periodic communications Monitoring of TeSys U motor starters I 1 9 Value of the motor starter status register I 1 10 Memory location free Slave no 0x01 0x08 I 1 11 Function number 0x03 Number of bytes read 0x02 Value of the parameter read Aperiodic communications Reading the value of a motor starter parameter RESPONSE I 1 12 MSB 0xxx LSB 0x xx I 1 13 Slave no
42. default configuration Offline option for fieldbus Periodic Modbus exchanges continue to run with output memory associated forced to 0 input memory continues to be refreshed aperiodic Modbus exchanges are stopped Tesys U response Periodic Modbus exchanges continue to run Command registers are set to 0 and motors are stopped Status register data is transmitted to the gateway aperiodic Modbus exchanges are stopped 4 Software Implementation of the Gateway 30 1744088 03 2009 LUFP9 gateways failure PLC response The PLC processor provides some error and diagnostic objects coming from the DeviceNet scanner in case of slave failure to the application Refer to the PLC user manual to have their description This information must be managed in the PLC application DeviceNet scanner response The DeviceNet scanner provides the processor with some error and diagnostic objects in case of DeviceNet slave failure LUFP9 gateway response In case of a failure the gateway stops to communicate with the DeviceNet scanner and the Modbus slaves Tesys U response Depending on the Tesys U configuration If the starters controllers do not receive any requests they will stop the motor keep the same state or run the motor Refer to the Tesys U user manuals to adjust these fallback positions LUFP9 gateways disconnected on Modbus side or Tesys U failure PLC response The processor gives access to the gateway status word coming from the
43. described in chapter 6 9 Instead of adding a command and fully configuring it it is a better idea to copy one of the two default commands Read Holding Registers or Preset Multiple Registers from an existing node and to paste it into the list of Modbus commands for the appropriate node To copy an already configured Modbus command from an existing node select it then choose Copy from the menu whose name corresponds to the name of the selected node Keyboard shortcut Ctrl C Then continue using one of the two methods shown below a Select the node corresponding to the Modbus slave for which you wish to add this command e g TeSys U n 4 then choose Paste from the menu whose name corresponds to the selected node A new command is added after all the other configured commands for this node The whole of its configuration is identical to that for the previously copied command Keyboard shortcut Ctrl V b Select one of the commands for the node involved then choose Insert from the menu whose name corresponds to the selected command A new command is added just before the one which is selected The whole of its configuration is identical to that for the previously copied command 6 Configuring the Gateway 74 1744088 03 2009 As the new Modbus command and the original Modbus command are identical you will need to make changes to the fields highlighted in blue in one of the two following d
44. gateway which operates as a Modbus master and the Modbus slaves are wholly configured using ABC LUFP Config Tool This configuration tool goes into great detail setting timers for exchanges communication modes frame content etc which makes it all the more delicate to use So a whole chapter in this guide chapter 6 has been devoted to this tool 1 Introduction 1744088 03 2009 11 Each LUFP9 gateway is shipped pre configured so as to make it easier to operate and the factory settings can be used as a basis for a configuration which will best meet the user s expectations The typical operations applicable to this default configuration are described in chapter 6 The DeviceNet network is totally separate from the Modbus network The frames on a network are not directly translated by the gateway to generate frames on the other network Instead the exchanges between the content of the gateway s memory and the Modbus slaves make up a system which is independent of the one which is entrusted with managing the exchanges between this same memory and the DeviceNet master The system guarantees the coherence of data exchanged within the shared memory You must check that the size of the DeviceNet data corresponds to the size of the memory used for the Modbus exchanges because the gateway configures its DeviceNet exchanges on the basis of the memory used by the Modbus frames If the sizes do not match the fieldbus Diag LED n 4 blinks at a 1
45. has only 2 instances each one being assigned to the input area Instance ID 0x64 or to the output area Instance ID 0x96 of the gateway This object is described in chapter 6 5 of volume II of the DeviceNet specifications The first instance Instance ID 0x64 is assigned to the gateway s input data area This input area gathers all the memory locations receiving data from a Modbus response to be relayed to the DeviceNet master The second instance Instance ID 0x96 is assigned to the gateway s output data area This output area gathers all the memory locations receiving data to be placed in a Modbus query that is to say all the data transmitted by the DeviceNet master Attributes of class 0x04 ID Access Name Need Type Value Description 0x01 Get Revision Required UINT 2 Revision index of the Assembly Object class 0x02 Get Max instance Optional UINT 0x96 Largest instance number of any instance created within the Assembly Object class Services in class 0x04 Service code Name of the service Need Description 0x0E Get_Attribute_Single Optional This service allows to read the value of one of the class attributes Attributes of instance 0x64 of class 0x04 MODBUS INPUTS ID Access Name Need Type Value 0x03 Get Data Required USINT array of values The data gathered within this attribute correspond to the data of the attribute 0x01 of instance 0x01 from the I O Data Input Map
46. includes the line termination when the connector is located at the end It is fitted with 2 screw terminals for the connection of two double twisted pair Modbus cables TSXCA50 SCA junction box bus topology with SCA junction boxes Each of these two red passive boxes is a male RJ45 connector 3 cm 1 2 in long containing an RC line termination see diagram and illustration above Only the abbreviation RC is shown on these boxes VW3 A8 306 RC double termination all topologies 2 Cables VW3 A8 306 R Modbus cable bus topology with SCA junction boxes Shielded cable with a male RJ45 connector at each end VW3 A68 306 Modbus cable bus topology with SCA junction boxes Shielded cable with a male RJ45 connector and a male 15 point SUB D connector It is used to connect a Modbus subscriber slave or master to a TSXSCA62 or TSXCA50 box Shielded double twisted pair Modbus cable bus topology with branch boxes Bare cable without connectors used to make up the main section of the Modbus network There are three items available TSXCSA100 100 m 328 ft TSXCSA200 200 m 656 ft and TSXCSA500 500 m 1 640 ft 2 Hardware Implementation of the LUFP9 Gateway 20 1744088 03 2009 2 6 Connecting the LUFP9 Gateway to the DeviceNet Network If the LUFP9 gateway
47. is made up of a query but does not include any response The query bears the name of the command itself instead of the name Query Also each broadcast command only consumes one of the 100 queries and responses allowed by the gateway as there is no possible response for such a command The value of the query frame s Slave Address field is set to 0x00 Please see chapter 6 12 2 2 for further details on how to configure a Modbus query 103 1744088 03 2009 Appendix A Technical Characteristics Environment Dimensions excluding connectors Height 120 mm Width 27 mm Depth 75 mm 4 724 in 1 063 in 2 953 in External appearance Plastic housing with snap on connection to DIN rail Torque PSU connector between 5 and 7 lbs in 0 56 and 0 79 N m Power supply 24V regulated 10 Maximum consumption 280 mA typically around 100 mA Protection class IP20 Maximum relative humidity 95 without condensation or seepage according to IEC 68 2 30 Ambient air temperature around the device in a dry environment According to IEC 68 2 1 Ab IEC 68 2 2 Bb and IEC 68 2 14 Nb Storage 55 C 3 to 85 C 2 72 4 F to 61 6 F 181 F to 189 F Operation 5 C 3 to 55 C 2 17 6 F to 28 4 F 127 F to 135 F UL E 214107 certificate open type category The product should be installed in an electrical cabinet or in an equivalent location CE
48. is no consumption path for the Explicit Connection 0x11 Get Production inhibit time Optional UINT 0 Defines the minimum time in milliseconds between new data production A value of zero the default value indicates no inhibit time Appendix D DeviceNet Objects 1744088 03 2009 127 Attributes of instance 0x02 of class 0x05 Polled Command Response Connection or Change of State Cyclic Consuming Connection ID Access Name Need Type Value 0x01 Get State Required USINT 0 to 4 This attribute represents the status of the Polled Command Response Connection object The LUFP9 gateway supports the following values 0 non existent 1 in the process of being configured 3 connection established and 4 timed out Please see figures 5 16 and 7 4 in volume I of the DeviceNet specifications for further information on this subject 0x02 Get Instance type Required USINT 1 This attribute defines the instance s connection type Messaging connection 0 or I O connection 1 0x03 Get Transport class trigger Required BYTE 0x82 This attribute defines the behaviour of the connection In the case of the LUFP9 gateway s Polled Command Response Connection object this attribute takes the value 0x82 broken down as follows Bits 0 3 2 0010 Transport Class Class 2 Bits 4 6 2 xxx Value ignored in the case of a data server Bits 7 2 1 The gateway behaves as a data serv
49. memory and the size of the memory occupied must also be adjusted appropriately If you are not certain how much of the gateway s memory is currently occupied select Sub Network and choose Monitor from the Sub Network menu The following window appears allowing you to see how much of the gateway s memory is occupied To see which memory locations are occupied by data from the command you are interested in all you have to do is uncheck the box corresponding to the Read Holding Registers command from the TeSys U n 2 node as shown above We can see that the Modbus data received in response to this command occupy 2 bytes located from address 0x0004 NOTE The memory locations 0x0000 and 0x0001 are reserved see chapter 5 So you will not be able to place any Modbus data in these locations The sizes displayed above the graphics areas of this window In Area 32 bytes and Out Area 32 bytes correspond to the total input and ouput sizes you must check under RSNetWorx see point 6 on next page and configure for the DeviceNet scanner see point 7 If you wish to place the 16 bytes of Modbus data which will be received by the gateway for this command into memory once the changes have been made we will have to move all the other input data by 14 bytes which may be tedious or change the memory location of the block of data received In the example described here we will be using the second solution althoug
50. mode is set to Cyclically In this case it specifies the query s transmission period on the Modbus network Returning to our example employing the ATS48 at address 10 we will use the configuration shown opposite The most notable points of this configuration are On disconnection the data is reset on both networks 3 re transmissions with a 100 ms timeout Periodic communications with a cyclical Update time set to 300 ms 6 12 2 3 Configuring the Response Next select the Response element from the Modbus command The various elements of the configuration of the response for this command are shown opposite The values displayed correspond to the default values for any new command These elements allow you to configure a single aspect of managing the command described at the top of the page on the right Each of these elements is described in order in the table below 6 Configuring the Gateway 1744088 03 2009 83 Configuration element Description Offline options for sub network This element affects the input data sent to the DeviceNet master but only for the data of the Response to which this element belongs to whenever the Modbus slave does not answer to the corresponding Query or upon disconnection from the Modbus sub network This element takes one of the following two values Clear All data sent to the DeviceNet master for this Response is set to 0x0000 resetting of the input dat
51. not carry out any other operations as this could lead to ABC LUFP Config Tool apparently freezing up and slow down the PC s general operation for several minutes After the test is complete the PC will return to full speed and may be used normally Once this test has finished a window called Download opens and a progress bar shows the state of progress for the transfer of the configuration to the gateway NOTE Do not interrupt this operation otherwise you will have to start it again from the beginning Check that the transfer has been correctly carried out LED GATEWAY should be flashing green If this LED is flashing red green save the configuration you were editing open the file containing the default configuration for LUFP9 gateways then transfer it to the gateway This will restore it to a known initial state You can then continue with the configuration you were transferring and make any corrections which may be necessary 6 6 Monitoring the Content of the Gateway s Memory One of the main commands that you will need to use when setting up the gateway is the command allowing you to read the contents of the gateway s memory and to display it in a window used for this purpose This will be particularly useful when you are working on your PLC configurations and applications However it only shows data from the Data and Preset Data fields and also those from the Variable Data fields reserved for the Tr
52. not created if the size of the gateway s input area is null The Input1 offset attribute corresponds to an offset from the start of the memory area reserved for the input data 0x0000 The values located in the Value column correspond to the LUFP9 gateway s default configuration Input1 area located at address 0x0000 and made up of 32 bytes Services in class 0xA0 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of one of the class attributes Attributes of instance 0x01 of class 0xA0 ID Access Name Need Type Value 0x01 Get Data Optional USINT input area no 1 This attribute corresponds to the gateway s Input1 area Reading it gives access to the values of all the data located in this area in the form of an array of bytes whose size corresponds to the size of the area This very same attribute is also involved when using instance Assembly Objects described in Appendix D DeviceNet Objects NOTE With the default configuration attribute 0x01 corresponds to an array of 32 bytes whose content is described in Appendix B Input Data Memory Area Services of instance 0x01 of class 0xA0 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the array of values corresponding to the sole attribute of the single instance from I O Data Input Mapping Obj
53. or in an event driven way All of these Modbus exchanges make up the gateway s Modbus scanner and we use the ABC LUFP Config Tool software application to configure this scanner s exchanges Each item of data exchanged in this way is made available to the DeviceNet master which can gain access to it in a number of ways cyclical aperiodic or event driven exchanges NOTE If for example a communication is periodic on the Modbus network the corresponding data does not have to be exchanged periodically on the DeviceNet network and vice versa The diagram on the preceding page illustrates the distribution of several slaves over three downstream Modbus RTU networks each of these networks being interfaced with the DeviceNet master PLC using an LUFP9 gateway 1 5 Principle of Gateway Configuration and Operation The LUFP9 gateway is part of a family of products referred to as LUFP designed to meet generic needs for connection between two networks using different communication protocols The software elements common to all these gateways a configuration tool known as ABC LUFP Config Tool and the on board Modbus software cohabit with the specific features of the network upstream of each of them DeviceNet in the case of the LUFP9 gateway generically This is one of the reasons why the interfacing between the upstream network and the Modbus network is carried out entirely via the gateway s physical memory The exchanges between the
54. other Query counters the value stored at the Response Trigger byte Address is a true modulo 256 counter i e zero must be managed 254 255 0 1 2 In this example using the ATS48 we do not want the response to be event driven So we will be retaining the default configuration 6 Configuring the Gateway 84 1744088 03 2009 6 12 2 4 Configuring the Content of the Query Frame The window shown below is obtained using Edit Transaction from the Query menu Unlike the tree structure in the main ABC LUFP Config Tool window this display has the advantage of showing all of the frame s fields at the same time as well as their values The values displayed below correspond to the values assigned by default to the Modbus command query we have created The correspondence with the content of the corresponding Modbus frame has been added underneath this window Slave no Function no Word number MSB LSB Value of the word MSB LSB CRC16 LSB MSB Edit the values which are not greyed out one after another There is a description of them below The nature of a frame s fields depends on the Modbus command to which it corresponds However a certain number of these fields are common to all frames whereas others are common to a number of them Here is a description of those shown above for the example described at the beginning of the chapter 6 12 2 Field in the frame Size in the frame Descriptio
55. s Address 5 ON 1 3 4 6 Speed Address MAC ID 2 7 8 5 ON 2 3 4 5 8 Speed Address MAC ID 1 7 6 23 1744088 03 2009 3 Signaling The gateway s 6 LEDs and the descriptive label on the removable cover allow you to diagnose the status of the gateway LUFP9 1 NETWORK STATUS 2 MODULE STATUS 3 NOT USED 4 NOT USED 5 MODBUS 6 GATEWAY DeviceNet LED LED Gateway state Off Gateway not connected to the DeviceNet bus Green Gateway connected to the DeviceNet bus Connection established Red Fatal error on connection to the DeviceNet bus Flashing green Gateway connected to the DeviceNet bus Connection not established NETWORK STATUS Flashing red Timeout in connection to the DeviceNet bus The length of this timeout is defined by the DeviceNet master NOT USED Off Off No power Flashing green No Modbus communications Green Modbus communications OK MODBUS Red Loss of communication with at least one Modbus slave no answer from the slave 1 Exception code coming from a command or a transaction LED LED Gateway state Off No power Red Unrecoverable failure Green Gateway is operational MODULE STATUS Flashing red Fault NOT USED Off Off No power Flashing red green Configuration absent not valid Use ABC LUFP Config Tool to load a valid configuration Green Gateway currently being initializ
56. s input area referenced as Input 1 in the RSNetWorx configurator Service Address Size Description Managing the downstream Modbus network 0x0000 1 word Gateway status word 0x0002 1 word Value of the motor starter status register 0x0004 1 word Value of the motor starter status register 0x0006 1 word Value of the motor starter status register 0x0008 1 word Value of the motor starter status register 0x000A 1 word Value of the motor starter status register 0x000C 1 word Value of the motor starter status register 0x000E 1 word Value of the motor starter status register Periodic communications Monitoring of TeSys U motor starters 0x0010 1 word Value of the motor starter status register 0x0012 1 byte Memory location free 0x0013 1 byte Slave no 0x01 to 0x08 0x0014 1 byte Function number 0x03 0x0015 1 byte Number of bytes read 0x02 Aperiodic communications Reading the value of a motor starter parameter RESPONSE 0x0016 1 word Value of the parameter read 0xxxxx 0x0018 1 byte Slave no 0x01 to 0x08 0x0019 1 byte Function number 0x06 0x001A 1 word Address of the parameter written 0xxxxx Aperiodic communications Writing the value of a motor starter parameter RESPONSE 0x001C 1 word Value of the parameter written 0xxxxx 0x001E 1 byte Read parameter response counter Aperiodic communications Trigger bytes for the respo
57. see EC ED table 0 07 ED Error data item associated with the Modbus network Data item associated with the EC error code see EC ED table Due to the inversion of the LSB and the MSB for this register between the gateway and the DeviceNet master the structure of the corresponding input word I 1 1 in the case of the default configuration is as follows Bits Description 8 15 ED Error data item associated with the Modbus network 7 ABC_HS_SEND New gateway diagnostic 6 ABC_HS_CONFIRM Acknowledgement bit of a DeviceNet master command 5 ABC_DU Modbus exchanges activated 4 Periodicity of Modbus exchanges 0 3 EC Error code associated with the Modbus network E g If the gateway s status word is set to 0xF031 the input word I 1 1 will be set to 0x31F0 The correct use of this status word by the DeviceNet master to read a diagnostic generated by the gateway goes through the following steps checking of ABC_HS_SEND FB_HS_CONFIRM If ABC_HS_SEND FB_HS_CONFIRM then the value of ABC_DU is read to determine whether all of the Modbus input data are up to date 5 Gateway Initialization and Diagnostics 46 1744088 03 2009 the value of the Periodicity of Modbus exchanges bit is read to determine whether the periodicity of the Modbus communications has been maintained the values of EC and ED are read to check for any error detected by the gateway on the Modbus network see table b
58. send this command to all of the Modbus slaves slave by slave through the first byte of the Data field The remaining fields of the frames used by these two commands are also placed in the same Data field So the DeviceNet master has access to all of the content of the frames in these two commands 6 Configuring the Gateway 1744088 03 2009 91 6 12 3 3 Using Variable Data Fields in Transactions A Variable Data field is similar to a Data field but has no predefined length Instead a length character i e a number of bytes or an end character is used to indicate the significant length of the data field Each Variable Data field is also protected with a Maximum Data Length that prevents any overflow when there is no end character where one is expected or when the length character is too high 0x00 Variable Length Data Data Variable Data w End Character End Character 0xXX 0xXX bytes of Data Data Variable Data w Length Character Length Character The end length character of any Variable Data located in the Queries of Transactions must be supplied by the DeviceNet master because it is the producer of this data The end length character of any Variable Data located in the Responses of Transactions is generally produced by the LUFP7 gateway not by a Modbus slave But the Response of the Read Holding Registers Modbus command 0x03 is an exc
59. that the first input data byte here 0x0005 is the length of the significant data 0x0005 excluded it also states that as a not visible character this byte is not located in the frame of the Response but evaluated by the gateway depending on the real length of the Response frame 1 Checksum field mandatory CRC at 0x0000 With this configuration the contents of the gateway memory is as follows Input Memory 16 bytes Output Memory 6 bytes 0x0000 0x0001 Gateway Status Word 0x0200 0x0201 Gateway Control Word 0x0002 0x0003 TeSys U Status Register 455 0x0202 0x0203 TeSys U Command Register 704 0x0004 Spare Not used 0x0204 0x0205 Number of registers to read 1 5 0x0005 0x0006 0x0007 0x0008 0x0009 0x000A 0x000B 0x000C 0x000D 0x000E 0x000F Significant Data length 1st status register 455 2nd status register 456 3rd status register 457 4th status register 458 5th status register 459 Use your DeviceNet configuration tool e g RSNetWorx to resize the I O data exchanged between the master e g a 1747 SDN Scanner Module and the LUFP9 gateway set the Rx Size input of the Polled connection to 16 Bytes and the Tx Size output of the Polled connection to 6 Bytes Under RSNetWorx and RSLogix 500 for a 1747 SDN Scanner Module card inserted into an Allen Bradley s SLC500 PLC these I O translate into the following Inputs 8 words Outputs 3 words
60. the Byte count field of the FC 0x03 these limits restrict the Response for reading from 1 to 5 registers 2 to 10 bytes 1 Variable Data field that replaces the standard Data field generally used for the FC 0x03 its properties are set as follows Byte swap Swap 2 bytes The default case for a DeviceNet master Data location 0x0005 The data begins at 0x0005 with the Length Character see below thus the significant data really begins at 0x0006 this aligns the 16 bit data on even memory addresses End Character Value 0x00 Not used here Fill un used Bytes Enabled In this example the not up to date input data read from the TeSys U slave will be set to 0xFF the Filler Value 6 Configuring the Gateway 94 1744088 03 2009 Filler Value 0xFF The value copied into the not updated data retrieved from the Response frame i e for data located beyond the last character as indicated by the Length Character Maximum Data length 0x000B A maximum of 11 bytes must be accepted and allocated in the input memory from 0x0005 to 0x000F the first byte is the Length Character and the other ten bytes are the significant data retrieved from the frame of the Response sent by the Modbus slave Object Delimiter Length Character This mode states
61. the principle used to initialize and carry out diagnostics on the gateway using each of the three options offered by the gateway These options can be configured via ABC LUFP Config Tool by changing the assignment of the Control Status Byte field for the ABC LUFP element see chapter 6 13 2 These options are Control Status Byte field Meaning Enabled Full Management Enabled but no startup lock Diagnostic and Control Disabled Simplified Operation The option chosen in the default configuration is Enabled but no startup lock Full Management Management in the PLC application of Start up of Modbus cyclic exchanges Modbus slave s activation deactivation Modbus network diagnostic Diagnostic and control Management in the PLC application of Modbus slave s activation deactivation Modbus network diagnostic Simplified Operation Automatic start up of Modbus cyclic exchanges No Modbus slave s activation deactivation No Modbus network diagnostic 5 1 Full Management The DeviceNet master manages the start up of Modbus cyclic exchanges the Modbus slaves activation deactivation and Modbus network diagnostic by means of 2 words A DeviceNet Command Word which is transmitted by the PLC application and is associated to addresses 0x0200 and 0x0201 of the gateway output memory A Gateway Sta
62. 0 65 535 The instances represent the various objects from one class All instances from one class share the same behaviours 1 and the same attributes but each of them has its own set of values for these attributes When a subscriber creates an instance instantiation he assigns a unique Instance ID which allows the other DeviceNet subscribers to have individual access to it Attribute 1 00 255 Each attribute represents one of the characteristics of the Instances belonging to the same class It is assigned some sort of value byte unsigned integer character string etc in order to supply information about the subscriber s status or to make settings on the subscriber s behaviours 1 NOTE To access the attributes of an object s base class you need to use Instance 0x00 when entering the full path e g to access the Revision attribute from the Identity Object class for DeviceNet subscriber no 4 you will need to use the following path 0x04 0x01 0x00 0x01 1 The behaviors designate actions taken by a DeviceNet object in response to particular events List of the Gateway s DeviceNet Objects Class ID Required Instances Interfaces Identity object 0x01 Yes 1 Message router Message router 0x02 Yes 1 Explicit message connection DeviceNet object 0x03 Yes 1 Message router Assembly object 0x04 No 2 1 I O connections or Message router Connection object 0x05 Yes 4
63. 1 Read Holding Registers command FC 0x03 Periodic command Update mode Cyclically and Update time 10ms 30 for the Query used to get the status of the TeSys U motor starter Starting register address 0x01C7 455 and Number of registers 0x0001 in the Query Byte count 0x02 in the Response the value of this status is transferred to addresses 0x0002 0x0003 of the input memory of the gateway Data length 0x0002 and Data location 0x0002 for the Data of the Response 1 Preset Multiple Regs command FC 0x10 Periodic command Update mode Cyclically and Update time 10ms 30 for the Query used to set the command of the TeSys U motor starter Starting register address 0x02C0 704 Number of registers 0x0001 and Byte Count 0x02 in the Query but also Starting register address 0x02C0 704 and Number of registers 0x0001 in the Response the value of this command is transferred to addresses 0x0202 0x0203 of the output memory of the gateway Data length 0x0002 and Data location 0x0202 for the Data of the Query 1 Transactions command Periodic command Update mode Cyclically and Update time 10ms 100 for the Query used to get from one to five status registers exact number in 0x0204 0x0205 from the TeSys U motor starter starting at register 455 0x01C7 the val
64. 4 in volume I of the DeviceNet specifications for further information on this subject 0x02 Get Instance type Required USINT 1 This attribute defines the instance s connection type Messaging connection 0 or I O connection 1 0x03 Get Set Transport class trigger Required BYTE 0x12 or 0x02 This attribute defines the behaviour of the connection In the case of the LUFP9 gateway s Change of State Cyclic Producing Connection object this attribute takes the value 0x12 or 0x02 broken down as follows Bits 0 3 2 0010 Transport Class Class 2 Bits 4 6 2 001 or 2 000 Change of State mode 2 001 or Cyclic mode 2 000 Bits 7 2 0 Appendix D DeviceNet Objects 130 1744088 03 2009 ID Access Name Need Type Value 0x04 Get Set Produced connection ID Required UINT 2 0 xx xxxx The value of this attribute is placed in the CAN protocol s Identifier Field when the connection goes into transmission mode group 1 messages The term xx xxxx represents the 6 bits of the address of the gateway s DeviceNet node The term represents the message ID E g 0x034A 2 011 0100 1010 group 1 messages ID of the messages 13 Gateway located at address 10 0x05 Get Set Consumed connection ID Required UINT 2 10x xxxx x The value of this attribute corresponds to the content of the CAN protocol s Identifier Field for t
65. 9 Field in the frame Size in the frame Description Byte swap Specifies whether the output data bytes to be transmitted to the Modbus slave must be swapped before being placed in the Modbus frame or not The three possible values are as follows No swapping Default configuration The data is sent in the same order as they appear in the gateway s memory Swap 2 bytes The bytes to be transmitted are swapped two by two For an item of 16 bit data the most significant byte is placed first in the Modbus frame whereas it is always written into the gateway s memory by a DeviceNet master with the least significant byte first Swap 4 bytes The bytes to be transmitted are swapped four by four This is rarely used as it only relates to 32 bit data The principle is similar to that of the previous case Swap 2 bytes NOTE With DeviceNet use Swap 2 bytes For example we will be using the Swap 2 bytes value because the two bytes of the value to be written into the ATS48 s CMD register as transmitted by the SLC500 PLC are placed into the gateway s memory in least significant most significant order Checksum 2 bytes Error check type Type of error check for the frame CRC Default method This is the method adopted for the Modbus RTU protocol It cannot be changed Error check start byte Indicates the number of the byte in the frame from which the calculatio
66. A new node is added after all the other configured nodes By default its name is New Node b Select one of the nodes located under the Sub network element then choose Insert New Node from the menu whose name corresponds to the name of the selected node A new node is added just before the selected node By default its name is New Node All of the steps in configuring the new node are described in chapter 6 11 Copying a previously configured Modbus slave Select the node corresponding to the slave whose configuration you want to copy then choose Copy from the menu whose name corresponds to the name of the selected node Keyboard shortcut Ctrl C Then use one of the two methods shown below a Select Sub Network then choose Paste from the Sub Network menu A new node is added after all the other configured nodes Its name and its whole configuration are identical to that of the node you copied Keyboard shortcut Ctrl V b Select one of the Sub Network nodes then choose Insert from the menu whose name corresponds to the selected node A new node is added just before the one which is selected Its name and the whole of its configuration are identical to that of the node you copied 6 Configuring the Gateway 56 1744088 03 2009 As the new node and the original node are identical in every way you will need to change 1 the name of the node 2 the address of the corre
67. ABC LUFP element and clicking on Disconnect in the popup menu that appears or selecting the ABC LUFP element and choosing Disconnect in the ABC LUFP menu or clicking on the button The rightmost part of the status bar of ABC LUFP Config Tool displays its current connection mode On line mode the left LED is green Off line mode the right LED is red In On line mode ABC LUFP Config Tool periodically polls the gateway in order to detect if the gateway has been 6 Configuring the Gateway 50 1744088 03 2009 disconnected When an unwanted disconnection does occur ABC LUFP Config Tool goes to Off line mode the red LED is displayed and automatically retries to connect itself to the gateway The Searching for ABC LUFP window is visible for the whole duration of this search If the search fails ABC LUFP Config Tool asks the user No Module was found retry Should the user select the Cancel button ABC LUFP Config Tool remains in Off line mode Should he select the Retry button ABC LUFP Config Tool resumes the search for an ABC LUFP gateway 6 4 Importing the Gateway Configuration Before you can make any changes to the gateway configuration you will first need to import its current configuration If you already have this configuration on your hard disk all you will need to do is open the file corresponding to this configuration
68. B 0xxx LSB 0x xx O 1 2 Value of the motor starter command register O 1 3 Value of the motor starter command register O 1 4 Value of the motor starter command register O 1 5 Free memory location O 1 6 Value of the motor starter command register O 1 7 Value of the motor starter command register O 1 8 Value of the motor starter command register Periodic communications Controlling TeSys U motor starters O 1 9 Value of the motor starter command register O 1 10 Slave no 0x01 0x08 Function no 0x03 Address of the parameter to be read O 1 11 MSB 0xxx LSB 0x xx Number of parameters to be read Aperiodic communications Reading the value of a motor starter parameter QUERY O 1 12 MSB 0x00 LSB 0x 01 O 1 13 Slave no 0x01 0x08 Function no 0x06 Address of the parameter to be written O 1 14 MSB 0xxx LSB 0x xx Value of the parameter to be written Aperiodic communications Writing the value of a motor starter parameter QUERY O 1 15 MSB 0xxx LSB 0x xx Aperiodic communications Trigger bytes for the queries O 1 16 Read parameter query counter Write parameter query counter O 1 17 Value of the Command Register Periodic communications Monitoring of TeSys U motor starter O 1 18 Value of the 2nd Command Register 9 Transferring the DeviceNet scanner configuration Following the ch
69. Byte swap Swap 2 bytes Data length Value of the Byte count field Data location Address in the gateway s output memory Checksum CRC16 Response Starting Register Address Address of the 1st register Number of Registers Number of registers Checksum CRC16 Modbus Protocol Exception Responses When it cannot process a command dictated by a Modbus query a slave sends an exception response instead of the normal response to the query WARNING UNATTENDED OPERATION OF THE SYSTEM With standard Modbus commands the LUFP9 gateway considers that all exception responses which it receives from Modbus slaves are incorrect responses As a result it will carry out the re transmissions configured for the queries involved If you want the software application for your DeviceNet master to be able to specifically manage exception responses you can replace the Modbus command in ABC LUFP Config Tool with a personalized command see chapter 6 12 3 2 This then allows you to feed back the Slave Address and Function fields to the DeviceNet master Failure to follow this instruction can result in death serious injury or equipment damage The structure of an exception response is independent of the Modbus command associated with the Function field of the query involved The whole frame of an exception response is shown below Slave Address Modbus address 1 to 247 addresses 65 126 and 127 reserved
70. Certified as complying with European standards unless otherwise stated Electromagnetic compatibility EMC Transmission Complies with the EN 50 081 2 1993 industrial environment standard Tested according to class A radiation under the EN 55011 1990 standard Electromagnetic compatibility EMC Immunity Complies with the EN 50 082 2 1995 and EN 61 000 6 2 1999 industrial environment standard Tested according to the EN 50 204 1995 EN 61000 4 2 1995 EN 61000 4 3 1996 EN 61000 4 4 1995 EN 61000 4 5 1995 and EN 61000 4 6 1996 standards Communication Characteristics Upstream network DeviceNet Downstream network Modbus RTU DeviceNet characteristics Network topology Multipoint linear topology bus with suitable line terminations impedance of 121 1 W Physical media Four types of specific DeviceNet cables with built in 24V PSU Thick double twisted pair cylindrical cable Flat cable Thin double twisted pair cylindrical cable KwikLink cable Communication speed 125 250 or 500 kbits s Total maximum length of the network 500 m 1 640 ft at 125 kbits s 250 m 820 ft at 250 kbits s 100 m 328 ft at 500 kbits s Maximum number of subscribers 64 Transactions Up to 8 bytes of data per frame Possibility of connecting or disconnecting a subscriber without affecting communications between other subscribers Appendix A Technical Characteristics 104 1744088 03 2009
71. DeviceNet scanner input table and to the gateway command word coming from the output table These 2 words must be managed in the PLC application in order to detect if a Modbus slave is missing DeviceNet scanner response The DeviceNet scanner must be configured to access the gateway status and command words in order to provide Modbus diagnostic information LUFP9 gateway response With the gateway s default configuration Timeout time 300 ms Retries 3 Reconnect time 10 sec and Offline option for sub network Clear After sending a request to a slave if there is no response after 300 ms the gateway will send it again three times before giving the information about the slave missing in the gateway status word Data sent to the DeviceNet scanner Read requests is set to 0 The gateway will try to reconnect the slave missing with the same sequence every 10 seconds Tesys U response If the LUFP9 gateway is disconnected on Modbus side The starters controllers do not receive any requests depending on their configuration they will stop the motor keep the same state or run the motor Refer to the Tesys U user manuals to adjust the fallback position In case of a Tesys U failure No response is sent to the gateway the motor state will be undetermined This case must be managed in the PLC applcation 4 Software Implementation of the Gateway 1744088 03 2009 31 4 2 Configuring the Gateway in RSNetWorx The DeviceNet master
72. Introduction 6 1 1 Introduction to the User s Manual 6 1 2 Introduction to the LUFP9 Gateway 8 1 3 Terminology 8 1 4 Introduction to the Communication System Architecture 9 1 5 Principle of Gateway Configuration and Operation 10 2 Hardware Implementation of the LUFP9 Gateway 12 2 1 On Receipt 12 2 2 Introduction to the LUFP9 Gateway 12 2 3 Mounting the Gateway on a DIN Rail 13 2 4 Powering the Gateway 14 2 5 Connecting the Gateway to the Modbus Network 14 2 5 1 Examples of Modbus Connection Topologies 15 2 5 2 Pin outs 17 2 5 3 Wiring Recommendations for the Modbus Network 18 2 6 Connecting the LUFP9 Gateway to the DeviceNet Network 20 2 7 Configuring DeviceNet Communication Features 21 2 7 1 Encoding DeviceNet Speed 21 2 7 2 Encoding the Gateway Address
73. Net Selector DeviceNet x x 0 0 0 0 0 0 0 x x 0 1 0 1 1 0 22 x x 1 0 1 1 0 0 44 x x 0 0 0 0 0 1 1 x x 0 1 0 1 1 1 23 x x 1 0 1 1 0 1 45 x x 0 0 0 0 1 0 2 x x 0 1 1 0 0 0 24 x x 1 0 1 1 1 0 46 x x 0 0 0 0 1 1 3 x x 0 1 1 0 0 1 25 x x 1 0 1 1 1 1 47 x x 0 0 0 1 0 0 4 x x 0 1 1 0 1 0 26 x x 1 1 0 0 0 0 48 x x 0 0 0 1 0 1 5 x x 0 1 1 0 1 1 27 x x 1 1 0 0 0 1 49 x x 0 0 0 1 1 0 6 x x 0 1 1 1 0 0 28 x x 1 1 0 0 1 0 50 x x 0 0 0 1 1 1 7 x x 0 1 1 1 0 1 29 x x 1 1 0 0 1 1 51 x x 0 0 1 0 0 0 8 x x 0 1 1 1 1 0 30 x x 1 1 0 1 0 0 52 x x 0 0 1 0 0 1 9 x x 0 1 1 1 1 1 31 x x 1 1 0 1 0 1 53 x x 0 0 1 0 1 0 10 x x 1 0 0 0 0 0 32 x x 1 1 0 1 1 0 54 x x 0 0 1 0 1 1 11 x x 1 0 0 0 0 1 33 x x 1 1 0 1 1 1 55 x x 0 0 1 1 0 0 12 x x 1 0 0 0 1 0 34 x x 1 1 1 0 0 0 56 x x 0 0 1 1 0 1 13 x x 1 0 0 0 1 1 35 x x 1 1 1 0 0 1 57 x x 0 0 1 1 1 0 14 x x 1 0 0 1 0 0 36 x x 1 1 1 0 1 0 58 x x 0 0 1 1 1 1 15 x x 1 0 0 1 0 1 37 x x 1 1 1 0 1 1 59 x x 0 1 0 0 0 0 16 x x 1 0 0 1 1 0 38 x x 1 1 1 1 0 0 60 x x 0 1 0 0 0 1 17 x x 1 0 0 1 1 1 39 x x 1 1 1 1 0 1 61 x x 0 1 0 0 1 0 18 x x 1 0 1 0 0 0 40 x x 1 1 1 1 1 0 62 x x 0 1 0 0 1 1 19 x x 1 0 1 0 0 1 41 x x 1 1 1 1 1 1 63 x x 0 1 0 1 0 0 20 x x 1 0 1 0 1 0 42 x x 0 1 0 1 0 1 21 x x 1 0 1 0 1 1 43 2 7 3 Sample Gateway Configurations Speed 250 kbits s Address 12 Speed 500 kbits
74. PAR_ADRPAR Result of writing the value of a parameter Address of the parameter The value of this field is compared to that of the query swapping of the MSB and the LSB with each of these two fields I 1 15 CR_WRPAR_VALUE Result of writing the value of a parameter Value of the written parameter The value of this field is compared to that of the query swapping of the MSB and the LSB with each of these two fields N7 12 WR_SLAVE User command Modbus address of the motor starter to which the write request should be sent N7 13 WR_ADDRESS User command Address of the parameter NOTE Do not attempt to change the value of register 704 command register because it is already controlled by the DeviceNet master see sub program LAD 3 CMD_MON N7 14 WR_VALUE User command New value of the parameter N7 15 WR_INDEX Index in the array of results for writing TeSys U parameters motor starters nos 1 to 8 Value 16 2 motor starter no 1 16 to 30 N7 N7 15 WR_INDEX Array of results for writing TeSys U parameters motor starters nos 1 to 8 Elements N7 16 to N7 31 organized by parameter address parameter value pairs each pair occupying two successive addresses Parameter value 1 if there is an error response timeout triggered N7 37 Local counter that corresponds to the trigger byte of the read request N9 0 N9 1 VAR_TEMP_1 VAR_TEMP_2 Temporar
75. RESS Decimal O 1 14 WRPAR_ADRPAR Hexadecimal N7 17 WRPAR_1_VALUE Decimal O 1 15 WRPAR_VALUE Hexadecimal N7 18 WRPAR_2_ADDRESS Decimal I 1 13 CR_WRPAR_SLAVE_FCT Hexadecimal N7 19 WRPAR_2_VALUE Decimal I 1 14 CR_WRPAR_ADRPAR Hexadecimal N7 20 WRPAR_3_ADDRESS Decimal I 1 15 CR_WRPAR_VALUE Hexadecimal N7 21 WRPAR_3_VALUE Decimal I 1 16 TRIGGER_IN_RD_WR Hexadecimal N7 22 WRPAR_4_ADDRESS Decimal O 1 16 TRIGGER_OUT_RD_WR Hexadecimal N7 23 WRPAR_4_VALUE Decimal N7 37 Hexadecimal N7 24 WRPAR_5_ADDRESS Decimal B3 0 6 Binary Restrictions relating to the RSLogix 500 example This example is not perfect For instance with an incorrect response wrong slave number function number etc the program performs no particular processing and continues to wait for a response until it times out even though the gateway has not re transmitted anything because from its point of view the response is correct In fact as the whole content of the Modbus response is placed in a Data field it will not be checked before being copied into the gateway s memory Only the frame s Checksum is checked by the gateway The two trigger bytes located in the input word I 1 16 are not used You should use them if it is relevant for your application to be notified each time a response related to the two personalized commands Transactions 1 and Transactions 2 is received by the gatew
76. Response for the Preset Multiple Registers command Modbus command for writing values of a number of registers Start by selecting N of Registers from the Query then change its value as shown below ABC LUFP Config Tool will automatically convert any value entered in decimal to hexadecimal Do the same for the N of Registers element of the Response because the gateway checks the value of this field when it receives each Modbus response If the value does not correspond to that of the query the gateway will ignore the response 6 Configuring the Gateway 64 1744088 03 2009 2 Changing the number of data bytes in the Modbus query The number of bytes written into the memory of the TeSys U n 4 motor starter memory increases from 2 to 4 as the number of registers controlled has increased from 1 to 2 Select the Byte count element from the Query and change its value as shown below ABC LUFP Config Tool will automatically convert any value entered in decimal to hexadecimal 3 Changing the location of the Modbus data transmitted into the gateway s memory As the number of bytes written see previous step has increased from 2 to 4 the Modbus data to be transmitted to the TeSys U n 4 motor starter must be placed at a different location in the gateway s memory and the size of the memory occupied must also be adjusted appropriately If you are not certain how much of the gateway s me
77. TeSys U LUFP9 DeviceNet Modbus RTU Gateway User s Manual 03 2009 www schneider electric com 1744088 2 1744088 03 2009 Schneider Electric assumes no responsibility for any errors that may appear in this document If you have any suggestions for improvements or amendments or have found errors in this publication please notify us No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Schneider Electric All pertinent state regional and local safety regulations must be observed when installing and using this product For reasons of safety and to help ensure compliance with documented system data only the manufacturer should perform repairs to components When devices are used for applications with technical safety requirements the relevant instructions must be followed Failure to use Schneider Electric software or approved software with our hardware products may result in injury harm or improper operating results Failure to observe this information can result in injury or equipment damage 2009 Schneider Electric All rights reserved 3 1744088 03 2009 Table of Contents Table of Contents 3 Safety Information 4 About the Book 5 1
78. The Stop Start Node commands can be particularly useful when used to isolate one or more nodes in order to investigate Modbus communication problems Command menu The Select Command command opens a Select Command window that enables the user to select a Modbus command see chapter 6 12 2 Once selected the Query and Response frames of this command will be displayed in the upper part of the Monitor window The user can then edit the value associated with each field of the Query frame before sending the command with the Send Command command see below The Send Command command triggers the emission of the Query displayed in the upper part of the Monitor window As soon as a Modbus Response will be received by the gateway ABC LUFP Config Tool will display its contents in the upper part of the Monitor window Columns menu The Free choice configures the three monitoring columns In Area Out Area and General Area to automatically adjust their width on a 1 byte unit 1 byte 2 bytes 3 bytes etc each time the user modifies the width of the Monitor window The 8 Multiple choice configures the three monitoring columns to automatically adjust their width on an 8 byte unit 8 or 16 bytes each time the user modifies the width of the Monitor window View menu The Hex choice configures the three monitoring columns to di
79. UFP gateways including the latest version of ABC LUFP Config Tool 6 Configuring the Gateway 100 1744088 03 2009 6 13 3 Sub Network Element The five commands accessible from the Sub Network menu are Paste Appends a copy of the last copied node after a Copy command on an existing node or a replica of the cut node after a Cut command to the list of nodes of the Sub Network element This command is only available if a node has been previously copied or cut and only if the 8 nodes limit has not been reached yet Sub Network Monitor Allows you to view the correspondence between the data from Modbus commands and the content of the gateway s memory Examples of how to use this command are shown in chapters 6 9 3 6 9 4 and 6 10 Add Node Allows you to add a new node on the downstream Modbus network Each node corresponds to a different Modbus slave This command is not available if there are already 8 Modbus slaves which is the case with the gateway s default configuration Add Broadcaster Allows you to add a broadcaster node see chapter 6 14 Load Node Allows you to add a pre configured node on the downstream Modbus network The configuration for this node is contained in an XML file see the section on Importing Exporting a Modbus slave configuration in chapter 6 8 This command is not available if there are already 8 Modbus slaves whic
80. U_5 Binary N7 33 CMD_REVERSE Binary O 1 6 CMD_TESYS_U_5 Binary N7 34 MON_FAULTY_DEV Binary I 1 7 MON_TESYS_U_6 Binary N7 35 CMD_RESET Binary O 1 7 CMD_TESYS_U_6 Binary I 1 2 MON_TESYS_U_1 Binary I 1 8 MON_TESYS_U_7 Binary O 1 2 CMD_TESYS_U_1 Binary O 1 8 CMD_TESYS_U_7 Binary I 1 3 MON_TESYS_U_2 Binary I 1 9 MON_TESYS_U_8 Binary O 1 3 CMD_TESYS_U_2 Binary O 1 9 CMD_TESYS_U_8 Binary Appendix C Practical Example RSLogix 500 1744088 03 2009 113 Sub Program for Reading a Parameter in all TeSys U Motor Starters LAD 4 RD_PAR The role of this sub program is to read the value of a single parameter on all TeSys U motor starters As they are read the results are placed into an array starting at N7 4 motor starter no 1 and ending at N7 11 motor starter no 8 Index N7 2 is used to access these various addresses The processes carried out on this sub program are described below in the order in which they are run If the user changes the number or address of the parameter to be read N7 1 this causes the data used by the sub program to be reinitialized but only if the previous reading process is finished B3 0 0 0 The comparison between N7 1 new address and O 1 11 address in the last command used is made through a scratch variable N9 0 in which the LSB and the MSB of the new address are swapped The initializations are summarised below B3 0 0 1 A paramet
81. WR Hexadecimal N7 7 RDPAR4 Decimal O 1 16 TRIGGER_OUT_RD_WR Hexadecimal N7 8 RDPAR5 Decimal N7 36 Hexadecimal N7 9 RDPAR6 Decimal B3 0 5 Binary Appendix C Practical Example RSLogix 500 1744088 03 2009 115 Sub Program for Writing a Parameter on a Single TeSys U Motor Starter LAD 5 WR_PAR The role of this sub program consists of writing the value of a parameter on a single TeSys U motor starter The user should enter the address of the TeSys U motor starter N7 12 the address of the parameter N7 13 and the value to be assigned to the parameter N7 14 Finally he should activate bit B3 0 2 to activate the writing process This bit is automatically reset by the LAD 5 sub program When the writing process is finished the result of the writing address of the parameter and value of the parameter is copied in an array starting at N7 16 for motor starter no 1 and ending at N7 31 for motor starter no 8 using variable N7 15 as an index Two successive cells of this array are used for each motor starter The first receives the parameter s address and the second its value The processes carried out by this sub program are described below in the order in which they are run The sub program goes into standby mode The rest of the sub program is not run until the user has activated bit B3 0 2 This allows the user to enter the values of data N7 12 13 and 14 one after another beforeha
82. a in the gateway s memory Freeze All data sent to the DeviceNet master for this Response retain their current values the input data in the gateway s memory is frozen Trigger byte This element is used by the gateway to activate the unitary incrementation of an 8 bit counter in order to notify the DeviceNet master of the receipt of a new response to the associated Modbus command It takes one of the following two values Disabled Default configuration The gateway does not increment any counter on receipt of the Modbus response Enabled Each time that the gateway receives a new response to the associated Modbus command it increments the value of an 8 bit counter designated by the Trigger byte address element see below This change in the value of the Trigger Byte Address can be used to notify the DeviceNet master that Modbus Response data is ready to be polled Trigger byte address This element is only used by the gateway if the element Trigger byte is set to Enabled In this case it specifies the address in the gateway s input memory 0x0002 to 0x01FF of an 8 bit counter managed by the gateway When the gateway receives a response to the associated Modbus command it increments the value of this counter in a unitary manner value value 1 So the DeviceNet master must have access to this counter in the same way as for the periodic input reg
83. affect the communication over the whole DeviceNet network leading to the bus saturation and to the non transmission of data from other slaves Failure to follow this instruction can result in death serious injury or equipment damage Appendix D DeviceNet Objects 1744088 03 2009 125 Attributes of class 0x05 ID Access Name Need Type Value Description 0x01 Get Revision Optional UINT 1 Revision index of the Connection Object class 0x64 Get Set Polled production Optional USINT 0 Index of the input area used by the gateway for production on its Polled Command Response connection 0x65 Get Set Polled consumption Optional USINT 0 Index of the output area used by the gateway for consumption on its Polled Command Response connection 0x66 Get Set Strobed production Optional USINT 0 Index of the input area used by the gateway for production on its Bit Strobed Command Response connection 0x67 Get Set Strobed consumption Optional USINT 0 Index of the output area used by the gateway for consumption on its Bit Strobed Command Response connection 0x68 Get Set COS production Optional USINT 0 Index of the input area used by the gateway for production on its Bit Strobed Command Response connection Services in class 0x05 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of o
84. alue of parameter no 7 Input1 length should have changed from 32 bytes to 48 bytes NOTE You shall make sure the values of the displayed parameters are the same as the exchange sizes displayed in the Sub network Monitor In the current example In Area 48 bytes implies that the Input1 area begins at offset 0 physical address 0x0000 and that its length is equal to 48 bytes Also Out Area 32 bytes implies that the Output1 area begins at offset 0 physical address 0x0200 and that its length is equal to 32 bytes 6 Configuring the Gateway 62 1744088 03 2009 7 Changing the amount of data received by the DeviceNet scanner Still in RSNetWorx change the value for the amount of periodic data received by the DeviceNet scanner see chapter 4 2 5 Change the value of the Rx Size field from 32 to 48 in the Polled section 8 Configuring the DeviceNet master PLC inputs In RSNetWorx establish a new correspondence between the data from the gateway and the PLC inputs according to the requirements of your application see chapter 4 2 6 The various possibilities offered by RSNetWorx for establishing a correspondence between the data from a DeviceNet subscriber and the PLC inputs will not be covered here Please see the documentation for this software application to find out more about this step in setting up a DeviceNet master PLC In this guide we will be using the AutoMap
85. anges made to the list of DeviceNet scanner exchanges it needs to be transferred to the DeviceNet scanner Please see chapter 4 2 8 6 Configuring the Gateway 68 1744088 03 2009 6 10 Deleting Aperiodic Parameter Data If your PLC application does not need the aperiodic service for reading writing parameter data on Modbus slaves you can delete the associated commands If you also intend to add Modbus data and therefore use new locations in the gateway s memory it is preferable to delete the aperiodic commands from the start so that you can reuse the memory locations On the other hand if the only configuration operation you wish to carry out on the LUFP9 gateway consists of not using the aperiodic service for parameter data you can simply not use this service in RSNetWorx Go straight on to step 8 If you decide to delete the aperiodic commands you will need to carry out the following operations 1 Displaying parameter data commands Select the very first node of the downstream Modbus network TeSys U n 1 and expand the tree structure showing its commands and transactions The screen should look like the one below 2 Deleting the read command for a parameter Select the personalized Transactions 1 command and delete it with the Del key or Delete from the menu whose name corresponds to the name of the selected node A request for confirmation appears asking you whether or not to proceed deleting the Tran
86. ansactions configured in the Query and Response elements of just one of the Modbus slaves plus the content of the gateway s two reserved registers located at memory addresses 0x0000 0x0001 gateway status word and 0x0200 0x0201 DeviceNet master command word To monitor the content of the gateway s memory start by selecting the node corresponding to the Modbus slave whose data you wish to view then choose Monitor from the menu whose name corresponds to the name of the previously selected node A monitoring window then appears The sample window shown at the top of the next page corresponds to a view of the contents of the memory exchanged using the gateway s default configuration with the TeSys U n 1 motor starter 6 Configuring the Gateway 52 1744088 03 2009 The upper part of this window allows you to choose a Modbus command to edit its contents then to send it to the Modbus network Command menu The response will then be displayed in this same part Please see chapter 2 10 Node monitor in the ABC LUFP Config Tool user manual entitled AnyBus Communicator User Manual for further information about how to use this window The lower part of this window allows you to view the content of the gateway s memory but only the bytes used in queries and responses frames for commands and transactions configured for the selected node The values of the gateway s two reserved words addresses 0x0000 0x0001
87. as a template use one of the two methods shown below a Select Sub Network then choose Load Node from the Sub Network menu A dialog box asks you to choose a file containing a Modbus slave configuration import in XML format A new node is added after all the other configured nodes Its name and its whole configuration are identical to those of the Modbus slave as it was configured when it was saved b Select one of the Sub Network nodes then choose Insert from File from the menu whose name corresponds to the name of the selected node A new node is added just before the selected node Its name and its whole configuration are identical to those of the Modbus slave as it was configured when it was saved You will then change 1 the name of the node 2 the address of the corresponding Modbus slave and 3 the location of the data exchanged between the gateway s memory and this Modbus slave See chapter 6 11 and chapter 6 12 WARNING DUPLICATE MODBUS ADDRESSES OR GATEWAY MEMORY RANGES If the user chooses to add a Modbus slave by copying the configuration of an existing Modbus slave the user must change the added device s Modbus address and the memory locations it uses to exchange data with the gateway Duplicated Modbus addresses or gateway memory locations may result in communications errors incorrect information being written to a slave s registers or in writing the registers of an unintended device A
88. as those consisting of changing the default commands For the Read Holding Registers command please see chapter 6 9 1 and chapter 6 9 3 For the Preset Multiple Regs command please see chapter 6 9 2 and chapter 6 9 4 6 12 2 With a Generic Modbus Slave In this chapter we will add and configure Modbus commands differing from the LUFP9 defaults Please see Appendix E Modbus Commands for a list of the Modbus functions supported by the LUFP9 gateway If you need to use a command which is not supported by the gateway you can configure one A command of this sort is included in a specific element called Transactions or becomes a new Modbus command in its own right Please see the next paragraph for further details on this subject For our example we will use an Altistart starter the ATS48 and a Modbus command recognized both by the gateway and the ATS48 This is the Preset Single Register command whose function code is 6 and which allows you to write the value of a unique output word This function will be used to periodically write the value of the ATS48 s CMD command register located at address W400 address 400 0x0190 Since the gateway s default configuration already has 8 Modbus slaves you will need to delete one of them such as the TeSys U n 2 node for example and to add a new node in its place see chapter 6 7 and chapter 6 8 NOTE We strongly advise you not to delete the TeSys U n 1
89. ateway response If the scanner stops to communicate with the gateway periodic Modbus exchanges continue to run with output memory associated forced to 0 input memory continues to be refreshed aperiodic Modbus exchanges are stopped If the scanner forces DeviceNet outputs to 0 and refreshes the inputs periodic Modbus exchanges continue to run with outputs set to 0 input memory continues to be refreshed aperiodic Modbus exchanges are stopped If the scanner holds DeviceNet outputs and refreshes the inputs periodic Modbus exchanges continue to run with output memory associated held in their last position input memory continues to be refreshed aperiodic Modbus exchanges are stopped Tesys U response If the scanner stops to communicate or forces the outputs to 0 periodic Modbus exchanges continue to run Command registers are set to 0 and motors are stopped Status register are transmitted to the gateway aperiodic Modbus exchanges are stopped If the scanner holds DeviceNet output words and refreshes the inputs words periodic Modbus exchanges continues to run Command registers hold their last values and motors stays in the same state Status register data is transmitted to the gateway aperiodic Modbus exchanges are stopped 4 Software Implementation of the Gateway 1744088 03 2009 29 DeviceNet scanner stopped or on failure PLC processor response The PLC processor provides some error and or diagnostic objects to th
90. ation 37 4 2 9 Developing a DeviceNet Application 37 4 3 Description of Services Assigned to Gateway I O 37 5 Gateway Initialization and Diagnostics 39 5 1 Full Management 39 5 1 1 DeviceNet Master Command Word 39 5 1 2 Gateway Status Word 40 5 2 Diagnostic and Control 40 5 2 1 DeviceNet Master Command Word 40 5 2 2 Gateway Status Word 41 5 3 Simplified Operation 41 5 4 Description of the DeviceNet Master Command Word 42 5 5 Description of the Gateway Status Word 45 6 Configuring the Gateway 47 6 1 Connecting the Gateway to the Configuration PC 47 6 1 1 Pin Outs 48 6 1 2 RS 232 link protocol 48 6 2 Installing ABC LUFP Config Tool 49 6 3 Connecting to Disconnecting from the Gateway 49 6 4 Importing the Gateway Configuration 50
91. ay Compatibility with the various options offered for the Control Status Byte field in ABC see chapter 5 is only partially dealt with in this example The improvements required relate mainly to managing bits 14 and 15 of the DeviceNet master s command word and the gateway s status word bits 6 and 7 of the corresponding input I 1 1 and output O 1 1 Also the use of gateway diagnostics EC and ED fields still needs to be defined by the user 118 1744088 03 2009 Appendix D DeviceNet Objects Introduction to the Gateway s DeviceNet Objects The LUFP9 gateway s software has been developed in accordance with the Object Modelling from the DeviceNet protocol This model leads to a method used for addressing the gateway s data known as Attributes made up of four separate values the node address MAC ID the Object s class identifier Class ID the Instance Number Instance ID and the Attribute Number Attribute ID An address made up in this way is known as a Path The Connection by Explicit Messaging for example uses paths of this sort to exchange data from one point to another on a DeviceNet network Address Min max Description Node 0 00 063 This field allows you to address one subscriber out of the series of subscribers on a DeviceNet network using its MAC ID Class 1 65 535 All objects sharing the same characteristics belong to the same class characterized by its Class ID Instance
92. ay activates this bit to tell the DeviceNet master that all Modbus data located in its input memory area has been updated at least once since the last activation of FB_DU ABC_DU means ABC Data Updated This Modbus input data includes every data in responses from all Modbus slaves for both periodic commands and aperiodic commands This bit is deactivated by the gateway when the FB_DU bit is deactivated that is to say when the DeviceNet master demands a shutdown of Modbus exchanges NOTE Once it is active this bit is not deactivated if there are any communication errors with the Modbus slaves To signal this type of error the gateway uses bit 12 of its status word 12 Periodicity of Modbus exchanges The gateway activates this bit provided that it is periodically communicating with all of the Modbus slaves It deactivates it as soon as it loses communication with one of them The Reconnect time 10ms Retries and Timeout time 10ms elements of each of the Modbus queries see chapter 6 12 2 2 are used to determine whether communication is lost then restored NOTE If a number of periodic exchanges are configured for the same Modbus slave only one of them needs to remain active for the periodic communications with this slave to be declared active 8 11 EC Error code associated with the Modbus network Code for the error detected on the Modbus network by the gateway and transmitted to the DeviceNet master
93. ber of registers Select this element then change its value as shown below You can enter the address of the parameter in decimal format ABC LUFP Config Tool will automatically convert it to hexadecimal This operation in no way changes the configuration of the gateway s memory because we do not need to change the values of the Data length and Data location fields of the Data element of the Response to the aforementioned command So no additional operations will be necessary either in ABC LUFP Config Tool or in RSNetWorx On the other hand the DeviceNet master PLC software will have to take account of the change in the nature of the corresponding input In the Appendix B Input Data Memory Area the description of the word located at address 0x0006 becomes value of the motor starter 1st default register This word corresponds to the PLC input word I 1 4 see chapter 4 2 6 6 Configuring the Gateway 58 1744088 03 2009 6 9 2 Replacing a Periodic Output Data Element We will use the node corresponding to TeSys U n 6 motor starter for our example We are trying to replace the control of the Command Register address 704 0x02C0 with the control of the 2nd Command Register address 705 0x02C1 The operation consists of changing the value of the Starting register address element in the Query and in the Response for the Preset Multiple Registers command Modbus co
94. between the PLC and the gateway via a periodic connection known as polled 6 and 7 offset and size of the input data area in the gateway s input memory and 18 and 19 offset and size of the output data area in the gateway s output memory The value of each offset type parameter refers to an offset from the start of the gateway s input data memory area NOTE Only monitoring of the Input1 and Output1 areas is discussed in this manual The monitoring of Input2 to Input6 and Output2 to Output6 is an advanced application and is outside the scope of this manual Contact Schneider Electric support for assistance in monitoring the parameters NOTE If you create or change a configuration using the ABC LUFP Config Tool see chapter 6 confirm that the I O data areas defined in the gateway s memory are appropriate for the new configuration and for communications with the DeviceNet master These I O data areas define all of the bytes exchanged with the Modbus slaves via the Data or Preset Data fields or Variable Data fields for data of variable size of the Modbus frames If you do not take these steps a configuration error may result 4 Software Implementation of the Gateway 34 1744088 03 2009 4 2 5 Configuring the DeviceNet Scanner Double click on the icon which corresponds to the DeviceNet scanner A window then appears allowing you to configure the exchanges carried out by the scanner Select the
95. bus cyclic exchanges management are inactive 5 2 1 DeviceNet Master Command Word B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 CD Control Data CC Control Code Reserved FB_HS_SEND Toggle bit New command from DeviceNet master FB_HS_CONFIRM Toggle bit Diagnostic acknowledgement See the detailed description of each bit in chapter Erreur Source du renvoi introuvable 5 Gateway Initialization and Diagnostics 1744088 03 2009 41 5 2 2 Gateway Status Word B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 EC Error Code ED Error Data ABC_PER Modbus cyclic exchanges will all slaves indication ABC_DU Modbus cyclic exchanges activated ABC_HS_CONFIRM Toggle bit Command acknowledgement ABC_HS_SEND Toggle bit New gateway diagnostic See the detailed description of each bit in chapter 5 5 In the Full management and Diagnostic and Control modes it is important that you configure your DeviceNet master so that it has access to the first two bytes of the gateway s output data area as well as to the first two bytes of the gateway s input data area WARNING MISCONFIGURATION OF LUFP GATEWAY S DATA AREAS Configure your DeviceNet master so that it has access to the first two bytes of the gateway s output data area as well as to the first two bytes of the gateway s input data area Failure to configure access to these bytes can result in an inability to stop Modbus c
96. changes it needs to be transferred to the DeviceNet scanner Please see chapter 4 2 8 6 11 Changing a Modbus slave Configuration Configuring a Modbus slave itself remains very simple because it only involves the name and the Modbus address of the node to which it corresponds On the contrary configuring Modbus commands is much more complicated and is the subject of a separate section see chapter 6 12 You will need to change the configuration of a Modbus slave when you add a new Modbus unit see chapter 6 8 Changing the name of the node which corresponds to a Modbus slave is used to distinguish it from the other nodes when the configuration of its Modbus commands has been changed 6 Configuring the Gateway 1744088 03 2009 71 6 11 1 Changing the Name of a Modbus Slave To carry out this operation all you have to do is select the node which corresponds to the Modbus slave involved Devices section and perform one of the four following actions right click on the node and click on Rename in the popup menu that appears or select the node and click on the node s name or select the node and choose Rename in the menu whose name matches the node s name or use the F2 function key After confirming the new name Enter key or click outside the node s name it will be used to update the menu bar and the status bar of ABC LUFP Config Tool An example is given below The three red frames show
97. cket rate Required UINT 0 unit 1 ms per 10 ms step This attribute defines the periodicity of the exchanges made via the connections of this instance 0x0C Get Set Watchdog timeout action Required USINT 0 This attribute defines the action taken when the watchdog timer is triggered or when the connection is inactive The various possible values are as follows 0 Transition to timed out 1 Auto Delete 2 Auto Reset and 3 Deferred Delete 0x0D Get Set Produced connection path length Required UINT 0 Size of the USINT array of attribute 0x0E produced connection path 0x0E Get Set Produced connection path Required USINT area path This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to produce the connection s data In the case of the current instance the production path for the Change of State Cyclic Producing Connection corresponds to the output area assigned to this connection using the COS production EDS parameter 0x0F Get Set Consumed connection path length Required UINT 4 Size of the USINT array of attribute 0x10 consumed connection path 0x10 Get Set Consumed connection path Required USINT area path This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to receive the data consumed by the connection In the case of the current instance the consumption path for the Chan
98. command to establish a raw correspondence with all of the data from the LUFP9 gateway We then get the correspondence shown below derived from the one used with the gateway s default configuration The changes in relation to the default configuration are shown by a greyed out background like the free memory locations Description Service PLC input Bit 0 Bit 7 Bit 8 Bit 15 LUFP9 gateway status word Managing the downstream Modbus network I 1 1 MSB 0xxx LSB 0x xx I 1 2 Value of the motor starter status register I 1 3 Free memory location I 1 4 Value of the motor starter status register I 1 5 Value of the motor starter status register I 1 6 Value of the motor starter status register I 1 7 Value of the motor starter status register I 1 8 Value of the motor starter status register Periodic communications Monitoring of TeSys U motor starters I 1 9 Value of the motor starter status register I 1 10 Free memory location Slave no 0x01 0x08 I 1 11 Function number 0x03 Number of bytes read 0x02 Value of the parameter read Aperiodic communications Reading the value of a motor starter parameter RESPONSE I 1 12 MSB 0xxx LSB 0x xx I 1 13 Slave no 0x01 0x08 Function no 0x06 Address of the parameter written I 1 14 MSB 0xxx LSB 0x xx Value of the parameter written Aperiodic commun
99. connection path Required USINT area path This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to produce the connection s data In the case of the current instance the production path for the Bit Strobed Command Response Connection corresponds to the input area assigned to the Polled Command Response Connection using the Strobed production EDS parameter 0x0F Get Set Consumed connection path length Required UINT 0 Size of the USINT array of attribute 0x10 consumed connection path 0x10 Get Set Consumed connection path Required USINT area path This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to receive the data consumed by the connection In the case of the current instance the consumption path for the Bit Strobed Command Response Connection corresponds to the output area assigned to this connection using the Strobed consumption EDS parameter Attributes of instance 0x04 of class 0x05 Change of State Cyclic Producing Connection ID Access Name Need Type Value 0x01 Get State Required USINT 0 to 4 This attribute represents the status of the Change of State Cyclic Producing Connection object The LUFP9 gateway supports the following values 0 non existent 1 in the process of being configured 3 connection established and 4 timed out Please see figures 5 16 and 7
100. ct has up to four instances Instance ID 0x01 to 0x04 Each of these instances represents one of the two ends of a virtual connection established between two nodes on the DeviceNet network in this case the DeviceNet master node and the gateway node Each instance of this object belongs to one of the two following types of connection Explicit connection allowing Explicit Messages to be sent or implicit connection I O Connections This object is described in chapter 5 4 of volume II of the DeviceNet specifications WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Only one I O Connection must be used at the same time Since only Input1 and Output1 areas are described in this manual and because using more than one I O Connection on the same area is forbidden you must not configure more than one I O connection E g if you configure a Polled connection you must not configure a Strobed or a Change of State Cyclic connection Failure to follow this instruction can result in death serious injury or equipment damage Here is a brief description of the four instances of the LUFP9 gateway s Connection object and then details are given in the rest of this chapter Instance ID Type of connection Connection name 0x01 Explicit Messaging Explicit Connection 0x02 I O Connection Polled Command Response Connection or Change of State Cyclic consuming Connection 0x03 I O Connection Bit Strobed Co
101. do this click on the Download to Scanner button on each of the Module and Scanlist tabs in the DeviceNet scanner properties window If necessary please see the RSNetWorx documentation for further details on this subject 4 2 9 Developing a DeviceNet Application The DeviceNet master PLC used as an example is an SLC500 marketed by Allen Bradley An example of a PLC application developed in RSLogix 500 is shown in Appendix C Practical Example RSLogix 500 This example uses the PLC the gateway and the 8 TeSys U motor starters shown in the Software Implementation of the Gateway 4 3 Description of Services Assigned to Gateway I O Managing the downstream Modbus network Please see Chapter 5 2 for a detailed description of this service The example described in Appendix C Main Program only automatically acknowledges gateway diagnostics that is to say it does not exploit the data from these diagnostics In the case of the gateway s default configuration under ABC LUFP Config Tool the Control Status Byte field of the ABC LUFP element is equal to Enabled but no startup lock Periodic communications inputs The value of each of the 8 words for this service corresponds to the value of the status register of a TeSys U motor starter register located at address 455 Periodic communications outputs The value of each of the 8 words for this service corresponds to the value to be sent to the command re
102. dress 5 Transferring this configuration to the gateway Please see chapter 6 5 Check that the configuration is valid LED GATEWAY flashing green 6 Saving this configuration to your PC s hard disk 7 Checking the gateway setup In RSNetWorx check the values of the gateway parameters see chapter 4 2 4 The value of parameter no 7 Input1 length should have changed from 32 bytes to 18 bytes The value of parameter no 19 Output1 length should have changed from 32 bytes to 18 bytes 8 Changing the amount of data received and the amount of data transmitted by the DeviceNet scanner Still in RSNetWorx change the value for the amount of periodic data received and the amount of periodic data transmitted by the DeviceNet scanner see chapter 4 2 5 In the Polled section change the value of the Rx Size field from 32 to 18 and the value of the Tx Size field from 32 to 18 9 Configuring the DeviceNet master PLC inputs and outputs In RSNetWorx establish a new correspondence between the data from the gateway and the PLC inputs see chapter 4 2 6 Do the same for the correspondence between the data transmitted to the gateway and the PLC outputs see chapter 4 2 7 We then get the two correspondences shown on the next page derived from those used with the gateway s default configuration 6 Configuring the Gateway 70 1744088 03 2009 Description Service PLC input Bit 0
103. dress configured using the selector switches described in chapter 2 7 2 0x02 Get Baud rate Optional USINT 0 to 2 The value of this attribute corresponds to the baud rate of the DeviceNet network as configured on the gateway using the selector switches described in chapter 2 7 1 This speed must be the same for all subscribers on the DeviceNet network The few possible values for this attribute are as follows 0 125 kbits s 1 250 kbits s and 2 500 kbits s 0x03 Get Set Bus off Interrupt BOI Optional BOOL 0x00 or 0x01 This attribute consists of one bit that defines how the gateway processes the bus off interrupt The default 0x01 is for the gateway to reset the CAN controller and to continue communicating upon detection of a BOI 0x00 is for the gateway to hold the CAN chip in its bus off reset state and to enter the Communications Faulted state upon detection of a BOI 0x04 Get Set Bus Off Counter Optional USINT 0 to 255 Number of times the CAN chip went to the bus off state counts the number of bus off interrupts BOI This counter is reset to zero at power up or at device initialization If more than 255 BOI occur this counter remains set to 255 it does not roll over and only a Set_Attribute_Single could change this value from this point on The value of a Set_Attribute_Single is ignored the counter is always reset to zero 0x05 Get Allocation information Required BYTE USINT variable This attribut
104. duct thus allowing him to characterize his own products He uses it to identify each of his products within the same product family device type attribute This allows products with differences in terms of their configurations and or their options to be characterized 0x04 Get Revision Required USINT USINT 1 36 Major and minor indices allowing the Identity Object to be identified The value of each of the two members of this attribute may not be null The conventional representation of the revision indices is major minor with 3 digits for the minor index completed to the left by zeros if necessary The major index is limited to 7 data bits Its 8th bit is reserved and should be set to zero 0x05 Get Status Required WORD 16 bit register This attribute is a summary of the product s general status This is a 16 bit register Bit 0 Allocated to a master Bit 8 Minor recoverable fault predefined master slave connection set Bit 9 Minor unrecoverable fault Bit 1 Reserved value 2 0 Bit 10 Major recoverable fault Bit 2 Configured product Bit 11 Major unrecoverable fault Bits 3 7 Reserved value 2 00000 Bits 12 15 Reserved value 2 0000 0x06 Get Serial number Required UDINT variable The product s serial number is combined with the vendor ID attribute to produce a unique ident
105. e as it avoids leaving any holes in the gateway s memory thus optimising the transfer of all of the data from the DeviceNet master PLC Furthermore the 1747 SDN scanner can only exchange 32 output words with the master PLC Leaving holes of this sort in the gateway s memory is therefore not recommended in cases of large configurations When selecting a value for the Data Location field data must be located at even addresses in order to align the Modbus data in 16 bit format on the O 1 x outputs of the DeviceNet scanner If data is not located at even addresses the values intended for the Modbus registers may be spread over two DeviceNet PLC words This greatly complicates programming of the application as the application may need to parse one PLC word for the Modbus LSB byte and another for the Modbus MSB byte If this complication is not handled properly it is possible to read and write the wrong data values to the Modbus slaves WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The user must use even values for the Data Location field The selection of odd data values complicates application programming and increases the likelihood of improper Modbus values being written to or read from the slave devices Depending on the user s configuration unintended equipment operation may result Failure to follow this instruction can result in death serious injury or equipment damage We will place the 4 bytes of data fr
106. e application in case of DeviceNet scanner stop or failure input output not valid Refer to the PLC user manual to have their description This information must be managed in the PLC application DeviceNet scanner response If the DeviceNet scanner is stopped command coming from the application the scanner stops to communicate with the LUFP9 gateway If the DeviceNet scanner is on failure the scanner stops to communicate with the processor and the LUFP9 gateway LUFP9 gateway response With the gateway default configuration Offline option for fieldbus Periodic Modbus exchanges continue to run with the output memory associated forced to 0 input memory continues to be refreshed aperiodic Modbus exchanges are stopped Tesys U response Periodic Modbus exchanges continue to run Command registers are set to 0 and motors are stopped Status register data is transmitted to the gateway aperiodic Modbus exchanges are stopped LUFP9 gateways disconnected on DeviceNet side PLC response The PLC processor provides some error and diagnostic objects coming from the DeviceNet scanner in case of slave disconnection from the application Refer to the PLC user manual to have their description This information must be managed in the PLC application DeviceNet scanner response The DeviceNet scanner provides the processor with some error and diagnostic objects in case of DeviceNet slave disconnection LUFP9 gateway response With the gateway
107. e default configuration provided by Schneider Electric is intended to provide a good starting point for customers using TeSys U motor starters and to minimize the configuration changes required for most installations The default configuration allows the gateway to be used with a configuration tool for DeviceNet Master PLCs However it is the sole responsibility of the user to ensure the default configuration or any other configuration is safe and appropriate for their facility and intended use 4 1 1 System Architecture The default configuration for an LUFP9 gateway allows it to control monitor and configure 8 TeSys U motor starters DeviceNet upstream network DeviceNet Master PLC SLC500 Total of 8 motor starters TeSys U model LUFP9 Gateway Modbus downstream network Line termination Connection boxes Modbus addresses Please see chapter 2 for the hardware implementation of the default configuration 4 Software Implementation of the Gateway 26 1744088 03 2009 4 1 2 Configuring the Motor Starters Each motor starter should be configured as follows Protocol Modbus RTU slave Start bits 1 Modbus address 1 to 8 Parity None Bitrate 19 200 bits s Parity bit 0 Data bits 8 Stop bits 1 When using a TeSys U motor starter with a Modbus communication module LULC03 the configuration parameters for the RS485 connection are automatically detected only the Modbus address needs to be
108. e gateway diagnostics undesired change to FB_HS_CONFIRM WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Do not write 16 bit data directly to the DeviceNet master command word Writing to this word using a 16 bit format can disrupt the transfer of Gateway diagnostics information to the master Depending on the user s configuration unintended equipment operation may result Instead of using 8 bit or 16 bit writes you should write to the DeviceNet Master Command Word on a bit by bit basis For example to update FB_DU you should only write the value of bit 5 i e O 1 1 5 in the case of the default configuration without modifying the other bits of this word Failure to follow this instruction can result in death serious injury or equipment damage 5 Gateway Initialization and Diagnostics 44 1744088 03 2009 The values of the CC and CD fields are described in the table below CC Description of the command CD Notes 2 00000 No command 2 10000 Disable a node Modbus address of the slave to disable The gateway inhibits all the Modbus exchanges Commands and Transactions configured for the corresponding Modbus slave Note In the case of the LUFP9 default configuration please note that disabling the slave at address 1 i e TeSys U n 1 will also inhibit the two Transactions designed to read write any parameter of any slave 2 10001 Enable a node 1 Modbus address of the slave to enable The
109. e serial COM ports on a PC requires a straight PowerSuite cable and a RS232 RS485 converter These two items are the same as those allowing dialogue with drives and soft start soft stop units using the PowerSuite application and are both available from the catalogue ref VW3 A8 106 Ensure that you use the POWERSUITE cable and the RS232 RS485 PC converter An ATV28 before 09 2001 cable and an ATV 58 converter are also supplied with these items but they should not be used with the LUFP9 gateway RJ45 RJ45 Straight POWERSUITE cable Configuration RS232 COM Female SubD 9 Male SubD 9 LUFP9 gateway Seen from underneath PC RS232 RS485 converter RS485 VW3 A8 106 Once the gateway has been connected to a PC with the PowerSuite cable and the RS232 RS485 converter you can change its configuration using ABC LUFP Config Tool This configurator also allows you to carry out a few diagnostics on the gateway 6 Configuring the Gateway 48 1744088 03 2009 6 1 1 Pin Outs LUFP9 Configuration Female RJ45 Male RJ45 1 1 2 2 3 3 8 RS 485 D B 4 4 D B RS 485 D A 5 5 D A 6 6 10 V 7 7 10 V GND 8 8 0 V Straight POWERSUITE cable RS485 RS232 converter PC COM Male RJ45 Female RJ45 Female 9 point SUB D Male 9 point SUB D 1 1 1 1 2 2 Tx 2 2 RS 232 Rx 3 3 Rx 3 3 RS 232 Tx D
110. e supplies general information about the DeviceNet allocation method currently being used It is made up of the allocation choice in BYTE format and the master s MAC ID in USINT format and whose value is between 0 and 63 If the master s MAC ID is set to 255 which is the case when the gateway is initialized this means that there is no allocation when using the Predefined Master Slave Connections Set Please see chapters 3 4 5 5 4 2 and 7 of volume I of the DeviceNet specifications for further details on this subject Example 0x03 0x00 Services of instance 0x01 of class 0x03 Service code Name of the service Need Description 0x0E Get_Attribute_Single Optional This service allows to read the value of one of the instance attributes 0x4B Allocate Master Slave Connection Set Optional This service allows the master slave connection to be allocated to a DeviceNet master at the latter s request 0x4C Release Master Slave Connection Set Optional This service allows the master slave connection previously allocated to a DeviceNet master to be cleared at the latter s request Appendix D DeviceNet Objects 1744088 03 2009 123 Assembly Objects Class 0x04 As a general rule objects from the Assembly class are used to group attributes data belonging to different objects within a single attribute This allows them to be accessed using a single message With the LUFP9 gateway this class
111. e to follow this instruction can result in death serious injury or equipment damage Offline options for sub network This option affects the data sent to the DeviceNet scanner if there is no response coming from a slave It is defined at the Response level of each command or transaction sent from the different slaves This option can take 2 values Clear All data sent to the DeviceNet scanner is set to 0 Freeze All data sent to the DeviceNet scanner retains its current value With the gateway s default configuration Clear option is selected and Tesys U status registers and aperiodic input data are forced to 0 4 1 4 2 Degraded Mode Description This description takes into account the following elements The PLC processor The DeviceNet scanner The LUFP9 gateway The Tesys U starters controllers 4 Software Implementation of the Gateway 28 1744088 03 2009 PLC processor stopped or on failure PLC processor response Outputs Software error outputs reset to default state or hold their present state depending on configuration Hardware error EEPROM or hardware failure output state will be indeterminate Inputs PLC stops responding to inputs in any error state DeviceNet scanner response Depending on scanner configuration the scanner stops communicating with the LUFP9 gateway or forces DeviceNet outputs to 0 and refreshes the inputs or holds DeviceNet outputs in their last position and refreshes inputs LUFP9 g
112. e up of two files The first of these SLC_Guide_LUFP9 dnt shows the configuration of the DeviceNet scanner in RSNetWorx described in the previous chapters The second SLC_Guide_LUFP9_EN rss is an RSLogix 500 file and so this is the example itself As the configuration of the RSNetWorx file corresponds exactly to that shown in the previous chapters we will not be repeating its content here On the other hand the RSLogix 500 file is described below based on the structure of the sub programs used Main Program LAD 2 MAIN_LUFP9 The role of the main program is to activate the DeviceNet and Modbus communications and to call the other sub programs described in later chapters The processes carried out in the main program are described below in the order in which they are run Validation of the scanner s DeviceNet exchanges by activation of bit O 1 0 0 Activation of the gateway s Modbus communications using bits 13 FB_DU and 14 FB_HS_SEND of the DeviceNet master s command word These two bits correspond to DeviceNet scanner bits O 1 1 5 and O 1 1 6 NOTE This process is only relevant provided that the Control Status Byte option is set to Enabled With the LUFP9 gateway s default configuration Control Status Byte Enabled but no startup lock this process is irrelevant but may still be kept Finally this example should not be used when this option is set to Disabled becaus
113. e words I 1 1 and O 1 1 are no longer reserved for managing the downstream Modbus network Please see chapter 5 for further information on this subject Automatic acknowledgement of the gateway diagnostics by the DeviceNet master All you have to do is copy the value of bit 15 ABC_HS_SEND of the gateway s status word to bit 15 FB_HS_CONFIRM of the DeviceNet master s command word see chapter 5 This automatic acknowledgement is mainly designed not to halt the mechanism for feeding diagnostics back from the gateway to the DeviceNet master Controlling monitoring the TeSys U n 1 motor starter by using sub program U 3 that is to say the LAD 3 CMD_SURV sub program This sub program uses local variables as parameters The word N7 0 is used to index both the output register and the input register used to control and monitor the TeSys U n 1 motor starter So before calling the sub program the value of this word is set to 2 in order to access the words O 1 2 and I 1 2 N7 0 is also used to index one of the bits of each of the registers N7 32 33 34 and 35 registers handled by the user Controlling monitoring motor starter TeSys U n 2 Ditto but setting the value of N7 0 to 3 O 1 3 and I 1 3 Controlling monitoring motor starter TeSys U n 3 Ditto but setting the value of N7 0 to 4 O 1 4 and I 1 4 Controlling monitoring motor starter TeSys U n 4 Ditto but setting the va
114. ect Appendix D DeviceNet Objects 134 1744088 03 2009 I O Data Output Mapping Object Class 0xA1 The I O Data Output Mapping Object has only one instance Instance ID 0x01 and is specific to the LUFP9 gateway It contains all the data from the gateway s unique output area The only attribute Attribute ID 0x01 of the instance from this object is associated with the Output1 area This output area gathers all the memory locations whose values are transmitted to the Modbus slaves via Modbus queries Attributes of class 0xA1 ID Access Name Need Type Value Description 0x01 Get Revision Optional UINT 1 Revision index of I O Data Output Mapping Object class 0x64 Get Set Output1 offset Optional USINT 0x0000 Relative starting address of output area no 1 1 0x6E Get Set Output1 length Optional USINT 0x0020 Size expressed in bytes of output area no 1 1 1 These 2 attributes correspond to the Param18 and Param19 parameters referenced by the EDS file supplied with the gateway Write access to them Access Set is reserved for DeviceNet configuration tools since it allows you to change the location or the size of this output data area So the Set_Attribute_Single service should not be used with these attributes Changing any one of these two attributes has direct consequences on the attribute 0x01 of instance 0x01 from the I O Data Output Mapping Object size of the
115. ed and configured GATEWAY Flashing green Gateway is in running order Configuration OK 3 Signaling 24 1744088 03 2009 1 LED MODBUS becomes red when one or more Modbus slaves fail to respond to the gateway in the expected fashion This can be caused by Loss of communications e g a broken or disconnected cable Writing incorrect values to the outputs corresponding to the two aperiodic read write services see chapter 4 3 NOTE When LED MODBUS is flashing red due to a simple loss of communications the LED will revert to a green state when communications are restored When LED 5 is flashing red due to the use of incorrect values with the aperiodic read write services then the only way to clear the error is to reuse these aperiodic services with correct values NOTE If the LED GATEWAY is flashing following a sequence beginning with one or more red flashes we advise that you note down the order of this sequence and give this information to the Schneider Electric support service In some cases all you need to do is power the gateway off then back on again to solve the problem 25 1744088 03 2009 4 Software Implementation of the Gateway 4 1 Introduction This chapter gives an introduction to a quick implementation of the LUFP9 gateway using its default configuration All LUFP9 gateways ship pre configured NOTE The configuration has been defined for 8 motor starters If you use less than 8 refer to chapter 6 Th
116. ed conductors connect the reference potentials to one another maximum length of line 1 000 meters 3 281 ft maximum length of drop line tap off 20 meters 66 ft do not connect more than 9 stations to a bus slaves and one LUFP9 gateway WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Do not connect more than 9 stations to the Modbus fieldbus gateway and 8 slaves While the gateway may appear to operate correctly with more than 9 devices it is likely one or more devices will only communicate intermittently leading to unpredictable system behavior Failure to follow this instruction can result in death serious injury or equipment damage cable routing keep the bus away from power cables at least 30 cm 11 8 in make crossings at right angles if necessary and connect the cable shielding to the earth ground on each unit adapt the line at both ends using an RC type line terminator see diagram and VW3 A8 306 RC termination below D B D A 120 1 nF 4 5 Line termination recommended at both ends of the line VW3 A8 306 RC line termination WARNING MODBUS TERMINATION USING THE RESISTANCE ONLY METHOD Use only RC Resistance Capacitance Modbus cable terminations with the LUFP9 Gateway The LUFP gateways are designed to support client equipment that will not function correctly without using RC type Modbus cable termination Failure to follow this i
117. elow the value of the ABC_HS_SEND bit is copied to the FB_HS_CONFIRM bit This last step is very important if the system is designed to read the gateway diagnostics and perform some action depending on the result Copying of the value of the ABC_HS_SEND bit to the FB_HS_CONFIRM bit allows the gateway to transmit a future diagnostic preventing the loss of subsequent error information WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The user must ensure the DeviceNet master programming concludes read operations by copying the value of the ABC_HS_SEND bit to the FB_HS_CONFIRM bit If this step is omitted in applications where gateway diagnostics will be read and acted upon future diagnostics information will be blocked Depending on the user s configuration unintended equipment operation may result For example the disappearance of a Modbus slave EC 2 0001 may have perturbing consequences on the communications with the other slaves due to the future reconnection attempts and timeouts with this faulty Modbus slave As a consequence and depending on the needs of your application it may be very important for the DeviceNet master to acknowledge each diagnosis in order to be informed as soon as possible of the disappearance of a slave Thus your application could take measures to react accordingly e g by inhibiting the faulty slave with CC and CD of the Gateway Command Word Failure to follow this instruction can result in death serio
118. ents the maximum number of members which can be placed in the ack list If the value of this attribute is null the size of the list is dynamic which is not the case with the LUFP9 gateway 0x05 Get Ack list Optional BYTE USINT 0 empty list This attribute corresponds to the list of active instances of the Connection Object class for which the receipt of an acknowledgement is required It is made up of two elements The number of members BYTE and the list of the associated instance numbers from the Connection Object class USINT The size of the list is set to the value of the first element By default the list is empty no term of the USINT type and only the BYTE element is created E g 1 4 for a list comprising a single instance of the Connection Object class This instance 0x04 corresponds to the Change of State Cyclic Producing Connection Appendix D DeviceNet Objects 132 1744088 03 2009 ID Access Name Need Type Value 0x06 Get Data with ack path list size Optional BYTE 1 This attribute represents the maximum number of members which can be placed in the data with ack path list If the value of this attribute is null the size of the list is dynamic which is not the case with the LUFP9 gateway 0x07 Get Data with ack path list Optional BYTE UINT USINT USINT data with ack path list This attribute corresponds to the list of con
119. eport re transmission errors several times and then the error A Modbus slave is missing or Several Modbus slaves are missing Later on when the LUFP9 makes a reconnection attempt only the re transmission error will be reported Due to this the indication of the errors A Modbus slave is missing or Several Modbus slaves are missing may be perceived as very brief 47 1744088 03 2009 6 Configuring the Gateway Each part of this chapter describes a separate step allowing the user to personalize the gateway configuration according to his own particular needs Each part gives an introduction to a basic operation isolating it from the rest of the configuration and describing the operations to be carried out using ABC LUFP Config Tool mainly and RSNetWorx where necessary and their implications for the gateway s general behaviour In each case the first two steps are required as they allow you to establish the dialogue between the gateway and the PC software allowing you to configure it that is to say ABC LUFP Config Tool We strongly recommend that you read chapter 4 because all of the operations carried out in ABC LUFP Config Tool or RSNetWorx are based on the principle that we are using the default configuration of the LUFP9 gateway 6 1 Connecting the Gateway to the Configuration PC This step is required when setting up the gateway configuration application ABC LUFP Config Tool Connecting the gateway to one of th
120. eption to this rule because its Byte count field can be used as the length character refer to the examples given at the end of the current chapter NOTE Only one Variable Data field is allowed in any Query or Response of a Transaction The following table describes the properties of any Variable Data field Property Notes Byte swap As for the standard Data field As a reminder the three possible values are as follows No swapping The data is sent in the same order as it appears in the gateway s memory Swap 2 bytes Default configuration for a DeviceNet master The bytes to be transmitted are swapped two by two This is the case which must be used by default Swap 4 bytes The bytes to be transmitted are swapped four by four Data location For a Query Starting address in the gateway s output data memory 0x0202 to 0x02F3 of the data sent by the DeviceNet master and destined to the Modbus slave This data is directly inserted in the Query frame at the position of the current Variable Data field For a Response Starting address in the gateway s input data memory 0x0002 to 0x00F3 of the data sent by the Modbus slave and destined to the DeviceNet master This data is directly retrieved from the Query frame at the position of the current Variable Data field NOTE In both cases the end length character if actually used is part of the data thus it can also be found in the
121. er then updating O 1 16 using N7 37 in LAD 2 MAIN_LUFP9 causes this query to be sent On the other hand the output data O 1 13 to O 1 15 must be valid so that the content of the Modbus query remains coherent The LSB and the MSB of outputs O 1 14 and O 1 15 must be swapped The scratch variable N9 0 is used to carry out this swap between variables N7 13 and N7 14 and outputs O 1 14 and O 1 15 The data from the Modbus response which corresponds to this write command is checked The values of inputs I 1 13 to I 1 15 are compared to those of outputs O 1 13 to O 1 15 to determine whether the response to the command has arrived or not If the slave number the function number the address of the parameter and its value correspond to those of the query see above and the number of bytes of data received is correct bit B3 0 4 is activated in order to tell the rest of the sub program that the response has arrived and that it is correct The address and the value of the parameter are copied into two successive locations in the array of results indexing carried out using N7 15 reserved for the motor starter currently being polled and only takes place if the response has arrived and its content is correct bit B3 0 4 active The LSB and the MSB for each of these two items of data are then swapped to restore its correct value The timer for the response timeout T4 1 is reinitialized to ready the program for a future write command Bit B3
122. er is read on all TeSys U motor starters In progress Reset C5 0 The number of motor starters polled counter is reinitialized Reset T4 0 The timer associated with the timeout for a parameter s read response is reinitialized N7 2 4 Index in the array of results No of the 1st element in the array N7 4 N7 3 1 Address of the Modbus slave polled Address of the first TeSys U motor starter that is to say 1 N7 4 11 0 The contents of the array of results is reset B3 0 5 0 Enables the update of the trigger byte that will trigger the emission of the query The output data corresponding to the read query is updated O 1 10 to O 1 12 and the N7 36 counter trigger byte is increased by one This update is only done once bit B3 0 5 used for this pupose Reminder In the LUFP9 gateway s default configuration this output data corresponds to the personalized Modbus command Transactions 1 of the TeSys U n 1 node The query frame for this personalized command is sent when the trigger byte located in bits 0 7 of O 1 16 is changed Update mode Change of state on trigger As a result increasing the N7 36 counter then updating O 1 16 using N7 36 in LAD 2 MAIN_LUFP9 causes this query to be sent On the other hand the output data O 1 10 to O 1 12 must be valid so t
123. er responding to queries from a DeviceNet client 0x04 Get Set Produced connection ID Required UINT 2 0 xx xxxx The value of this attribute is placed in the CAN protocol s Identifier Field when the connection goes into transmission mode group 1 messages The term xx xxxx represents the 6 bits of the address of the gateway s DeviceNet node The term represents the message ID E g 0x03CA 2 011 1100 1010 group 1 messages ID of the messages 15 Gateway located at address 10 0x05 Get Set Consumed connection ID Required UINT 2 10x xxxx x The value of this attribute corresponds to the content of the CAN protocol s Identifier Field for the messages the connection should receive group 2 messages The term x xxxx x represents the 6 bits of the address of the DeviceNet node The term represents the message ID E g 0x0455 2 100 0101 0101 group 2 messages ID of the messages 5 Producer located at address 10 0x06 Get Initial comm characteristics Required BYTE 0x01 This attribute defines the Group or Groups of Messages by which the productions and consumptions associated with the Polled Command Response Connection object are carried out Please see chapters 3 2 and 5 4 3 6 of volume I of the DeviceNet specifications for further details on this subject 0x07 Get Produced connection size Required UINT size of the input area Maximum
124. es is shown in the diagram below each switch being shown in its factory set position ON 2 3 4 5 6 8 Speed Address MAC ID 1 7 A selector switch is in the 0 state when it is in the OFF position and in the 1 state when it is in the ON position NOTE Any change to the gateway s communication functions will not be effective until the next time that the gateway is powered on 2 7 1 Encoding DeviceNet Speed The gateway s communication speed on the DeviceNet network must be identical to that of the DeviceNet master If not a configuration error will result The factory setting is 500 kbits s This speed value depends on the position of selector switches 1 and 2 Selector switches 1 2 3 4 5 6 7 8 DeviceNet speed 0 0 x x x x x x 125 kbits s 0 1 x x x x x x 250 kbits s 1 0 x x x x x x 500 kbits s ON 2 3 4 5 6 8 Speed Address MAC ID 1 7 1 1 x x x x x x Invalid configuration 2 Hardware Implementation of the LUFP9 Gateway 22 1744088 03 2009 2 7 2 Encoding the Gateway Address The LUFP9 gateway is identified on the DeviceNet bus by its address or MAC ID which is between 0 and 63 ON 2 3 4 5 6 8 Speed Address MAC ID 1 7 The gateway s DeviceNet address depends on the position of selector switches 3 to 8 It corresponds to the binary number given by the ON 1 or OFF 0 position of these 6 selector switches Selector DeviceNet Selector Device
125. etween the T junction box and the slave or the Modbus gateway is an integral part of this box The connections are shown below Modbus LUFP9 gateway VW3 A8 306 TF3 Towards 2 Modbus slaves Line termination Towards 3 Modbus slaves Towards 3 Modbus slaves Line termination 2 Hardware Implementation of the LUFP9 Gateway 1744088 03 2009 17 Bus topology with SCA junction boxes This topology is similar to the previous one except that it uses TSXSCA62 subscriber connectors and or TSXCA50 subscriber connectors We recommend using a VW3 A68 306 connection cable and the TSXCSA 00 Modbus cables Connect the RJ45 connector on the VW3 A68 306 cable to the Modbus connector on the LUFP9 gateway The connections are shown below Modbus LUFP9 gateway VW3 A68 306 TSXSCA62 TSXCSA 00 2 5 2 Pin outs In addition to the pin out for the connector on the gateway the one on the VW3 A68 306 cable is also shown below as it is the only Modbus cable which does not exclusively use RJ45 connections LUFP9 connector VW3 A68 306 cable for TSXSCA62 box Female RJ45 Male RJ45 Male 15 point SUB D 1 1 2 2 3 3 D B 4 D B 4 14 D B D A 5 D A 5 7 D A 6 6 7 7 0 V 8 0 V 8 15 0V 2 Hardware Implementation of the LUFP9 Gateway 18 1744088 03 2009 2 5 3 Wiring Recommendations for the Modbus Network Use a shielded cable with 2 pairs of twist
126. f bytes This size is equal to the value of the previous attribute size of inputs in DPRAM as it only contains input data The values of attributes 0x0F 0x10 and 0x11 are all identical With the LUFP9 gateway s default configuration the value of this attribute is equal to 32 bytes NOTE The gateway s extended internal memory is different from the DPRAM memory dealt with in the rest of this guide As a result when using the gateway you will not have to worry about it 0x12 Get OUT cyclic I O length Optional UINT 0x0020 This attribute indicates the total size of the cyclic output data I O OUT data expressed as a number of bytes This size covers all the gateway s memory space occupied by Modbus output data free locations also being counted With the LUFP9 gateway s default configuration the value of this attribute corresponds to the size of the output area of the gateway that is to say 32 bytes 0x13 Get OUT DPRAM length Optional UINT 0x0020 This attribute indicates the total size of the output data and parameters in the gateway s memory valid OUT bytes in DPRAM expressed as a number of bytes This size covers all of the gateway s memory space occupied by Modbus output data and parameters free locations also being counted Since no output parameters are defined the values of attributes 0x12 and 0x13 are both identical With the LUFP9 gateway s default configuration the value of this attribute is equal to 32 b
127. g from the currently monitored register that is to say TeSys U Status Register address 455 0x01C7 and going as far as the Reserved 2nd Warning Register address 462 0x01CE The number of registers monitored is therefore increased from 1 to 8 In this case there are quite a lot of operations to be carried out They are described in order below 1 Changing the number of registers monitored This step consists of changing the value of Number of registers element of the Query from the Read Holding Registers command Modbus command for reading the values of a number of registers Select this element then change its value as shown below ABC LUFP Config Tool will automatically convert any value entered in decimal to hexadecimal 2 Changing the number of data bytes in the Modbus response The number of bytes read from the TeSys U n 2 motor starter memory increases from 2 to 16 as the number of registers monitored has increased from 1 to 8 Select the Byte count element from the Response and change its value as shown below ABC LUFP Config Tool will automatically convert any value entered in decimal to hexadecimal 6 Configuring the Gateway 60 1744088 03 2009 3 Changing the location of the Modbus data received in the gateway s memory As the number of bytes read see previous step has increased from 2 to 16 the Modbus data received must be placed at a different location in the gateway s
128. gateway activates all the Modbus exchanges Commands and Transactions configured for the corresponding Modbus slave 2 10010 Enable several nodes 1 Number of Modbus slaves to enable The gateway activates all the Modbus exchanges Commands and Transactions configured for the first CD Modbus slaves and inhibits all the Modbus exchanges configured for the rest of the Modbus slaves If CD is equal or greater than the total number of slaves then all slaves are activated Example In the case of the default configuration if CD 5 then the first 5 slaves TeSys U n 1 to TeSys U n 5 will be activated while the 3 remaining slaves TeSys U n 6 to TeSys U n 8 will be inhibited 1 By default all nodes are activated Hence it is not necessary to enable a node that has not been disabled first 5 Gateway Initialization and Diagnostics 1744088 03 2009 45 5 5 Description of the Gateway Status Word The input word located at addresses 0x0000 MSB and 0x0001 LSB in the gateway s input memory constitutes the gateway s status word Its structure is described below Bits Description 15 ABC_HS_SEND New gateway diagnostic See description of bit 15 of the DeviceNet master command word FB_HS_CONFIRM 14 ABC_HS_CONFIRM Acknowledgement bit of a DeviceNet master command See description of bit 14 of the DeviceNet master command word FB_HS_SEND 13 ABC_DU Modbus exchanges activated The gatew
129. ge of State Cyclic Producing Connection designates instance 0x01 of class 0x2B that is to say the only object of the Acknowledge Handler Object class NOTE The EDS file supplied with the gateway does not contain any parameter whose modification would have had any influence on the value of this attribute Appendix D DeviceNet Objects 1744088 03 2009 131 Attributes of instances 0x01 to 0x04 of class 0x05 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of one of the attributes from one of the instances of the Connection Object 0x10 Set_Attribute_Single Optional This service allows to write the value of one of the attributes from one of the instances of the Connection Object Acknowledge Handler Object class 0x2B The Acknowledge Handler object has only one instance Instance ID 0x01 This object is used by connections whose producer needs to know whether its data has been received by its recipient s consumers This object is described in chapter 6 31 of volume II of the DeviceNet specifications Attributes of class 0x2B ID Access Name Need Type Value Description 0x01 Get Revision Optional UINT 1 Revision index of the Acknowledge Handler Object class 0x02 Get Max instance Optional UINT 1 Maximum number of any instance created within the Acknowledge Handler Object class Services in
130. gister for a TeSys U motor starter register located at address 704 Please see Appendix C Controlling Monitoring Sub Program for an example of the simplified use of these periodic communications services Aperiodic communications Please see Appendix C Sub Program for Reading a Parameter and Sub Program for Writing a Parameter for an example of how to use the aperiodic communications services These aperiodic communications services offer functions similar to those of parameter area PKW which can be found on certain Schneider Electric products such as some ATV drives When using 16 bit inputs and outputs for which the order of the LSB and MSB is specified the DeviceNet master uses Big Endian byte ordering LSB MSB while the Modbus slaves use Little Endian MSB LSB In many situations the DeviceNet master will handle this conversion internally but this may not be the case with certain configurations aperiodic services or with custom applications It is necessary this behaviour be properly characterized before placing the system into service WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The user must ensure the conversion of Endian byte order within a 16 bit word is correct between the DeviceNet and Modbus fieldbuses During configuration of the DeviceNet master or when utilizing custom applications or programming to communicate between the DeviceNet master and the Modbus slaves via the gateway the handli
131. h is the case with the gateway s default configuration Sub Network Status In on line mode see chapter 6 13 2 this command displays a window summarizing the values of the gateway s error counters These counters are also used by the gateway to update the value of its status word see chapter 5 5 The Update button allows you to refresh the values of these counters When you run this command in off line mode all of the values displayed are replaced by the word Unknown to show that they cannot be read on the gateway The Update button then becomes inaccessible NOTE The Sub Network Status window may be useful to detect problems on the Modbus sub network So if the number of retransmission errors increases upon using the Update button this denotes the absence of one or more slaves Modbus cabling or speed problems or invalid Commands and or Transactions Since retransmission errors tend to lower the general performances of the Modbus communications you should undertake actions to prevent these retransmission errors from increasing 6 Configuring the Gateway 1744088 03 2009 101 When the Sub Network element is selected you have access to all of the options allowing you to configure the gateway s communication protocol format on the Modbus network The various settings you can make are described below All of the Modbus slaves present must support this conf
132. h the first solution is actually preferable in principle as it avoids leaving any holes in the gateway s memory thus optimising the transfer of all of the data to the DeviceNet master PLC Furthermore the 1747 SDN scanner can only exchange 32 input words with the master PLC Leaving holes of this sort in the gateway s memory is therefore not recommended in cases of large configurations So we will be placing the 16 bytes of data from address 0x0020 32 in decimal that is to say directly after the input data for the gateway s default configuration 6 Configuring the Gateway 1744088 03 2009 61 Close the Sub network Monitor window then once you are back in the main ABC LUFP Config Tool window select the Data length and Data location fields of the Data element from the Response one after another and change their values as shown at the top of the next page ABC LUFP Config Tool will automatically convert any value entered in decimal to hexadecimal To check that these changes have been entered into the configuration choose Monitor from the Sub Network menu again 4 Transferring this configuration to the gateway Please see chapter 6 5 Check that the configuration is valid LED GATEWAY flashing green 5 Saving this configuration to your PC s hard disk 6 Checking the gateway setup In RSNetWorx check the values of the gateway parameters see chapter 4 2 4 Only the v
133. haracteristics 1744088 03 2009 105 Structure of the LUFP9 gateway s memory Outputs 2 bytes for the activation or inhibition of the downstream network by the gateway see chapter 5 510 bytes accessible by the DeviceNet master in the form of output data see Appendix B Default Configuration Output Data Memory Area for the default use of this output data Addresses Output data area 0x0200 0x0201 DeviceNet master command word unless Control Status Byte Disabled 0x0202 Outputs accessible through the DeviceNet master 510 bytes 0x03FF 1 output data area 960 bytes inaccessible through the DeviceNet master Structure of the LUFP9 gateway s memory Addresses General data area General data 0x0400 0x051F Input area reserved for the Mailboxes 288 bytes 0x0520 0x063F Output area reserved for the Mailboxes 288 bytes 0x0640 0x07BF Internal area reserved for the management of the upstream network 384 bytes input area output area bi directional area NOTE You can use the general data area for Modbus input data from Modbus responses if you do not want the DeviceNet master to have access to them You can also use this memory area for data transfers between commands and or transactions as this area is both an input and an output area In this case always use 0x0400 as the starting address If you reuse the addresses in this area multiple
134. hat the content of the Modbus query remains coherent The data from the Modbus response which corresponds to this read command is checked The values of inputs I 1 10 and I 1 11 are compared to those of output O 1 10 and the value 0x02xx AND mask set to 0xFF00 in order to determine whether the response to the command has arrived or not If the slave number and the function number correspond to those of the query see above and the number of bytes of data received is correct bit B3 0 1 is activated in order to tell the rest of the sub program that the response has arrived and that it is correct The N9 0 scratch variable is used to compare the inputs and the outputs in the same format The value of the read parameter is copied into the array of results So the value of I 1 12 is transferred to the location reserved for the result of the motor starter currently being polled use of index N7 2 This transfer only takes place if the response has arrived and its content is correct bit B3 0 1 is active The LSB and the MSB for this value are then swapped in this array so as to restore the value of the read parameter The timer for the response timeout T4 0 is reinitialized to allow the process of reading the same parameter on the next motor starter Management of the response timeout TON block on variable T4 0 Until the response arrives or if its content is incorrect bit B3 0 1 0 a 3 second timer is set When this timeout T4 0 DN
135. he messages the connection should receive group 2 messages The term x xxxx x represents the 6 bits of the address of the DeviceNet node The term represents the message ID E g 0x0452 2 100 0101 0010 group 2 messages ID of the messages 2 Gateway located at address 10 0x06 Get Set Initial comm characteristics Required BYTE 0x01 This attribute defines the Group or Groups of Messages by which the productions and consumptions associated with the Change of State Cyclic Producing Connection object are carried out In this case it designates groups 1 and 2 Please see chapters 3 2 and 5 4 3 6 of volume I of the DeviceNet specifications for further details on this subject 0x07 Get Set Produced connection size Required UINT size of the input area Maximum number of bytes which can be transmitted via this instance s connection The value of this attribute should be set to the size of the input area choosed using attribute 0x0E With the LUFP9 gateway s default configuration the value of this attribute is set to 0 as no input area is assigned to the Change of State Cyclic Producing Connection object 0x08 Get Set Consumed connection size Required UINT 0 Maximum number of bytes which can be received via this instance s connection As the LUFP9 gateway does not consume any data via this connection the value of this attribute will remains set to 0 0x09 Get Set Expected pa
136. her registers than standard 704 Command and 455 Status with the same request replace a register with another for instance 455 with 458 expand the size the number of registers with a supplementary request add up extra commands other operations 6 7 to 6 11 2c access to new variables See Chapter 6 3 User of other Generic Modbus Products See Chapter 6 6 7 to 6 11 6 11 2 Select between adapting the predefined configuration provided with the gateway if close enough to that you wish 1 register to read and 1 to write 1 register address to change or building up your own configuration from scratch see ABC User Manual 4 Loss of Communication See Chapter 4 1 4 1 and Chapter 6 11 2 2 The variables described are Reconnect time unit 10ms default value 10s Retries default value 3 Timeout time unit 10ms default value 1s 5 Signaling of faults and status Diagnostics See Chapter 3 Signaling defaults and gateway status by LEDs on the front See Chapter 5 Gateway initializing mode and description of diagnostics information Presentation of Hardware and Connections 1 TeSys U Products 2 other Products 3 User of User of the predefined configuration with 8 slaves 2a the predefined configuration the nb of slaves lt 8 2b new variables 2c using modifying using using via ABC LUFP Config Too
137. iagrams depending on whether this is the Preset Multiple Regs command or a Read Holding Registers command see chapter 6 9 The correspondence between the various elements which appear in these tree structures and the standard Modbus terminology is located to their right Name of the Modbus command Modbus query Frame Slave no Function no No of the 1st word MSB LSB Number of words MSB LSB Number of bytes Values of the words MSB LSB CRC16 LSB MSB Modbus response Frame Slave no Function no No of the 1st word MSB LSB Number of words MSB LSB CRC16 LSB MSB Name of the Modbus command Modbus query Frame Slave no Function no No of the 1st word MSB LSB Number of words MSB LSB CRC16 LSB MSB Modbus response Frame Slave no Function no Number of bytes read Values of the words MSB LSB CRC16 LSB MSB NOTE In all cases the Query Slave Address and Response Slave Address elements are automatically updated by ABC LUFP Config Tool according to the node in which the command is located Their values cannot be changed by the user In the same way the Query Function code and Response Function code fields depend on the nature of the Modbus command and cannot be changed by the user 6 Configuring the Gateway 1744088 03 2009 75 The operations to be carried out are more or less the same
138. ications Writing the value of a motor starter parameter RESPONSE I 1 15 MSB 0xxx LSB 0x xx Aperiodic communications Trigger bytes for the responses I 1 16 Read parameter response counter Write parameter response counter I 1 17 Value of the TeSys U Status Register I 1 18 Value of the Complementary Status Register I 1 19 Value of the K7 Status Register I 1 20 Value of the K7 Status Register 2 free format I 1 21 Value of the K7 Status Register 3 free format I 1 22 Value of the Warning Number register I 1 23 Value of the Warning Register Periodic communications Monitoring of TeSys U motor starter I 1 24 Value of Reserved 2nd Warning Register 6 Configuring the Gateway 1744088 03 2009 63 9 Transferring the DeviceNet scanner configuration Following the changes made to the list of DeviceNet scanner exchanges it needs to be transferred to the DeviceNet scanner Please see chapter 4 2 8 6 9 4 Increasing the amount of periodic output data We will use the node corresponding to TeSys U n 4 motor starter for our example By default we are controlling Command Register 704 To add control of Command Register 705 we will carry out the following operations 1 Changing the number of registers controlled This step consists of changing the value of the Number of registers in the Query and in the
139. ield Failure to follow this instruction can result in death serious injury or equipment damage Constants in Byte Word or DWord format place the values of these constants in Modbus query frames constants in Query elements or compare them to the values located in the Modbus responses constants in Response elements These comparisons are used to accept identical values or reject different values the Modbus responses in the same way as for standard Modbus commands The DeviceNet master does not have access to these constants They are mainly used to replace fields such as Slave address Function Starting Address etc Please refer to the section on Produce Consume Menu in chapter 5 4 2 Transaction and in chapter 5 5 Frame objects in the ABC LUFP Config Tool user manual entitled AnyBus Communicator User Manual for further information about how to handle Transaction commands The LUFP9 gateway s default configuration includes two Transaction commands These are aperiodic commands used for reading and writing the value of a Modbus slave parameter necessarily a TeSys U motor starter with the default configuration They are configured solely for the TeSys U n 1 node as the address of the slave is controlled by the DeviceNet master via the first byte of the Data field which corresponds to the Slave Address field in standard Modbus commands This allows the DeviceNet master to
140. ifier for each DeviceNet product Each manufacturer must take responsibility for guaranteeing that all the DeviceNet products he manufactures have a unique serial number Sample serial number 0x 23 00 DD 20 0x07 Get Product name Required SHORT_STRING DeviceNet Modbus Gateway This attribute gives visual identification method and takes the form of an ASCII string This text gives a short description of the product or the product family equivalent to the product code attribute 0x03 The byte preceding this ASCII string shows the total length of this string from first to the last character With the LUFP9 gateway the total number of bytes included in the product name attribute is set to 24 The DeviceNet Modbus Gateway string is 24 characters long including spaces The whole content of the product name attribute for the LUFP9 gateway is therefore equal to 0x 18 44 65 76 69 63 65 4E 65 74 2F 4D 6F 64 62 75 73 20 47 61 74 65 77 61 79 The bytes which are not shown in bold are the content of the ASCII string length 0x18 0x09 Get Configuration consistency value Optional UINT variable The value of this attribute allows the validity of the product s configuration to be checked The product automatically updates this attribute when the value of any non volatile attribute is changed The product s behaviour when an error in the integrity of the configuration is detected is specific to each type
141. iguration and be configured appropriately Bitrate bits s The gateway supports a limited number of communication speeds Select the speed that accomodates the slowest slave Data bits 8 bits required Parity Choose the parity according to the format chosen for communications on your Modbus network Physical standard RS485 required Stop bits 1 bit even or odd parity or 2 bits no parity 6 Configuring the Gateway 102 1744088 03 2009 6 14 Adding a Broadcaster Node A broadcaster node does not correspond to any Modbus slave in particular as it applies to all Modbus slaves All the commands which will be configured for this node will be transmitted with the Slave Address field set to 0x00 This means that all of the slaves will run the command but that none of them will respond to it To add a broadcaster node select Sub Network then choose Add Broadcaster from the Sub Network menu The broadcaster node created in this way does not count in the limit on the number of configurable nodes A simple example is shown opposite The addition and configuration of a Modbus command in the list of broadcaster node commands is done in the same way as for other nodes but with the following differences The list of standard Modbus commands which can be used in broadcast is smaller Only functions 0x06 and 0x10 can be used see list in chapter 6 12 2 The command
142. in this list please perform the Restore Default Mailboxes command Then confirm the operation by clicking on the Yes button in the confirmation warning window that appears 6 Configuring the Gateway 1744088 03 2009 97 6 13 2 ABC LUFP Element The sole command accessible from the ABC LUFP menu is Disconnect or Connect if you are in off line mode please refer to chapter 6 3 Connecting to Disconnecting from the Gateway for details about on line and off line modes In the configuration of the LUFP9 gateway s ABC LUFP element the Physical Interface and the Protocol Mode properties must not be changed Their value respectively must always be set to Serial and Master Mode 6 Configuring the Gateway 98 1744088 03 2009 These seven properties allow you to configure some of the gateway s system aspects Control Status Word The three possibilities offered for this property are described in chapter 5 Module Reset By default this property prevents the gateway from reinitializing itself when there is an internal operation problem Changing this option is mainly intended for laboratory type use Physical Interface The only possibility offered by this property shows that the physical interface of the downstream network of the gateway Modbus is a serial link Protocol Mode This property should not be changed
143. ing the Gateway 88 1744088 03 2009 Field in the frame Size in the frame Description Slave Address 1 byte Identical to that of the query s Slave Address field Function code 1 byte Identical to that of the query s Function field Register address 2 bytes Identical to that of the query s Register field since the Modbus response of any Preset Single Register command is an echo to the corresponding query Here you should also enter the address of the memory object to which the command relates If receiving an exception code see Preset Data 2 bytes or more for a block of data Data Location Address in the gateway s input data memory 0x0002 to 0x01FF of the item of data received in the Preset Data field for the response s frame NOTE Check that the data is located at even addresses in order to align the Modbus data in 16 bit format on the I 1 x inputs of the DeviceNet scanner E g The value sent back as an echo to the command must be placed in the gateway s input data memory area We will be using the first free location that is to say the one located at 0x0020 with the gateway s default configuration If receiving an exception code see WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The user must use even values for the Data Location field i e 2 4 6 etc The selection of odd data locations complicates application programming and increases the li
144. input output data memory of the gateway End Character Value This property is only used if Object Delimiter is set to End Character or End Character visible It is used to mark the end of the data Of course this specific character must be forbidden inside the data Thus for example it is common practice to end text strings with a zero character because 0x00 cannot be used in written text this is known as the ASCIZ representation E g the string ABC becomes the string 0x41 0x42 0x43 0x00 in ASCIZ 6 Configuring the Gateway 92 1744088 03 2009 Fill un used Bytes This property is only used for Variable Data located in the Responses of Transactions because the Variable Data located in the Queries are only updated by the master Only two choices are available for this property Disabled Unused data i e data located after the last character or beyond the end character is not updated in any way it keeps the current value Enabled Unused data bytes are filled with the value set in Filler Value For example if the Filler Value is equal to 0xFF then all data located after the last character or beyond the end character is set to 0xFF Filler Value If Fill un used Bytes is set to Enabled for the Variable Data of a Response then this value is copied into each byte located after the last character or beyond the end character Maximum Data Length
145. inst the DIN rail 2 until the base of the gateway box fits onto the rail Start by pushing the gateway downwards 1 to compress the gateway s spring Then pull the bottom of the gateway box forwards 2 until the box comes away from the rail NOTE The spring is also used to ground the gateway Protective Earth 2 Hardware Implementation of the LUFP9 Gateway 14 1744088 03 2009 2 4 Powering the Gateway DeviceNet Modbus RTU gateway View from underneath Power supply 24V isolated 95 mA max WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Do not use the 24 VDC power available from the DeviceNet network cabling to operate the LUFP Gateways as the negative terminal of this power is not necessarily at the installation earth ground potential Use of an ungrounded power supply may cause the LUFP devices to operate in an unexpected manner To ensure reliable operation the LUFP Gateways require a separate power supply where the negative terminal is connected to the installation earth ground Failure to follow this instruction can result in death serious injury or equipment damage Recommendations Use 60 75 or 75xC copper CU wire only The terminal tightening torque must be between 5 7 lbs in 0 5 0 8 Nm 2 5 Connecting the Gateway to the Modbus Network Three typical examples of a Modbus connection for the gateway and its slaves are shown below There are many other po
146. isters from the TeSys U motor starters This mode allows the DeviceNet master to be informed that a new response is available This can be useful for example if it is possible that the data from two consecutive responses may be identical NOTE In the specific case of the gateway s default configuration the Trigger byte element for responses to the Transactions 1 and Transactions 2 personalized commands of the TeSys U n 1 node is set to Enabled Hence the management of responses to read and write commands for parameters is event driven The Trigger byte address elements of the Response elements for these two commands are configured at addresses 0x001E and 0x001F These are the parameter read write response counters Considered under DeviceNet and RSNetWorx these two data are configured the same way as the other inputs see chapter 4 2 6 and both correspond to the I 1 16 input The DeviceNet master PLC will be able to detect the receipt of a response from a Modbus slave by comparing the previous value and the current value of the associated counter address 0x001E or 0x001F If there is a unitary incrementation of this counter the PLC may for example read all of the data from the response addresses 0x0013 to 0x0017 or addresses 0x0018 to 0x001D and allow the transmission of a new query for reading or writing the value of a parameter using a Trigger byte for the queries In contrast to
147. kelihood of improper Modbus values being written to or read from the slave devices Depending on the user s configuration unintended equipment operation may result Failure to follow this instruction can result in death serious injury or equipment damage Data length Length of the block of input data received in the Preset Data field of the response frame It is expressed in number of bytes E g The value of the Data length field must be set to 2 Byte swap Identical to that of the query s Byte swap field see query s table for details E g We will also be using the Swap 2 bytes value for the same reasons as with the query Checksum 2 bytes Error check type Identical to that of the query s Error check type field Error check start byte Identical to that of the query s Error check start bype field NOTE These two fields cannot be changed by the user and their values are greyed out to reflect this ABC LUFP Config Tool updates the values of these fields automatically using those of the query s Error check type and Error check start byte fields If receiving an exception code the gateway re transmits the request according to the number of retries that has been defined Then it will disconnect the slave 6 Configuring the Gateway 1744088 03 2009 89 6 12 3 Adding a Special Modbus Command Apart from the standard Modbus commands covered in the previous chap
148. l Managing Loss of Communication in case of a predefined configuration 5 Signaling and Diagnostics Quick Access to Critical Information 4 1 Introduction 8 1744088 03 2009 1 2 Introduction to the LUFP9 Gateway The LUFP9 gateway allows a master located on a DeviceNet network to enter into a dialogue with slaves on a Modbus RTU network This is a generic protocol converter operating in a way which is transparent to the user This gateway allows you to interface many products marketed by Schneider Electric with a DeviceNet network These include TeSys U motor starters Altivar drives and Altistart soft start soft stop units 1 3 Terminology Throughout this document the term user refers to any person or persons who may need to handle or use the gateway The term RTU which refers to the Modbus RTU communication protocol will be omitted most of the time As a result the simple term Modbus will be used to refer to the Modbus RTU communication protocol As is still the case with all communication systems the terms input and output are somewhat ambiguous To avoid any confusion we use a single convention throughout this document So the notions of input and output are always as seen from the PLC or the DeviceNet master scanner Hence an output is a command signal sent to a Modbus slave whereas an input is a monitoring signal generated by this same Modbus slave The diag
149. lave LUFP9 gateways failure PLC response The PLC processor provides some error and diagnostic objects coming from the DeviceNet scanner in case of slave failure to the application Refer to the PLC user manual to have their description This information must be managed in the PLC application DeviceNet scanner response The DeviceNet scanner provides the processor with some error and diagnostic objects in case of DeviceNet slave failure LUFP9 gateway response In case of a failure the gateway stops to communicate with the DeviceNet scanner and the Modbus slaves Slave response Depending on the slave 6 Configuring the Gateway 1744088 03 2009 79 LUFP9 gateways disconnected on Modbus side or slave failure PLC response The processor gives access to the gateway status word coming from the DeviceNet scanner input table and to the gateway command word coming from the output table These 2 words must be managed in the PLC application in order to detect if a Modbus slave is missing DeviceNet scanner response The DeviceNet scanner must be configured to access the gateway status and command words in order to provide Modbus diagnostic information LUFP9 gateway response The behavior depends on the different options Timeout time number of Retries Reconnect time and Offline option for sub network Slave response In case of a Modbus disconnection the behavior depends on the slave In case of a slave failure undetermined state
150. lue of N7 0 to 5 O 1 5 and I 1 5 Controlling monitoring motor starter TeSys U n 5 Ditto but setting the value of N7 0 to 6 O 1 6 and I 1 6 Controlling monitoring motor starter TeSys U n 6 Ditto but setting the value of N7 0 to 7 O 1 7 and I 1 7 Appendix C Practical Example RSLogix 500 110 1744088 03 2009 Controlling monitoring motor starter TeSys U n 7 Ditto but setting the value of N7 0 to 8 O 1 8 and I 1 8 Controlling monitoring motor starter TeSys U n 8 Ditto but setting the value of N7 0 to 9 O 1 9 and I 1 9 Reading the value of a single parameter out of all of the TeSys U motor starters by using the U 4 sub program that is to say the LAD 4 LECT_PAR sub program Writing the value of a parameter in a single TeSys U motor starter at a time by using the U 5 sub program that is to say the LAD 5 LECT_PAR sub program Updating output 0 1 16 using the two counters N7 36 and N7 37 This output corresponds to the two Trigger bytes that trigger the emission of both the parameter reading request LSB and the parameter writing request MSB These two counters are independantly updated in the following sub programs LAD 4 RD_PAR for N7 36 and LAD 5 WR_PAR for N7 37 NOTE You can read a parameter on all the motor starters and write a parameter on one of them at the same time as these services use different Modbus co
151. m Value 0x0A this field is removed from the Response because it is now included in the data retrieved from the frame of the Response and copied into the input memory of the gateway look at the values of I 1 3 0x0005 to get convinced of this fact In the Variable Data the Object Delimiter Length Character becomes Object Delimiter Length Character visible this instructs the gateway to retrieve the length character 1 byte from the Response frame of the Modbus slave instead of evaluating it with the Response frame s remaining length As these two modifications mutually compensate one another in the specific case of a Read Holding Register command the results described at the end of Example 1 also apply here 6 Configuring the Gateway 96 1744088 03 2009 6 13 Configuring the General Characteristics of the Gateway This operation relates to the gateway s general characteristics Fieldbus to Sub Network elements whereas the previous chapters described the configuration of the Modbus slaves elements located under the Sub Network element The Fieldbus element describes the upstream network that is to say the DeviceNet network in the case of the LUFP9 gateway The ABC LUFP and Sub Network elements describe the downstream network that is to say the Modbus RTU network in the case of the LUFP9 gateway and allow you to identify the software version in the gateway
152. m use of the LUFP9 in the application WARNING LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and for certain critical control functions provide a means to achieve a safe state during and after a path failure Examples of critical control functions are emergency stop and overtravel stop Separate or redundant control paths must be provided for critical control functions System control paths may include communication links Consideration must be given to the implications of unanticipated transmission delays or failures of the link a Each implementation of an LUFP Gateway must be individually and thoroughly tested for proper operation before being placed into service Failure to follow this instruction can result in death serious injury or equipment damage a For additional information refer to NEMA ICS 1 1 latest edition Safety Guidelines for the Application Installation and Maintenance of Solid State Control and to NEMA ICS 7 1 latest edition Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems 2 3 Mounting the Gateway on a DIN Rail Mounting the gateway 1 2 Dismounting the gateway 1 2 Start by fitting the rear base of the gateway to the upper part of the rail pushing downwards 1 to compress the gateway s spring Then push the gateway aga
153. mand Start 1 Stop 0 on the motor starter whose number is N7 0 N7 33 N7 0 CMD_REVERSE MODULE User command Run forwards 0 Reverse 1 on the motor starter whose number is N7 0 N7 34 N7 0 MON_FAULTY_DEV MODULE User monitoring Fault 1 No fault 0 on the motor starter whose number is N7 0 N7 35 N7 0 CMD_RESET MODULE User command Fault reset 1 on the motor starter whose number is N7 0 O 1 N7 0 00 Bit 0 Reserved Run Forward of the TeSys U command register addressed with N7 0 O 1 N7 0 01 Bit 1 Reserved Run Reverse of the TeSys U command register addressed with N7 0 O 1 N7 0 02 Bit 2 Reserved brake of the TeSys U command register addressed with N7 0 O 1 N7 0 03 Bit 3 Reset of the TeSys U command register addressed with N7 0 N7 0 MODULE Parameter for accessing the motor starter index between 2 and 9 for TeSys U motor starters nos 1 to 8 The example includes a personalized data monitoring screen known as CDM 0 CMD_MON in order to simplify the use of this example The content of this screen is shown below Address Symbol Display Address Symbol Display O 1 00 SCAN_VALIDATION Binary I 1 4 MON_TESYS_U_3 Binary O 1 21 FB_DU Binary O 1 4 CMD_TESYS_U_3 Binary O 1 22 FB_HS_SEND Binary I 1 5 MON_TESYS_U_4 Binary N7 0 MODULE Decimal O 1 5 CMD_TESYS_U_4 Binary N7 32 CMD_RUN Binary I 1 6 MON_TESYS_
154. mmand Response Connection 0x04 I O Connection Change of State Cyclic producing Connection Each message of an Explicit Messaging type connection contains the full addressing path and the values of the attribute involved as well as the Service Code describing the action to be taken Each message of an I O Connection type connection contains only the I O data All of the information describing the use of this data is located in the instance of the Connection Object associated with this message The Change of State Cyclic Connection object Instance ID 0x04 allows you to select either a Change of state COS or a Cyclic connection With Change of state the gateway produces its data only when their values change or when a timer called heartbeat rate times out A minimum time limit is intended to prevent the connection from monopolizing the DeviceNet network s bandwidth should the values of the data it produces change too often Going into Cyclic mode allows the number of exchanges made via this connection to be reduced if the update time sampling for the data produced is slow By adjusting the connection s cycle time to the value of this time the produced data corresponds exactly to the data samples without losing or repeating any sample WARNING UNINTENDED OPERATION OF THE SYSTEM You must configure the Change of State Cyclic Connection object properly Otherwise it will
155. mmand echo that is to say that the values of the address parameter and value to be written fields are identical in both the query and the response Output Value Meaning MSB LSB Input Value Meaning MSB LSB O 1 13 0x0607 Function no Slave no I 1 13 0x0607 Function no Slave no O 1 14 0xC102 Parameter address MSB LSB I 1 14 0xC102 Parameter address MSB LSB O 1 15 0x0600 Value to be written MSB LSB I 1 15 0x0600 Value to be written MSB LSB O 1 16 0x1407 Trigger byte for the query PF I 1 16 0x1407 Trigger byte for the response PF There is no error check performed on data transmitted using the aperiodic services described above Incorrect values written to the outputs that correspond to the aperiodic communication services will lead to the transmission of an incoherent Modbus frame This incoherent Modbus frame may return an error or lead to unexpected behavior of the slave devices WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The user must perform error checking and appropriate error handling for values written to the outputs corresponding to the aperiodic communications services Incorrect values sent to the aperiodic services outputs can lead to unexpected system behavior Failure to follow this instruction can result in death serious injury or equipment damage 39 1744088 03 2009 5 Gateway Initialization and Diagnostics The chapter describes
156. mmand for writing values from a number of registers Select Starting register address from the Query then change its value as shown below You can enter the address of the parameter in decimal format ABC LUFP Config Tool will automatically convert it to hexadecimal Do the same for the Starting Address element of the Response because the gateway checks the value of this field when it receives each Modbus response If the value does not correspond to that of the query the gateway will ignore the response This operation in no way changes the content of the gateway s memory because we do not need to change the values of the Data length and Data location fields of the Data element of the Query So no additional operations will be necessary either in ABC LUFP Config Tool or in RSNetWorx On the other hand the DeviceNet master PLC software will have to take account of the change in the nature of the corresponding output In Appendix B Output Data Memory Area the description of the word located at address 0x020C becomes value of the motor starter 2nd command register This word corresponds to PLC output word O 1 7 see chapter 4 2 7 6 Configuring the Gateway 1744088 03 2009 59 6 9 3 Increasing the Amount of Periodic Input Data We will use the node corresponding to TeSys U n 2 motor starter for our example We are trying to complete the monitoring of this motor starter startin
157. mmands The various data used by the main program are shown in the following table Address Symbol Description I 1 1 07 I 1 23 ABC_HS_SEND Flip flop indicating that there is a new gateway diagnostic O 1 0 00 O 1 00 SCAN_VALIDATION Enable DeviceNet communications this bit must be set to 1 to validate the exchanges O 1 1 05 O 1 21 FB_DU Activation of Modbus communications by the gateway O 1 1 06 O 1 22 FB_HS_SEND Flip flop telling the gateway that there is a new command O 1 1 07 O 1 23 FB_HS_CONFIRM Bit used by the DeviceNet master to acknowledge diagnostics of the gateway N7 0 MODULE Parameter giving access index to the motor starter called module to simplify things O 1 16 TRIGGER_OUT_RD_WR Trigger bytes used to trigger the emission of the read parameter request LSB or of the write parameter request MSB N7 36 Local counter related to the trigger byte of the read parameter request N7 37 Local counter related to the trigger byte of the write parameter request Appendix C Practical Example RSLogix 500 1744088 03 2009 111 Controlling Monitoring Sub Program for a TeSys U Motor Starter LAD 3 CMD_MON The role of this sub program consists of exercising very simple control over one of the TeSys U motor starters depending on its current status and the user s commands The processes carried out in this sub program are described bel
158. mory is currently occupied select Sub Network and choose Monitor from the Sub Network menu The window shown below appears allowing you to see how much of the gateway s memory is occupied 6 Configuring the Gateway 1744088 03 2009 65 To see which memory locations are occupied by data from the command you are interested in all you have to do is uncheck the box corresponding to the Preset Multiple Registers command from the TeSys U n 4 node as shown above We can see that the Modbus data transmitted with the query corresponding to this command occupy 2 bytes located from address 0x0208 NOTE Memory locations 0x0200 and 0x0201 are reserved see chapter 5 So you will not be able to place any Modbus data in these locations The sizes displayed above the graphics areas of this window In Area 32 bytes and Out Area 32 bytes correspond to the total input and ouput sizes you must check under RSNetWorx see point 6 on next page and configure for the DeviceNet scanner see point 7 If you wish to place the 4 bytes of Modbus data which will be transmitted by the gateway for this command into memory once the changes have been made we will have to move all the other output data by 2 bytes which may be tedious or change the memory location of the block of data transmitted In the example described here we will be using the second solution although the first solution is actually preferable in principl
159. n Slave Address 1 byte This field cannot be changed by the user and its value is greyed out to inform him of the fact ABC LUFP Config Tool updates the value of this field automatically using the address of the Modbus slave corresponding to the current node NOTE This field is common to queries for all Modbus commands E g the value of this field is set to the address of the Modbus slave which corresponds to the ATS48 nodes that is to say 0x0A Function code 1 byte This field cannot be changed by the user and its value is greyed out to inform him of the fact ABC LUFP Config Tool updates the value of this field automatically using the function code for the corresponding Modbus command NOTE This field is common to queries for all Modbus commands E g the value of this field is set to the code for the Preset Single Register command writing the value of an output word that is to say 0x06 Register address 2 bytes Address of an output word or of a register in the Modbus slave s memory So this field designates the memory object to which the command relates NOTE This field is common to queries for all Modbus commands whose purpose is to access one or more locations in the memory of a Modbus slave When accessing several memory locations the Register field designates the address of the first word affected by the command E g the value of this field should be changed by entering the address of the CMD command
160. n in this example show the consequences of the change made 6 11 2 Changing the Address of a Modbus Slave To carry out this operation all you have to do is select the node which corresponds to the Modbus slave involved Devices section click on the value of the current address value of the Slave address field in the Configuration section then change it NOTE The address of a Modbus slave must be between 1 and 247 The system will not let you add a value gt 247 WARNING USE OF RESERVED MODBUS ADDRESSES Do not use Modbus addresses 65 126 or 127 if a gateway s Modbus slaves will include a Schneider Electric Adjustable Speed Drive System device such as an Altistart soft starter or an Altivar motor drive The Altistart and Altivar devices reserve these addresses for other communications and the use of these addresses in such a system can have unintended consequences Failure to follow this instruction can result in death serious injury or equipment damage 6 Configuring the Gateway 72 1744088 03 2009 After confirming the new address Enter key or click outside the data entry field of the address of the Modbus slave this will become effective in ABC LUFP Config Tool and the values of the Slave Address elements of the queries and responses in the Modbus commands for the selected node will be automatically updated An example is given below with the update of a single Slave Addres
161. n of the checksum should begin The first byte in each frame carries the number 0 NOTE The calculation of a frame s checksum should always begin with the first byte Do not change the error check start byte from its default of zero A non zero value will result in an incorrect CRC and all Modbus communications wil return an error 6 Configuring the Gateway 1744088 03 2009 87 6 12 2 5 Configuring the Content of the Response Frame The window shown below is obtained using Edit Transaction from the Response menu The values shown in it correspond to the values assigned by default to the Modbus command response we have created The correspondence with the content of the resulting Modbus frame has been added underneath this window Slave no Function no Word number MSB LSB Value of the word MSB LSB CRC16 LSB MSB Edit the values which are not greyed out one after another There is a description of them on the next page but also see the previous chapter as the nature of the content of response frames is very similar to that of the fields in Modbus query frames NOTE If the value of a field from the response of a Modbus slave is different from that configured via ABC LUFP Config Tool the response will be rejected by the gateway It will then proceed to a re transmission of the query provided that at least one re transmission has been configured for this command see chapter 6 12 2 2 6 Configur
162. n the DeviceNet network Bit 2 Issuing an interrupt when the data are modified To do this the change data field register should be activated see description of bit 9 of attribute 0x0B 0x0F Get IN cyclic I O length Optional UINT 0x0020 This attribute indicates the total size of the cyclic input data I O IN data expressed as a number of bytes This size covers all the gateway s memory space occupied by Modbus input data free locations also being counted With the LUFP9 gateway s default configuration the value of this attribute corresponds to the size of the input area of the gateway that is to say 32 bytes 0x10 Get IN DPRAM length Optional UINT 0x0020 This attribute indicates the total size of the input data and parameters in the gateway s memory valid IN bytes in DPRAM expressed as a number of bytes This size covers all of the gateway s memory space occupied by Modbus input data and parameters free locations also being counted Since no input parameters are defined the values of attributes 0x0F and 0x10 are both identical With the LUFP9 gateway s default configuration the value of this attribute is equal to 32 bytes Appendix D DeviceNet Objects 1744088 03 2009 137 ID Access Name Need Type Value 0x11 Get IN total length Optional UINT 0x0020 This attribute indicates the total size of the input data used in the gateway s extended memory IN bytes supported expressed as a number o
163. nd The data the sub program uses subsequently is initialized but only if the writing process is finished B3 0 3 0 These initializations are summarised below B3 0 2 0 User command The command for writing a parameter on a TeSys U motor starter is reset B3 0 3 1 A parameter is written on a TeSys U motor starter In progress Reset T4 1 The timer related to the timeout of the parameter write response is reset N7 15 N7 12 2 14 Index in the array of results N7 N7 15 0 0 The content of the array of results is reset but only for the motor starter affected by the write query two successive bytes B3 0 6 0 Enables the update of the trigger byte that will trigger the emission of the query The output data corresponding to the write query is updated O 1 13 to O 1 15 and the N7 37 counter trigger byte is increased by one This update is only done once bit B3 0 6 used for this pupose NOTE In the LUFP9 gateway s default configuration this output data corresponds to the personalized Modbus command Transactions 2 of the TeSys U n 1 node The query frame for this personalized command is sent when the trigger byte located in bits 8 15 of O 1 16 is changed Update mode Change of state on trigger As a result increasing the N7 37 count
164. ne of the class attributes Attributes of instance 0x01 of class 0x05 Explicit Connection ID Access Name Need Type Value 0x01 Get State Required USINT 0 to 5 This attribute represents the status of the Explicit Connection object The LUFP9 gateway supports the following values 0 non existent 1 in the process of being configured 3 connection established 4 timed out and 5 deferred deletion Please see figures 5 16 and 7 4 in volume I of the DeviceNet specifications for further information on this subject 0x02 Get Instance type Required USINT 0 This attribute defines the instance s connection type Messaging connection 0 or I O connection 1 0x03 Get Set Transport class trigger Required BYTE 0x83 This attribute defines the behaviour of the connection In the case of the LUFP9 gateway s Explicit Connection object this attribute takes the value 0x83 broken down as follows Bits 0 3 2 0011 Transport Class Class 3 Bits 4 6 2 xxx Value ignored in the case of a data server Bits 7 2 1 The gateway behaves as a data server responding to queries from a DeviceNet client 0x04 Get Set Produced connection ID Required UINT 2 11 xx xxxx The value of this attribute is placed in the CAN protocol s Identifier Field when the connection goes into transmission mode group 3 messages The term xx xxxx represents the 6 bits of the address of the gate
165. nection instance consuming application object pairs allowing the data received in an acknowledgement to be forwarded An acknowledgement does not necessarily contain any data and so this attribute is optional It is made up of the following elements The number of members of the list BYTE The list of connection instance consuming application object pairs UINT USINT USINT The size of this list is set to the value of the first element described above and this list is made up of the following elements The acknowledged COS consuming connection instance number UINT The path length of the DeviceNet object intended to receive the acknowledgement data USINT The path of the DeviceNet object intended to receive the acknowledgement data USINT E g 0x 01 64 00 06 20 04 24 64 30 03 The value of this attribute means that this list only contains a single element 0x01 referring to instance 0x0064 and that the acknowledgement data path 0x06 length of 6 bytes refers to attribute 0x03 of instance 0x64 of class 0x04 that is to say to Modbus Inputs data Services of instance 0x01 of class 0x2B Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of the single instance from the Acknowledge Handler Object 0x10 Set_Attribute_Single Required This service allows to write the value of the single instance from the Ackn
166. nes the time the gateway will wait for a response before it either retries to send the same request or it disconnects the slave and declares it missing It is defined at the Query level of each command or transaction sent to the different slaves With the gateway s default configuration this time is equal to 300 ms 4 Software Implementation of the Gateway 1744088 03 2009 27 Retries This option determines the number of re transmissions carried out by the gateway if there is no response from the slave It is defined at the Query level of each command or transaction sent to the different slaves With the gateway s default configuration this option is set to 3 Reconnect time This option defines the amount of time the gateway will wait before it tries to communicate again with a Modbus slave that was previously declared as missing It is defined at the Query level of each command or transaction sent to the different slaves With the gateway s default configuration this time is equal to 10 sec WARNING RISK OF UNINTENDED EQUIPMENT OPERATION During the reconnect time you cannot control a slave read write via the bus Depending on the slave characteristics and the watchdog configuration the slave can keep the same status or take a fallback position To avoid an unintended equipment operation you must know the possible status of a slave and adapt the timeout and reconnect time values according to the request sending rate Failur
167. ng of Endian byte order within a 16 bit word must be correct for each fieldbus If the order of bytes transmitted to 16 bit inputs and outputs is handled incorrectly incorrect data may be written to the Modbus device configuration or command registers leading to unintended equipment operation Failure to follow this instruction can result in death serious injury or equipment damage 4 Software Implementation of the Gateway 38 1744088 03 2009 Sample reading of a motor starter parameter Reading of the 1st fault register address 452 0x01C4 on TeSys U n 5 motor starter The initial values of O 1 16 and I 1 16 are equal to 0x1306 The result of the reading is 0x0002 magnetic fault Output Value Meaning MSB LSB Input Value Meaning MSB LSB O 1 10 0x0305 Function no Slave no I 1 10 0x0500 Slave no not used O 1 11 0xC401 Parameter address MSB LSB I 1 11 0x0203 Number of bytes Function no O 1 12 0x0100 Number of parameters MSB LSB I 1 12 0x0200 Value read MSB LSB O 1 16 0x1307 Trigger byte for the query Pf I 1 16 0x1307 Trigger byte for the response Pf Sample writing of a motor starter parameter Writing of the 2nd command register address 705 0x02C1 on TeSys U n 7 motor starter at the value 0x0006 clear statistics reset thermal memory The initial values of O 1 16 and I 1 16 are equal to 0x1307 The result of the writing is a co
168. nificant data ends on the first occurrence of the End Character Value This character is not located in the Modbus Query or Response it is either produced by the gateway based upon the length of the Modbus Response or by the DeviceNet master who alone updates the output data End Character visible Same as End Character but this character becomes part of the Modbus Query or Response it is either produced by the Modbus slave in the Response or by the DeviceNet master in the Query No Character This option is reserved for Responses only With No Character upon receiving a response that contains some Variable Data the gateway simply copies the data from the frame to its input memory Hence the DeviceNet master cannot determine the real length of the significant data i e the data that has been updated 6 Configuring the Gateway 1744088 03 2009 93 Example 1 Configuration of the communications between a LUFP9 gateway and only one Modbus slave a TeSys U motor starter located at address 1 on the Modbus sub network and named TeSys U n 1 The first two bytes of the input memory 0x0000 0x0001 and the first two bytes of the output memory 0x0200 0x0201 of the gateway are reserved for the gateway initialization and diagnostics see chapter 5 but in the Diagnostic and Control mode Control Status Word Enabled but no startup lock for the ABC LUFP element
169. nnection path Required USINT 0x 20 04 24 64 30 03 This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to produce the connection s data In the case of the current instance the default production path for the Polled Command Response Connection designates attribute 0x03 of instance 0x64 of class 0x04 that is to say the data from Input1 area NOTE Changing the value of attribute 0x64 of instance 0x00 of class 0x04 Polled production EDS parameter has a direct influence on the value of the attribute presented here as the corresponding connection path is changed to allow access to the selected input area These changes should only be made using the EDS file supplied with the gateway 0x0F Get Set Consumed connection path length Required UINT 6 Size of the USINT array of attribute 0x10 consumed connection path 0x10 Get Set Consumed connection path Required USINT 0x 20 04 24 96 30 03 This attribute defines the local path without MAC ID of the gateway s DeviceNet object used to receive the data consumed by the connection In the case of the current instance the default consumption path for the Polled Command Response Connection designates attribute 0x03 of instance 0x96 of class 0x04 that is to say the data from Output1 area NOTE Changing the value of attribute 0x65 of instance 0x00 of class 0x04 Polled consumption EDS parameter has
170. node as it contains the commands corresponding to the read and write services for a parameter in a Modbus slave 6 Configuring the Gateway 76 1744088 03 2009 After creating the new node we rename it and assign it Modbus address 10 as shown at right We then add the Preset Single Register command by choosing Add Command from the ATS48 menu In the window which appears shown opposite select the 0x06 Preset Single Register command and choose Select from the File menu Back in the main ABC LUFP Config Tool window the Preset Single Register command now appears in the list of Modbus commands for the ATS48 node Expand the full tree structure for this command as shown below The correspondence between the various elements which appear in this tree structure and the standard Modbus terminology is located to its right Name of the Modbus slave Name of the Modbus command Modbus query Frame Slave no Function no Word no MSB LSB Value of the word MSB LSB CRC16 LSB MSB Modbus response Frame Slave no Function no Word no MSB LSB Value of the word MSB LSB CRC16 LSB MSB These elements can be configured using ABC LUFP Config Tool as described in the following chapters 6 Configuring the Gateway 1744088 03 2009 77 6 12 2 1 Managing Degraded Modes PLC processor stopped or on failure PLC processor response Outputs
171. nsactions 1 and Transactions 2 personalized command modes for the TeSys U n 1 node are set to Change of state on trigger These aperiodic commands are respectively used to read and write the value of a parameter for one of the Modbus slaves The Trigger byte address elements of the Query elements for these two commands are configured at addresses 0x021E and 0x021F These are the parameter read write request counters Considered under DeviceNet and RSNetWorx these two data are configured the same way as the other outputs see chapter 4 2 4 and both correspond to the O 1 16 output To transmit one of these two commands the DeviceNet master PLC must first update all of the data to be transmitted on the Modbus network for this command addresses 0x0212 to 0x0217 or addresses 0x0218 to 0x021D then change the value of the associated counter address 0x021E or 0x021F The gateway will then transmit the query corresponding to the command NOTE The trigger byte does not have to be an item of output data updated by the DeviceNet master In fact it is quite possible that it may be an input between 0x0002 and 0x01FF In this case the Modbus slave which updates this byte will condition the exchanges of the command you re currently configuring Update mode This element is used to specify the transmission mode for the query on the Modbus network It takes one of the following four values Cyclically
172. nses 0x001F 1 byte Write parameter response counter 0x0020 0x01FF 1 byte 1 byte Free input area 480 bytes Appendix B Default Configuration 108 1744088 03 2009 Output Data Memory Area The gateway has 512 output bytes Only the first 32 bytes are used All of these 32 bytes make up the gateway s output area referenced as Output 1 in the RSNetWorx configurator Service Address Size Description Managing the downstream Modbus network 0x0200 1 word DeviceNet master command word 0x0202 1 word Value of the motor starter command register 0x0204 1 word Value of the motor starter command register 0x0206 1 word Value of the motor starter command register 0x0208 1 word Value of the motor starter command register 0x020A 1 word Value of the motor starter command register 0x020C 1 word Value of the motor starter command register 0x020E 1 word Value of the motor starter command register Periodic communications Controlling TeSys U motor starters 0x0210 1 word Value of the motor starter command register 0x0212 1 byte Slave no 0x01 to 0x08 0x0213 1 byte Function number 0x03 0x0214 1 word Address of the parameter to be read 0xxxxx Aperiodic communications Reading the value of a motor starter parameter QUERY 0x0216 1 word Number of parameters to be read 0x0001 0x0218 1 byte Slave no 0x01 to 0x08 0x0219 1 byte Function number 0
173. nstruction can result in death serious injury or equipment damage To make it easier to connect the units using the topologies described in chapter 2 5 1 various accessories are available in the Schneider Electric catalogue 2 Hardware Implementation of the LUFP9 Gateway 1744088 03 2009 19 1 Hubs junctions taps and line terminations This passive box has 8 female RJ45 connectors Each of these connectors can be connected to a Modbus slave to a Modbus master to another Modbus hub or to a line termination LU9GC03 hub bus topology This passive box includes a short lead with a male RJ45 connector allowing it to be connected directly to a Modbus slave without having to use a different cable It is fitted with 2 female RJ45 connectors for the connection of two Modbus cables of the VW3 A8 306 R type VW3 A8 306 TF3 T junction box bus topology with VW3 A8 306 TF3 T junction boxes This passive box has a printed circuit fitted with screw terminals and allows the connection of 2 subscribers to the bus 2 female 15 point SUB D connectors It includes the line termination when the connector is located at the end It is fitted with 2 screw terminals for the connection of two double twisted pair Modbus cables 2 way TSXSCA62 subscriber connector bus topology with branch boxes This passive box allows a Modbus unit to be connected to a screw terminal It
174. nter Location This property is only used by the gateway if Statistics Enable Transmit Counter or Statistics Enable Transmit Receive Counter It represents the 1 byte input memory address from 0x0000 to 0x00F3 where the Modbus Queries counter is copied into As any other used input memory data this byte will increase the size of data exchanged with the DeviceNet master This is a modulo 256 counter i e it starts over at 0 once it goes past 255 which is updated each time a Modbus frame is emitted by the gateway retries included Finally a useful command from the Help menu will allow you to check the software versions of the LUFP9 gateway the ABC LUFP element but only in on line mode of course it also shows the version of the ABC LUFP Config Tool 6 Configuring the Gateway 1744088 03 2009 99 To get this information execute the About command of the Help menu An example in on line mode is given here In off line mode all versions and information from the Sub Network and Fieldbus categories are replaced with Unknown since they could not be obtained from an existing and connected gateway The http www hms se abc_lufp shtml text is an hypertext link By clicking on it you are directly redirected to the Schneider Electric s Web page dedicated to the ABC LUFP gateways This page features many downloadable items related to the family of L
175. number of bytes which can be transmitted via this instance s connection The value of this attribute should be set to the size of the input area choosed using attribute 0x0E With the LUFP9 gateway s default configuration the value of this attribute is set to 32 that is to say to the size of Input1 area 0x08 Get Consumed connection size Required UINT size of the output area Maximum number of bytes which can be received via this instance s connection The value of this attribute should be set to the size of the output area choosed using attribute 0x10 With the LUFP9 gateway s default configuration the value of this attribute is set to 32 that is to say to the size of Output1 area 0x09 Get Set Expected packet rate Required UINT 80 unit 1 ms per 10 ms step This attribute defines the periodicity of the exchanges made via the connections of this instance 0x0C Get Watchdog timeout action Required USINT 0 This attribute defines the action taken when the watchdog timer is triggered or when the connection is inactive The various possible values are as follows 0 Transition to timed out 1 Auto Delete 2 Auto Reset and 3 Deferred Delete 0x0D Get Set Produced connection path length Required UINT 6 Size of the USINT array of attribute 0x0E produced connection path Appendix D DeviceNet Objects 128 1744088 03 2009 ID Access Name Need Type Value 0x0E Get Set Produced co
176. ny of these errors may result in unintended equipment operation Failure to follow this instruction can result in death serious injury or equipment damage 6 Configuring the Gateway 1744088 03 2009 57 6 9 Changing Periodic Data Exchanged With a Modbus Slave This operation consists of replacing adding or deleting periodic data exchanged with one of the Modbus slaves With each of these operations we shall take the default configuration of the LUFP9 gateway as an example that is to say that any changes previously made will have been cancelled at the start of each operation In addition the operations to be carried out are shown as part of a targeted example Do not forget to save the changes you have made or to transfer the whole configuration to the gateway This will allow you to check that the configuration is valid as the gateway automatically verifies the configuration when it is downloaded 6 9 1 Replacing a Periodic Input Data Element We will use the node corresponding to TeSys U n 3 motor starter for our example We are trying to replace the monitoring of the TeSys U Status Register address 455 0x01C7 with the monitoring of the 1st Fault Register address 452 0x01C4 The operation is a very simple one and consists purely of changing the value of the Starting register address element of the Query from the Read Holding Registers command Modbus command for reading the values of a num
177. of product In the same way the method used to calculate the value of this attribute depends entirely on the product CRC unit counter etc So this attribute allows a DeviceNet master for instance to check that the configuration of the DeviceNet product has not been changed NOTE In addition to calculating the value of this attribute the LUFP9 gateway uses its LED GATEWAY to warn the user when its configuration is not valid the LED flashes red green Services of instance 0x01 of class 0x01 Service code Name of the service Requirement Description 0x05 Reset Required This service allows to restart the gateway power cycle 0x0E Get_Attribute_Single Required This service allows to read the value of one of the instance attributes Appendix D DeviceNet Objects 1744088 03 2009 121 Message Router Object class 0x02 The Message Router object is the element through which all objects of the Explicit messages type go so that they can be routed to the objects they are intended for It has only one instance Instance ID 0x01 This object is described in chapter 6 3 of volume II of the DeviceNet specifications Attributes of class 0x02 ID Access Name Need Type Value Description 0x01 Get Revision Optional UINT 1 Revision index of the Message Router Object class Services in class 0x02 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows
178. of values corresponding to the sole attribute of the single instance from I O Data Output Mapping Object 0x10 Set_Attribute_Single Required This service allows to write change all the values corresponding to the sole attribute of the single instance from I O Data Output Mapping Object Appendix D DeviceNet Objects 1744088 03 2009 135 Diagnostic Object Class 0xAA The Diagnostic Object has only one instance Instance ID 0x01 and is specific to the LUFP9 gateway It contains a large amount of diagnostic data of all levels As a result some of these diagnoses should not be used as these are reserved for maintenance operations carried out on the gateway or when developing its software However the attributes to which they correspond are all described below for the sake of completeness Attributes of class 0xAA ID Access Name Need Type Value Description 0x01 Get Revision Optional UINT 1 Revision index of the Diagnostic Object class Services in class 0xAA Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of one of the class attributes Attributes of instance 0x01 of class 0xAA ID Access Name Need Type Value 0x01 Get DeviceNet module serial number Optional UDINT variable The value of the DeviceNet module serial number corresponds to the serial number of the gateway s AnyBus S DeviceNet card
179. om Transactions 1 and 2 But all these bytes are swapped two by two between the gateway and the DeviceNet master A brief description of the toolbar buttons of this window is given below Stop Start communications with the selected node see Node menu below Select Send the Modbus command shown in the upper part of the window see Command menu below Stop Resume refreshing the data displayed in the lower part of the window 6 Configuring the Gateway 1744088 03 2009 53 The menus of this window allow the user to perform the following actions File menu The Exit command closes the Monitor window thus returning to ABC LUFP Config Tool Node menu The Start Node command restarts all the communications configured for the node currently monitored Since a node is active by default this command is only useful if the node has been explicitly stopped by the user with the Stop Node command or with one of the commands described in chapter 5 4 using the CC and CD fields The Stop Node command stops all the communications configured for the node currently monitored This means that all Commands and Transactions configured for the node are inhibited Please note that in the case of the first node of the LUFP9 default configuration the TeSys U n 1 slave this will also inhibit the two Transactions designed to read write any parameter of any slave Note
180. om address 0x0220 544 in decimal 6 Configuring the Gateway 66 1744088 03 2009 Close the Sub network Monitor window then once you are back in the main ABC LUFP Config Tool window select the Data length and Data location fields of the Data element from the Query one after another and change their values as shown at the top of the next page ABC LUFP Config Tool will automatically convert any value entered in decimal to hexadecimal To check that these changes have been entered into the configuration choose Monitor from the Sub Network menu again 4 Transferring this configuration to the gateway Please see chapter 6 5 Check that the configuration is valid LED GATEWAY flashing green 5 Saving this configuration to your PC s hard disk 6 Checking the gateway setup In RSNetWorx check the values of the gateway parameters see chapter 4 2 4 Only the value of parameter no 19 Output1 length should have changed from 32 bytes to 36 bytes NOTE You shall make sure the values of the displayed parameters are the same as the exchange sizes displayed in the Sub network Monitor In the current example In Area 32 bytes imply that the Input1 area begins at offset 0 physical address 0x0000 and that its length is equal to 32 bytes Also Out Area 36 bytes imply that the Output1 area begins at offset 0 physical address 0x0200 and that its length is eq
181. ommunications and prevent logging of error conditions for later evaluation Either consequence may cause unintended equipment operation Failure to follow this instruction can result in death serious injury or equipment damage See chapter 4 2 for more information 5 3 Simplified Operation The two 16 bit registers located at addresses 0x0000 0x0001 inputs and 0x0200 0x0201 outputs are no longer used Thus these two addresses can be used to exchange data with the Modbus slave No diagnostic is sent back to the PLC The DeviceNet master s command word and the gateway s status word do not exist during simplified operations 5 Gateway Initialization and Diagnostics 42 1744088 03 2009 5 4 Description of the DeviceNet Master Command Word The output word located at addresses 0x0200 MSB and 0x0201 LSB in the gateway s output memory constitutes the DeviceNet master command word Its structure is described below Bits Description 15 FB_HS_CONFIRM Acknowledgement bit of a gateway diagnostic The DeviceNet master must compare the value of the FB_HS_CONFIRM bit to the value of the ABC_HS_SEND bit bit 15 in the gateway s status word If these two values are different this means that the gateway has transmitted a new diagnostic to the DeviceNet master To tell the gateway that it has read a diagnostic the DeviceNet master must copy the value of the ABC_HS_SEND bit to the FB_HS_CONFIRM bit This allows the gateway to i
182. ord or DWord format and a final Checksum field See Query s table for details All of the data contained in the query and response Data and Variable Data fields of a Transactions command are managed by the DeviceNet master including the Slave address and Function fields if these are placed in a Data field For instance this allows you to manage all of the Modbus frame fields from the DeviceNet master if all of the query and response fields of a Transactions element excluding Checksum are Data type fields or Variable Data type fields for data with a variable data size e g the Response to a Query used to read a variable number of registers see chapter 6 12 3 3 for a description WARNING MORE THAN ONE DATA FIELD IN A MODBUS FRAME Do not use more than one Data field per Modbus frame Multiple Data fields in a single Modbus frame may not be executed in the proper order by the gateway leading to unintended consequences It is preferable for the master to set this data as only one Data field even if this means that in between constants would become part of this Data and thus be exchanged with the master Concerning Variable Data there can be only one such field in any Modbus frame Query or Response Thus the Add Variable Data command of ABC LUFP Config Tool will be disabled if the current frame already includes a Variable Data f
183. ot afford to wait for the completion of this process before sending a response The gateway should transmit subsequent queries in order to determine whether the command has finished or not 0x06 1 SLAVE DEVICE BUSY The Modbus slave informs the gateway that it is already in the process of running a command and therefore it cannot run the one transmitted to it So the gateway should re transmit the query subsequently 0x07 1 NEGATIVE ACKNOWLEDGE The Modbus slave informs the gateway that it cannot process the requested command This exception only affects commands 13 and 14 0x0D and 0x0E These functions are not part of the standard Modbus commands and are not described in this document 0x08 1 MEMORY PARITY ERROR The Modbus slave informs the gateway that it has detected a parity error on the access to its own memory This exception only affects standard commands 20 and 21 0x14 and 0x15 which are not supported by the gateway 1 Please see the standard Modbus documentation for further information about these various cases 142 1744088 03 2009 Index 2 2 way TSXSCA62 subscriber connector 19 A Address 22 Allen Bradley SLC500 38 Architecture 9 26 C Communication speed 21 Communications aperiodic 36 37 38 periodic 36 37 38 Cycle time 27 D Data exchanged 11 DeviceNet master PLC 32 DeviceNet scanner 35 DeviceNet slave 10 Diagnostic LEDs 12 DIN Rail 13 E EDS file 32 L
184. output memory area if the gateway is off line on the DeviceNet network Bit 8 All inputs are zeroed 0 or held 1 in the input memory area if the gateway s application is stopped Bit 9 The changed data field register is inhibited 0 activated 1 0x0C Get Changed data field Optional LWORD Each bit of this 64 bit register indicates whether the content of 8 consecutive bytes of the output memory area has been changed Bit 0 relates to bytes 0x0200 to 0x0207 bit 1 relates to bytes 0x0208 to 0x0215 etc up to bit 63 which relates to bytes 0x03F8 to 0x03FF 0x0D Get Interrupt cause Optional BYTE 8 bit register This register allows you to determine the cause of the last interrupt Each bit is activated when the associated event occurs then it is reset by the gateway s interrupt handler So this register is not intended to be used by the DeviceNet master Bit 0 The gateway goes on line on the DeviceNet network Bit 1 The gateway goes off line on the DeviceNet network Bit 2 Data changed 0x0E Get Interrupt notification Optional BYTE 8 bit register This register allows you to determine what types of interrupts are allowed see description of attribute 0x0D Its value is set when the gateway is initialized using a specific mailbox not described in this guide Bit 0 Issuing an interrupt when the gateway goes on line on the DeviceNet network Bit 1 Issuing an interrupt when the gateway goes off line o
185. ow in the order in which they are run Control of the motor to run forward in reverse to stop Register N7 0 is used as a parameter It contains the number of both the input word and the output word used to control and monitor the TeSys U motor starter This same number is used to index one of the bits of each register for registers N7 32 to N7 35 The input word used is located between I 1 2 and I 1 9 motor starters nos 1 to 8 and the output word used is located between O 1 2 and O 1 9 ditto So the value of N7 0 must be between 2 and 9 according to the number of the motor starter currently controlled The user controls the motor starter s running mode using bits 2 to 9 motor starters nos 1 to 8 of registers N7 32 Run 1 Stop 0 and N7 33 Run Forwards 0 Reverse 1 The forward reverse and stop commands for the TeSys U motor starter are carried out under the following conditions Bit 14 of a TeSys U status word 0 The motor starter is not in local mode Bit 02 of a TeSys U status word 0 There is no fault on the motor starter Bit 00 of a TeSys U status word 1 The motor starter is in the Ready or Switched on state When all of these conditions are met registers N7 32 and N7 33 bit 2 to 9 depending on the value of N7 0 are used to control either the motor starter running forwards in reverse or to stop it by means of braking The user updates these two registers bit by bit
186. owledge Handler Object Appendix D DeviceNet Objects 1744088 03 2009 133 I O Data Input Mapping Object Class 0xA0 The I O Data Input Mapping Object has only one instance Instance ID 0x01 and is specific to the LUFP9 gateway It contains all the data from the gateway s unique input area The only attribute Attribute ID 0x01 of the instance from this object is associated with the Input1 area This input area gathers all the memory locations receiving data from a Modbus response Attributes of class 0xA0 ID Access Name Need Type Value Description 0x01 Get Revision Optional UINT 1 Revision index of I O Data Input Mapping Object class 0x64 Get Set Input1 offset Optional USINT 0x0000 Relative starting address of input area no 1 1 0x6E Get Set Input1 length Optional USINT 0x0020 Size expressed in bytes of input area no 1 1 1 These 2 attributes correspond to the Param6 and Param7 parameters referenced by the EDS file supplied with the gateway Write access to them Access Set is reserved for DeviceNet configuration tools since it allows you to change the location or the size of this input data area So the Set_Attribute_Single service should not be used with these attributes Changing any one of these two attributes has direct consequences on the attribute 0x01 of instance 0x01 from the I O Data Input Mapping Object size of the data This attribute is
187. ping Object With the default configuration the size of instance 0x64 input data area of the gateway is equal to 32 bytes and the data related to the attribute 0x03 of this instance corresponds to the description given in Appendix B Default Configuration Input Data Memory Area Attributes of instance 0x96 of class 0x04 MODBUS OUTPUTS ID Access Name Requirement Type Value 0x03 Get Set Data Required USINT array of values The data gathered within this attribute correspond to the data of the attribute 0x01 of instance 0x01 from the I O Data Output Mapping Object With the default configuration the size of instance 0x96 output data area of the gateway is equal to 32 bytes and the data related to the attribute 0x03 of this instance corresponds to the description given in Appendix B Default Configuration Output Data Memory Area Services of instances 0x64 and 0x96 of class 0x04 Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the array of values that corresponds to the attribute 0x03 of one of the instances of the Assembly Object 0x10 Get_Attribute_Single Optional This service allows to write an array of values into the array of the attribute 0x03 of one of the instances of the Assembly Object Appendix D DeviceNet Objects 124 1744088 03 2009 Connection Object Class 0x05 With the LUFP9 gateway the Connection obje
188. ponse Byte Count Number of data bytes number of registers 2 Data first register Data last register Byte swap Swap 2 bytes Data length Value of the Byte count field Data location Address in the gateway s input memory Checksum CRC16 Preset Single Register command 0x06 Frame ABC LUFP Config Tool field Value or properties Query Register Address Address of the register Preset Data Byte swap Swap 2 bytes Data length 0x0002 Data location Address in the gateway s output memory Response Register Address Preset data Byte swap Swap 2 bytes Data length 0x0002 Data location Address in the gateway s input memory Checksum CRC16 NOTE As the slave s Response is an echo to the Request you do not have to map the Preset data of the Response into the input memory area 0x0200 0x03FF if you feel that this echo is useless for the DeviceNet master Instead you could map it into the general memory area starting at address 0x0400 Appendix E Modbus Commands 140 1744088 03 2009 Preset Multiple Registers Command 0x10 Frame ABC LUFP Config Tool field Value or properties Query Starting Register Address Address of the 1st register Number of Registers Number of registers Byte Count Number of data bytes number of registers 2 Data first register Data last register
189. ram below shows the flows of inputs and outputs exchanged between a DeviceNet master and Modbus RTU slaves via the LUFP9 gateway NOTE For more explanation about specific terms refer to the Glossary at the end of this guide OUTPUTS INPUTS DeviceNet Master LUFP9 Gateway Modbus RTU Slaves Altistart 48 5 x TeSys U 1 Introduction 1744088 03 2009 9 1 4 Introduction to the Communication System Architecture Each LUFP9 DeviceNet Modbus RTU gateway allows a PLC on the DeviceNet network to command control and configure up to 8 Modbus slaves 50 commands can be distributed over a maximum of 8 slaves without any time constraint If there are more than 8 Modbus slaves you will need to use an appropriate number of LUFP9 gateways Upstream network DeviceNet ATS48 VW33 A48 ATS46 VW3 G46301 DeviceNet Master Downstream network no 1 Modbus Downstream network no 3 Modbus Downstream network no 2 Modbus Total of 16 motor starters TeSys U model 1 Introduction 10 1744088 03 2009 The LUFP9 gateway behaves both as a DeviceNet slave on the upstream network and as a Modbus RTU master on the downstream network See Appendix A Technical Characteristics if you would like to read about the technical communication characteristics of the LUFP9 gateway The gateway can carry out its data exchanges inputs and outputs of all types with the Modbus slaves cyclically aperiodically
190. rd to which it is connected is working properly by comparing the values of these two attributes 0x07 Get Watchdog counter out Optional UINT counter The value of this counter is incremented by one every millisecond at least one writing operation every 50 ms and operates as an internal presence counter intended to the gateway s applicative card that is to say the card on which the AnyBus S DeviceNet card is inserted Appendix D DeviceNet Objects 136 1744088 03 2009 ID Access Name Need Type Value 0x09 Get LED status Optional USINT 6 variable The values of the elements of this attribute correspond to the status of the gateway s 6 LEDs 1 byte per LED The first byte corresponds to LED the second to LED etc up to LED Each byte takes one of the following values to designate the state of the LED to which it corresponds 0x00 LED is off 0x01 LED is green or 0x02 LED is red 0x0A Get Module type Optional UINT 0x0101 The value of this attribute is always equal to 0x0101 with the LUFP9 gateway as this is an AnyBus S module 0x0B Get DeviceNet module status Optional USINT 8 bit register Reading this attribute s bits shows certain information about the state of the gateway s AnyBus S DeviceNet card The four data bits of these registers are described below Bit 0 Gateway off line 0 on line 1 on the DeviceNet network Bit 1 All outputs are zeroed 0 or held 1 in the
191. red in the case of a data server Bits 7 2 1 The gateway behaves as a data server responding to queries from a DeviceNet client 0x04 Get Set Produced connection ID Required UINT 2 0 xx xxxx The value of this attribute is placed in the CAN protocol s Identifier Field when the connection goes into transmission mode group 1 messages The term xx xxxx represents the 6 bits of the address of the gateway s DeviceNet node The term represents the message ID E g 0x038A 2 011 1000 1010 group 1 messages ID of the messages 14 Gateway located at address 10 0x05 Get Set Consumed connection ID Required UINT 2 10x xxxx x The value of this attribute corresponds to the content of the CAN protocol s Identifier Field for the messages the connection should receive group 2 messages The term x xxxx x represents the 6 bits of the address of the DeviceNet node The term represents the message ID E g 0x0400 2 100 0000 0000 group 2 messages ID of the messages 0 Producer located at address 0 0x06 Get Set Initial comm characteristics Required BYTE 0x02 This attribute defines the Group or Groups of Messages by which the productions and consumptions associated with the Bit Strobed Command Response Connection object are carried out Please see chapters 3 2 and 5 4 3 6 of volume I of the DeviceNet specifications for further details on thi
192. register that is to say 400 0x0190 This value will be automatically converted to hexadecimal if the user enters it in decimal 6 Configuring the Gateway 1744088 03 2009 85 Field in the frame Size in the frame Description Preset Data 2 bytes or more for a block of data Data Location Address in the gateway s output data memory 0x0202 to 0x03FF of the item of data to be transmitted in the Preset Data field for the query s frame NOTE The Data location field is used for each frame that allows you to exchange some data between the Modbus slaves and the DeviceNet master In this case it designates the starting address of the block of data to be transmitted When selecting a value for the Data Location field data must be located at even addresses in order to align the Modbus data in 16 bit format on the O 1 x outputs of the DeviceNet scanner If data is not located at even addresses the values intended for the Modbus registers may be spread over two DeviceNet PLC words This greatly complicates programming of the application as the application may need to parse one PLC word for the Modbus LSB byte and another for the Modbus MSB byte If this complication is not handled properly it is possible to read and write the wrong data values to the Modbus slaves WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The user must use even values for the Data Location field i e 514 516 518 etc
193. riggered N7 36 Local counter that corresponds to the trigger byte of the read request N9 0 VAR_TEMP_1 Temporary scratch variable used to carry out intermediate evaluations O 1 10 RDPAR_SLAVE_FCT Request for the reading of a parameter Slave from 0x01 to 0x08 as LSB function always 0x03 as MSB O 1 11 RDPAR_ADRPAR Request for the reading of a parameter Address of the parameter copied from N7 1 but with MSB and LSB swapped O 1 12 RDPAR_NBPARS Request for the reading of a parameter Number of parameters to be read always 0x0001 but with the MSB and LSB swapped that is to say 0x0100 T4 0 TIMEOUT_RD_PARAM Timer for the timeout of the parameter reading command 3 seconds The example includes a personalized screen for monitoring the data called CDM 1 RD_PAR in order to simplify the use of this example The content of this screen is shown below Address Symbol Display Address Symbol Display N7 1 NUMPARAM Decimal N7 10 RDPAR7 Decimal N7 11 RDPAR8 Decimal B3 0 0 RD_RUNNING Binary O 1 10 RDPAR_SLAVE_FCT Hexadecimal B3 0 1 RD_OK_KO Binary O 1 11 RDPAR_ADRPAR Decimal N7 2 RD_INDEX Decimal O 1 12 RDPAR_NBPARS Hexadecimal N7 3 ADDRESS Decimal I 1 10 CR_RDPAR_XXX_SLAVE Hexadecimal N7 4 RDPAR1 Decimal I 1 11 CR_RDPAR_FCT_BYTES Hexadecimal N7 5 RDPAR2 Decimal I 1 12 CR_RDPAR_VALUE Hexadecimal N7 6 RDPAR3 Decimal I 1 16 TRIGGER_IN_RD_
194. roadcaster node s commands known as Broadcaster in ABC LUFP Config Tool Slave Address Value cannot be changed Modbus address 1 to 247 Addresses 65 126 and 127 reserved Function Value cannot be changed code of the Modbus command Other fields Specific features of Modbus commands Checksum Lo In the following chapters each byte of the query and response frames of a Modbus command are described one after another with the exception of the fields shown opposite These are always present in the queries and responses of all Modbus commands The Slave Address and Function fields are the first two bytes of these frames The two bytes of the Checksum are their last two bytes Checksum Hi Type of error check Number of the 1st byte checked The descriptions of the Modbus frames which appear in the following chapters are mainly intended to help you to configure the gateway s Modbus exchanges using ABC LUFP Config Tool Please see the documentation of each Modbus slave to check for any restriction regarding these frames number of registers which can be read or written in a single Modbus command for example It is a better idea to get hold of a standard Modbus document such as the guide entitled Modicon Modbus Protocol Reference Guide ref PI MBUS 300 Rev J so that you can see the correspondence between the elements displayed in ABC LUFP Config Tool and the content of the
195. rter and allow you to read and change the value of any motor starter parameter Function Modbus function Number of bytes 1 Exchange between the LUFP9 gateway and the TeSys U motor starter 0x03 Read Holding Registers 11 5 10 5 Periodic reading 300 ms period of the TeSys U motor starter s status register address 455 0x01C7 only 0x10 Preset Multiple Registers 14 5 11 5 Periodic writing 300 ms period of the TeSys U motor starter s status register address 704 0x02C0 only 0x03 Read Holding Register 011 5 10 5 Aperiodic reading of the value of a single parameter for a single TeSys U motor starter at a time function and address supplied by the user 0x06 Preset Single Register 11 5 11 5 Aperiodic writing of the value of a single parameter for a single TeSys U motor starter at a time function and address and value supplied by the user 1 Number of bytes in the Query number of bytes in the Response plus a period of silence of 3 5 characters for each of these two frames Each byte will be transmitted in the form of a group of 10 bits 8 data bits 1 start bit and 1 stop bit These values allow you to calculate the approximate amount of traffic on the downstream Modbus network as follows Volume of periodic traffic 300 ms period 11 5 10 5 14 5 11 5 8 1 1 480 bits For 1 TeSys U motor starter
196. ry and the master PLC DeviceNet scanner inputs outputs you will need to change the configuration of all the other Modbus slaves in order to adjust the content of the gateway s memory 6 Configuring the Gateway 1744088 03 2009 55 However these operations are not necessary when deleting a single slave Conversely they become almost essential when most of the Modbus slaves are deleted because these deletions divide up the gateway s memory Please see chapter 6 12 which describes all of the changes you can make to the configuration of each of the Modbus commands 6 8 Adding a Modbus Slave This operation allows you to add a Modbus slave whose type is different from those of the other Modbus slaves in the configuration On the other hand if the slave type is the same as one of the previously configured slaves it is preferable to copy this slave rather than to create a new one An additional import export feature also allows you to individually save the complete configuration of a Modbus slave in order to have access to it in ABC LUFP Config Tool from any configuration and at any time These two features are only available provided that there are less than 8 Modbus slaves declared which is not the case in the default configuration as it comprises 8 TeSys U motor starters Adding a new type of Modbus slave Use one of the two methods shown below a Select Sub Network then choose Add Node from the Sub Network menu
197. s element 6 11 3 Changing the Name of a Modbus Command or Transaction To rename a Modbus Command or Transaction first perform one of the following actions right click on the name of the command itself e g Preset Multiple Regs and click on Rename in the popup menu that appears or select the name of the command and choose Rename in its corresponding menu or select the name of the command and click inside its name or select the name of the command and press the F2 key Then type the new name of the command and confirm it Enter key or click outside the name s field or cancel it Escape key Once confirmed the new name will become effective in ABC LUFP Config Tool For Modbus commands but not Transactions the type of command is automatically appended at the end of its new name An example is given below 6 Configuring the Gateway 1744088 03 2009 73 This renaming function can also be used for the Queries and Responses of the Modbus Commands and Transactions as illustrated by the following example 6 12 Adding and Setting Up a Modbus Command 6 12 1 With TeSys U Motor Starters With TeSys U motor starters adding a Modbus command allows you to control or monitor additional registers without having to change the default configuration So the operation of the periodic and aperiodic communication services remains the same as for the default configuration unlike the operations
198. s subject Appendix D DeviceNet Objects 1744088 03 2009 129 ID Access Name Need Type Value 0x07 Get Set Produced connection size Required UINT size of the input area Maximum number of bytes which can be transmitted via this instance s connection The value of this attribute should be set to the size of the input area choosed using attribute 0x0E With the LUFP9 gateway s default configuration the value of this attribute is set to 0 as no input area is assigned to the Bit Strobed Command Response Connection object Maximum size 8 bytes 0x08 Get Set Consumed connection size Required UINT size of the output area The value of this attribute is not significant in the case of the Bit Strobed Command Response Connection object This value is set to 8 0x09 Get Set Expected packet rate Required UINT 80 unit 1 ms per 10 ms step This attribute defines the periodicity of the exchanges made via the connections of this instance 0x0C Get Set Watchdog timeout action Required USINT 0 This attribute defines the action taken when the watchdog timer is triggered or when the connection is inactive The various possible values are as follows 0 Transition to timed out 1 Auto Delete 2 Auto Reset and 3 Deferred Delete 0x0D Get Set Produced connection path length Required UINT 0 Size of the USINT array of attribute 0x0E produced connection path 0x0E Get Set Produced
199. sactions 1 command In this case confirm with the Yes button 3 Deleting the write command for a parameter Back in the main ABC LUFP Config Tool window the Transactions 1 command has been deleted The second personalised command Transactions 2 is automatically renamed Transactions 1 but retains all of its setup Now delete this one in the same way as you did with the previous command When this is done there is no consequence for the other nodes 6 Configuring the Gateway 1744088 03 2009 69 4 Checking the new memory occupation If you wish to check how much of the gateway s memory is now occupied select Sub Network and choose Monitor from the Sub Network menu The following window appears allowing you to see how much of the gateway s memory is occupied by Modbus data The part framed in red represents the memory occupation before the deletion of the two setup commands It has been inlaid in the illustration below so that you can see the effects of the deletion operations we have just carried out You will Note that the TeSys U n 1 section now only has the two Modbus commands common to the eight TeSys U motor starters and that the memory locations which corresponded to the two personalised commands are now free NOTE The free memory location at address 0x0012 in the gateway s memory is no longer part of the gateway s inputs because there is no input data used beyond this ad
200. splay all monitored values and memory addresses in Hexadecimal The Decimal choice configures the three monitoring columns to display all monitored values and memory addresses in Decimal 6 Configuring the Gateway 54 1744088 03 2009 6 7 Deleting a Modbus Slave This step allows you for instance to free up a location on the downstream Modbus network known as the Sub Network in ABC LUFP Config Tool in order to replace one Modbus slave with another In fact the gateway s default configuration allows it to communicate with eight TeSys U motor starters which is the maximum number of Modbus slaves If the gateway is used to manage exchanges on a Modbus network with fewer than eight TeSys U motor starters it is preferable to delete the redundant TeSys U motor starters from the gateway You should carry out this operation using ABC LUFP Config Tool If you are using the aperiodic read write services keep in mind that these services are configured using the memory space of the first configured TeSys U Motor starter Therefore deleting the first configured TeSys U Motor starter can also result in the deletion of the aperiodic read write services WARNING LOSS OF APERIODIC COMMUNICATIONS Do not delete the first configured TeSys U motor starter if you are using the aperiodic read write services Deleting this first device will also delete the aperiodic services Because these services allow communication with all of the config
201. sponding Modbus slave and 3 the location of the data exchanged between the gateway s memory and this Modbus slave See chapter 6 11 and chapter 6 12 WARNING DUPLICATE MODBUS ADDRESSES OR GATEWAY MEMORY RANGES If the user chooses to add a Modbus slave by copying the configuration of an existing Modbus slave the user must change the added device s Modbus address and the memory locations it uses to exchange data with the gateway Duplicated Modbus addresses or gateway memory locations may result in communications errors incorrect information being written to a slave s registers or in writing the registers of an unintended device Any of these errors may result in unintended equipment operation Failure to follow this instruction can result in death serious injury or equipment damage Importing exporting a Modbus slave configuration ABC LUFP Config Tool offers the possibility of independently saving and loading the configuration of a node on the downstream Sub Network For instance this will allow you to build a library of Modbus slave templates so that you can use them in any configuration To save the configuration of a Modbus slave select the node it corresponds to then choose Save Node from the menu whose name corresponds to the name of the selected node A dialog box will then appear asking you to save the configuration export in XML format To insert a node using the XML file containing a Modbus slave configuration
202. ssible Modbus connections but they are not covered in this document 2 Hardware Implementation of the LUFP9 Gateway 1744088 03 2009 15 2 5 1 Examples of Modbus Connection Topologies Bus topology with LU9 GC3 splitter box The connections are shown below 1 LUFP9 gateway 2 Modbus cable 3 Modbus splitter box LU9 GC3 4 Modbus cables VW3 A8 306 R 5 Line terminators VW3 A8 306 R 6 Modbus T junction boxes VW3A8306TF with cable 7 Modbus cable to another splitter box TSX CSA 00 replaces 5 NOTE It is advisable to place a line terminator at each end of the bus to avoid malfunctions on the communication bus This means that a tee should not have a free connector It is either connected to a slave or to the master or there is a line terminator NOTE It is important to connect the bus to the IN input of the splitter box Connection to another splitter box is made via the OUT output 2 Hardware Implementation of the LUFP9 Gateway 16 1744088 03 2009 Bus topology with VW3 A8 306 TF3 T junction boxes This topology uses VW3 A8 306 TF3 T junction boxes to connect each of the Modbus slaves to the main section of the Modbus network Each box should be placed in the immediate vicinity of the Modbus slave it is associated with The cable for the main section of the Modbus network must have male RJ45 connectors like the VW3 A8 306 R cable used for the star topology The lead b
203. ssue a new diagnostic Summary If FB_HS_CONFIRM ABC_HS_SEND The gateway s status word contains a diagnostic which has already been acknowledged by the DeviceNet master So the gateway is free to use this status word to place another diagnostic there Else A new diagnostic is available in the gateway s status word The DeviceNet master can read this diagnostic but must also copy the value of ABC_HS_SEND to FB_HS_CONFIRM in order to allow the gateway to generate new diagnostics 14 FB_HS_SEND Toggle bit New command from the DeviceNet master Before changing the value of FB_DU the DeviceNet master must compare the values of FB_HS_SEND and ABC_HS_CONFIRM bit 14 of the gateway s status word If these two values are different this means that the gateway has not yet acknowledged the previous DeviceNet master command Else the DeviceNet master can issue a new command updating the FB_DU bit according to the nature of its command shutdown or activation of Modbus exchanges then toggling the value of the FB_HS_SEND bit to inform the gateway that it has sent it a new command Summary If FB_HS_SEND ABC_HS_CONFIRM The DeviceNet master command word still contains a command which has not yet been acknowledged by the gateway So the DeviceNet master cannot use this word to place a new command in it Else The previous command of the DeviceNet master has been acknowledged by the gateway which allows it to transmit a ne
204. sters to configure their exchanges using this same protocol Fieldbus A term referring to the upstream DeviceNet network in ABC LUFP Config Tool Handshake An old term referring to the two registers used for initializing and carrying out diagnostics of the LUFP9 gateway This term has been replaced by the expression Control Status Byte LED Light Emitting Diode LRC Longitudinal Redundancy Check LSB Least significant byte in a 16 bit word MAC ID Media Access Control ID Address of a module on a DeviceNet bus MSB Most significant byte in a 16 bit word Node A term referring to the connection point of a Modbus slave under ABC LUFP Config Tool ODVA Open DeviceNet Vendor Association Inc PSU Power supply Sub Network A term referring to the downstream Modbus network under ABC LUFP Config Tool XML EXtensible Markup Language The language used by ABC LUFP Config Tool to import export the configuration of a Modbus slave
205. tarter command register O 1 3 Value of the motor starter command register O 1 4 Value of the motor starter command register O 1 5 Value of the motor starter command register O 1 6 Value of the motor starter command register O 1 7 Value of the motor starter command register O 1 8 Value of the motor starter command register Periodic communications Controlling TeSys U motor starters O 1 9 Value of the motor starter command register O 1 10 Slave no 0x01 0x08 Function no 0x03 Address of the parameter to be read O 1 11 MSB 0xxx LSB 0x xx Number of parameters to be read Aperiodic communications Reading the value of a motor starter parameter QUERY O 1 12 MSB 0x00 LSB 0x 01 O 1 13 Slave no 0x01 0x08 Function no 0x06 Address of the parameter to be written O 1 14 MSB 0xxx LSB 0x xx Value of the parameter to be written Aperiodic communications Writing the value of a motor starter parameter QUERY O 1 15 MSB 0xxx LSB 0x xx Aperiodic communications Trigger bytes for the queries O 1 16 Read parameter query counter Write parameter query counter 4 Software Implementation of the Gateway 1744088 03 2009 37 4 2 8 Transferring the DeviceNet Scanner Configuration Once you have finished the operations described above make sure that the changes made have been transmitted to the DeviceNet scanner To
206. ted Yes 1 No 0 C5 0 CPT_RD_TESYS_U Reading a parameter on the TeSys U motor starters Counter When the value of this counter reaches 9 the process of reading a parameter on all of the TeSys U motor starters is halted I 1 10 CR_RDPAR_XXX_SLAVE Result of reading a parameter Slave 0x01 to 0x08 as MSB The value of this field is compared to that of the corresponding field in the query frame The LSB of this input word is not used I 1 11 CR_RDPAR_FCT_BYTES Result of reading a parameter Function always 0x03 as LSB the value of this field is compared to that of the corresponding field in the query frame number of bytes read 0x02 as MSB value masked and checked I 1 12 CR_RDPAR_VALUE Result of reading a parameter Value of the parameter read MSB and LSB are swapped This value is placed in array N7 N7 2 then its MSB and its LSB are swapped there in order to restore the correct value of the read parameter N7 1 NUMPARAM User command Number of the read parameter N7 2 RD_INDEX Index in the array of results for the reading of a TeSys U parameter Value 4 to 11 motor starters nos 1 to 8 N7 3 ADDRESS Address of the Modbus slave for which one of the parameters is currently being read Value 1 to 8 N7 N7 2 RD_INDEX Array of results used for the reading of a TeSys U parameter motor starters nos 1 to 8 Elements N7 4 to N7 11 see N7 2 Value 1 in case of error response timeout t
207. ter it is possible to create two types of special Modbus commands Modbus commands using the same template as standard commands and Modbus commands whose nature and frame content can be completely changed by the user 6 12 3 1 Modbus Commands Based on Standard Commands You create a command of this type from the Select Command window see chapter 6 12 2 by choosing Add Command from the Command menu The window shown at the top of the next page appears It shows the structure of the future command s query and response frames which will then be added to the list of available Modbus commands This structure includes the standard elements that is to say the Slave Address Function and Checksum fields described in previous chapters Please see chapter 2 12 Command editor in the ABC LUFP Config Tool user manual entitled AnyBus Communicator User Manual for further information about creating standard Modbus commands 6 Configuring the Gateway 90 1744088 03 2009 6 12 3 2 User Customizable Modbus Commands In ABC LUFP Config Tool these commands are known as Transactions Unlike in the previous examples where many of the variables were fixed by the Modbus command selected the whole structure of the query and response frames associated with these transactions is dictated by data in the gateway s memory These data fields in the gateway s memory may contain constant and ranged values in Byte W
208. to read the value of one of the class attributes Attributes of instance 0x01 of class 0x02 This instance has no attributes DeviceNet Object class 0x03 The DeviceNet object has only one instance Instance ID 0x01 This object contains the status of the general configuration of the gateway s node on the DeviceNet network It is described in chapter 5 5 of volume II of the DeviceNet specifications The LUFP9 gateway is a Group 2 only server type subscriber see chapter 7 9 of volume I of the DeviceNet specifications Attributes of class 0x03 ID Access Name Need Type Value Description 0x01 Get Revision Required UINT 2 Revision index of the definition of the class of the DeviceNet Object currently used for the implementation of the gateway s DeviceNet communications functions 1 1 This index must be between 1 and 65 535 and will be incremented if the definition of the class is replaced by a more recent definition Services in class 0x03 Service code Name of the service Need Description 0x0E Get_Attribute_Single Optional This service allows to read the value of one of the class attributes Appendix D DeviceNet Objects 122 1744088 03 2009 Attributes of instance 0x01 of class 0x03 ID Access Name Need Type Value 0x01 Get MAC ID Required USINT 0 to 63 The value of this attribute corresponds to the gateway s address on the DeviceNet network MAC ID that is to say to the ad
209. tocol Reference Guide PI MBUS 300 Rev J You can download these technical publications and other technical information from our website at www schneider electric com _________________________________________________________________________ User Comments We welcome your comments about this document You can reach us by e mail at techcomm schneider electric com 6 1744088 03 2009 1 Introduction 1 1 Introduction to the User s Manual Chapter 1 describes the gateway the user guide that comes with it and the terms used in it Chapter 2 gives an introduction to the gateway and describes all the items used when setting it up both inside thumb wheels and outside cables and connectors the gateway Chapter 3 describes the six LEDs on the front of the gateway Chapter 4 describes the successive steps for setting the gateway up with its default configuration with a PLC using DeviceNet LUFP9 gateways are shipped pre configured to allow you to interface a DeviceNet master with 8 predefined Modbus slaves TeSys U motor starters Chapter 5 describes two registers in the gateway s memory reserved for initializing and carrying out diagnostics on the gateway They are only exchanged between the DeviceNet master and the gateway Chapter 6 describes how to use the ABC LUFP Config Tool software application which allows you to modify or create a new configuration for the gateway and shows the various features of this software
210. ts the time that the gateway will wait for a response If a response has not reached the gateway within the given time configured using the timeout time 10ms element the gateway proceeds to a re transmission This process continues until it reaches the last re transmission allowed see Retries then the gateway declares the Modbus slave off line but only for the command to which the timeout time 10ms belongs 6 Configuring the Gateway 1744088 03 2009 81 Configuration element Description Trigger byte address This element is only used by the gateway if Update mode is set to Change of state on trigger In this case it specifies the address in the gateway s output memory 0x0202 to 0x03FF of an 8 bit counter managed by the DeviceNet master When the DeviceNet master updates the value at the Trigger Byte Address to any value other than zero the query configured with an Update Mode of a Change of state on trigger is transmitted to the Modbus slave So the DeviceNet master must have access to this counter in the same way as for the periodic output registers sent to TeSys U motor starters In comparison to the On data change Update Mode this mode allows you to send a command on a specific order from the DeviceNet master if for example the latter is unable to update all data of any given query at the same time NOTE In the specific case of the gateway s default configuration the Tra
211. tus Word which is transmitted by the gateway and is associated to addresses 0x0000 and 0x0001 of the gateway input memory The Gateway Status Word is not refreshed cyclically The updating of this word is based on a toggle bit system which must be managed in the PLC application Diagnostic is refreshed by the gateway using toggle bit B15 New command from the DeviceNet master is sent using toggle bit B14 5 1 1 DeviceNet Master Command Word B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 CD Control Data CC Control Code FB_DU Modbus cyclic exchanges start up FB_HS_SEND Toggle bit New command from DeviceNet master FB_HS_CONFIRM Toggle bit Diagnostic acknowledgement See the detailed description of each bit in chapter Erreur Source du renvoi introuvable 5 Gateway Initialization and Diagnostics 40 1744088 03 2009 5 1 2 Gateway Status Word B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 EC Error Code ED Error Data ABC_PER Modbus cyclic exchanges will all slaves indication ABC_DU Modbus cyclic exchanges activated ABC_HS_CONFIRM Toggle bit Command acknowledgement ABC_HS_SEND Toggle bit New gateway diagnostic See the detailed description of each bit in chapter 5 5 5 2 Diagnostic and Control The DeviceNet master manages the Modbus slaves activation deactivation and the Modbus network diagnostic using the same 2 words as those of Full Management Bits concerning Mod
212. u read this manual when using ABC LUFP Config Tool because this guide will only describe the various features it provides in relation to using the LUFP9 gateway 6 3 Connecting to Disconnecting from the Gateway In ABC LUFP Config Tool the connection to the gateway must be performed manually But first you should check which serial port ABC LUFP Config Tool will use for this connection In the Tools menu the Port sub menu will reveal which serial ports COM1 COM2 etc are currently available If several COM ports are available select in this sub menu the port you intend to use for connecting to and configuring the gateway An example is given on the right NOTE If all the serial ports of your PC are already used by other applications you must first close ABC LUFP Config Tool then free a serial port by disconnecting closing or terminating an application that currently uses a serial port Afterward restart ABC LUFP Config Tool because COM ports are only scanned during its start up the freed COM port should now be useable by it To connect ABC LUFP Config Tool to the gateway right click on the ABC LUFP element and click on Connect in the popup menu that appears or select the ABC LUFP element and choose Connect in the ABC LUFP menu or click on the button Once connected you can disconnect ABC LUFP Config Tool from the gateway by right clicking on the
213. ual to 36 bytes 6 Configuring the Gateway 1744088 03 2009 67 7 Changing the amount of data transmitted by the DeviceNet scanner Still in RSNetWorx change the value for the amount of periodic data transmitted by the DeviceNet scanner see chapter 4 2 5 Change the value of the Tx Size field from 32 to 36 in the Polled section 8 Configuring the DeviceNet master PLC outputs In RSNetWorx establish a new correspondence between the data transmitted to the gateway and the PLC outputs according to the requirements of your application see chapter 4 2 7 The various possibilities offered by RSNetWorx for establishing a correspondence between the data transmitted to a DeviceNet subscriber and the PLC outputs will not be covered here Please see the documentation for this software application to find out more about this step in setting up a DeviceNet master PLC In this guide we will be using the AutoMap command to establish a raw correspondence with all of the data transmitted to the LUFP9 gateway We then get the correspondence shown below derived from the one used with the gateway s default configuration The changes in relation to the default configuration are shown by a greyed out background like the free memory locations Description Service PLC output Bit 0 Bit 7 Bit 8 Bit 15 DeviceNet master command word Managing the downstream Modbus network O 1 1 MS
214. ucts DeviceNet Category Communication Adapter LUFP9 DeviceNet Vendor Schneider Automation LUFP9 4 Software Implementation of the Gateway 32 1744088 03 2009 4 2 3 Selecting and Adding a Gateway to the DeviceNet Network Select LUFP9 from the list on the left then add it to the DeviceNet network topology In our example we have assigned the MAC ID address 04 to the gateway the configuration of the address for a gateway is described in chapter 2 7 2 4 2 4 Editing Gateway Parameters Double click on the icon which corresponds to the gateway in the frame on the right In the window which then appears select the Device Parameters tab and check that the values for the parameters correspond to those for the parameters shown below If necessary change them only parameters 1 to 5 are accessible to the user in write mode then click on the Download To Device button to send these changes to the gateway 4 Software Implementation of the Gateway 1744088 03 2009 33 If you are in any doubt over what is displayed click on the Upload From Device button then on Start Monitor The RSNetWorx application then starts to read from the gateway the values of the parameters currently displayed Click on the Stop Monitor button to stop this reading process The most important parameters in the case of the default gateway configuration are parameters 1 and 2 periodic transfers
215. ue of these registers is transferred to addresses 0x0006 0x000F of the input memory of the gateway length of 2 4 6 8 or 10 bytes depending on the number of registers actually read for a maximum of 10 bytes The contents of this command is detailed below because our example focuses on it o The Query is made of the following fields in this order 1 Byte Constant field renamed as Address 0x01 address of the Modbus slave 1 Byte Constant field renamed as Function code 0x03 function code of a Read Holding Registers command 1 Word Constant field renamed as Register Address 0x01C7 to emulate the Starting register address field of the FC 0x03 1 Data field with Data length 0x0002 and Data location 0x0204 to replace the Number of registers field of the FC 0x03 the DeviceNet master uses this output data field to set the number of status registers from 1 to 5 he wants to read from the TeSys U slave 1 Checksum field mandatory CRC at 0x0000 o The Response is made of the following fields in this order 1 Byte Constant field renamed as Address 0x01 address of the Modbus slave 1 Byte Constant field renamed as Function code 0x03 function code of a Read Holding Registers command 1 Byte Limits field renamed as Byte count and with Minimum Value 0x02 and Maximum Value 0x0A to emulate
216. ured Modbus devices and not just the first device you may lose communications with all devices leading to unintended equipment operation Failure to follow this instruction can result in death serious injury or equipment damage Procedure for deleting a Modbus slave 1 Select the node corresponding to the Modbus slave you wish to delete from the configuration If this is the only node remaining in the configuration you will not be able to delete it as the downstream Modbus network must include at least one slave 2 Right click on the icon or the name of this Modbus slave A menu pops up underneath the mouse cursor or In the ABC LUFP Config Tool main menu pull down the menu whose name corresponds to the name of the previously selected node 3 On this menu click on Delete The confirmation window shown below then appears asking you to either confirm that you want to delete the selected node TeSys U n 2 in the example shown here or cancel the operation 4 If you confirm that you want to delete the node the menu disappears along with the previously selected node Otherwise the node will still be there once the window disappears Keyboard shortcut Del key Adjusting the gateway s memory optional step The data previously exchanged between the gateway and the Modbus slave which has just been deleted will free up locations in the gateway s memory If you want to optimize the exchanges between the gateway s memo
217. us injury or equipment damage The values of the EC and ED fields are described in the table below EC Description of the error ED Notes 2 0000 Re transmissions on the Modbus network Number of re transmissions Total number of re transmissions carried out on the sub network for all slaves 2 0001 A Modbus slave is missing Address of the missing Modbus slave 2 0010 Several Modbus slaves are missing 2 0011 Excessive data in a Modbus response Address of the Modbus slave involved This error occurs when the gateway receives too much data in the response sent by one of its Modbus slaves 2 0100 Unknown Modbus error Address of the Modbus slave involved 2 1111 Absence of error This is a no error code used by the gateway whenever the Modbus communications are OK It is typically used when previously absent Modbus slaves are back on the sub network The re transmission counter used to signal this error is not reset when the gateway generates this error code If there are recurrent communication problems on the Modbus network the gateway will generate this same diagnostic repeatedly so as to tell the DeviceNet master the total number of re transmissions carried out as often as possible This counter is reset when its value exceeds its maximum value counter modulo 256 0xFF 0x00 In the case of de connection of one or several devices on the Modbus sub network the LUFP9 gateway will first r
218. us slave to a query or following the receipt of an incorrect response the gateway uses the Retries and Timeout time 10ms elements to carry out re transmissions If the Modbus slave has still not responded correctly following these re transmissions the gateway stops sending it the corresponding query for a period of time which can be adjusted using Reconnect time 10ms When this Reconnect time has elapsed the gateway attempts to restore communication with the Modbus slave Retries Default value 3 This element indicates the number of re transmissions carried out by the gateway if there is no response from the Modbus slave to a query or if the response is incorrect This re transmission process ceases as soon as the gateway gets a correct response within a given time If none of the re transmissions has allowed the gateway to obtain a correct response the Modbus slave is deemed to be off line but only in relation to the command in question The gateway then uses the Offline options for sub network and Reconnect time 10ms elements and the LED MODBUS becomes red This LED will only revert to a green state if the Modbus command is answered with a correct response once the reconnection has started see element Reconnect time 10ms If the number of re transmissions is set to 0 the process described above will not be run Timeout time 10ms Default value 10ms x 100 1s This element represen
219. ve The Altistart and Altivar devices reserve these addresses for other communications and the use of these addresses in such a system can have unintended consequences Failure to follow this instruction can result in death serious injury or equipment damage Specific Modbus RTU features of the LUFP9 gateway Maximum number of subscribers excluding gateway 8 Modbus slaves Maximum number of commands configured Up to 100 Modbus queries and responses configured for the same gateway using ABC LUFP Config Tool Communication speed 1 200 2 400 4 800 9 600 or 19 200 bits s configured using ABC LUFP Config Tool Period of silence No possibility to raise the gateway s period of silence Parity None even or odd configured using ABC LUFP Config Tool Start bits 1 bit only Stop bits 1 or 2 bits configuration using ABC LUFP Config Tool Structure of the LUFP9 gateway s memory Inputs 2 bytes for the diagnostics of errors on the downstream network by the gateway see chapter 5 510 bytes accessible by the DeviceNet master in the form of input data see Appendix B Default Configuration Input Data Memory Area for the default use of this input data Addresses Input data area 0x0000 0x0001 Gateway status word unless Control Status Byte Disabled 0x0002 Inputs accessible through the DeviceNet master 510 bytes 0x01FF 1 input data area Appendix A Technical C
220. w command In this case it changes the value of the FB_DU bit then toggles the value of the FB_HS_SEND bit 13 FB_DU Modbus exchange startup Reserved if Diagnostic and Control The setting of this bit to one by the DeviceNet master allows communications between the gateway and the Modbus slaves Resetting it to zero is used to inhibit them When the DeviceNet master sets this bit to one it is preferable for all of the output data it has placed in the gateway s output memory to be up to date FB_DU means FieldBus Data Updated If they are not this data will be transmitted to the Modbus slaves as is NOTE As long as FB_DU is not set to 1 by the DeviceNet master the gateway does not send any Query to the Modbus slaves This bit is primarily used by a DeviceNet master to prevent the gateway from sending invalid data to them 8 12 CC Control Code for activation deactivation of Modbus slave s Code of the command sent by the DeviceNet master to the gateway in order to activate or inhibit the communications with one or more Modbus slaves see CC CD table 0 7 CD Control Data for activation deactivation of Modbus slave s Data item associated with the CC control code see CC CD table 5 Gateway Initialization and Diagnostics 1744088 03 2009 43 Due to the inversion of the LSB and the MSB for this register between the gateway and the DeviceNet master the structure of the corresponding output word
221. way s DeviceNet node The term represents the message ID E g 0x070A 2 111 0000 1010 group 3 messages ID of the messages 4 Gateway located at address 10 0x05 Get Set Consumed connection ID Required UINT 2 11 xx xxxx The value of this attribute corresponds to the content of the CAN protocol s Identifier Field for the messages the connection should receive group 3 messages The term xx xxxx represents the 6 bits of the address of the DeviceNet node The term represents the message ID E g 0x0601 2 110 0000 0001 group 3 messages ID of the messages 0 Producer located at address 1 Appendix D DeviceNet Objects 126 1744088 03 2009 ID Access Name Need Type Value 0x06 Get Set Initial comm characteristics Required BYTE 0x21 This attribute defines the Group or Groups of Messages by which the productions and consumptions associated with the Explicit Connection object are carried out Please see chapters 3 2 and 5 4 3 6 of volume I of the DeviceNet specifications for further details on this subject 0x07 Get Set Produced connection size Required UINT 516 Maximum number of bytes which can be transmitted via this instance s connection 0x08 Get Set Consumed connection size Required UINT 516 Maximum number of bytes which can be received via this instance s connection 0x09 Get Set Expected packet rate Required UINT 10 000 unit
222. which must be managed in the PLC application 6 Configuring the Gateway 80 1744088 03 2009 6 12 2 2 Configuring the Query Select the Query element from the Modbus command The various elements of the configuration of the query for this command are shown opposite The values displayed correspond to the default values for any new command These elements allow you to configure how the whole command is managed including how degraded modes are managed number of re transmissions for example Each of these elements is described in order in the table below When a unit is assigned to an element it is shown in brackets after the name of the element Configuration element Description Offline options for fieldbus This element affects the data sent to the Modbus slave but only in the query to which this element belongs to whenever the gateway is disconnected from the DeviceNet network This element takes one of the following three values Clear From now on all data sent to the Modbus slave using this query is set to 0x0000 resetting of the output data in the gateway s memory Freeze All data sent to the Modbus slave using this query retains its current values the output data in the gateway s memory is frozen NoScanning The query is no longer transmitted to the Modbus slave by the gateway Reconnect time 10ms Default value 10ms x 1000 10s If there is no response from the Modb
223. x06 0x021A 1 word Address of the parameter to be written 0xxxxx Aperiodic communications Writing the value of a motor starter parameter QUERY 0x021C 1 word Value of the parameter to be written 0xxxxx 0x021E 1 byte Read parameter query counter Aperiodic communications Trigger bytes for the queries 0x021F 1 byte Write parameter query counter 0x0220 0x03FF 1 byte 1 byte Free output area 480 bytes Total Number of Modbus Queries and Responses The total number of Modbus queries and responses is equal to 36 2 periodic queries and 2 periodic responses for each of the 8 TeSys U motor starters plus 2 aperiodic queries and 2 aperiodic responses for all of these motor starters Since the total number of the Modbus queries and responses one can configure for a single gateway is limited to 100 there are 64 spare Modbus queries and responses that is to say the equivalent of 32 Modbus commands So this reserve allows the addition of up to 4 Modbus commands for each one of the 8 TeSys U motor starters as this would require the use of 64 Modbus queries and responses 4 times 1 query and 1 response for each of the 8 motor starters i e 4 1 1 8 109 1744088 03 2009 Appendix C Practical Example RSLogix 500 NOTE This Appendix is reserved for users having a good knowledge of Rockwell Automation RSNetWorx and RSLogix 500 products A practical example is available It is mad
224. y variables used to carry out the intermediate evaluations primarily LSB MSB swappings O 1 13 WRPAR_SLAVE_FCT Request for writing the value of a parameter Slave copied from N7 12 as LSB function always 0x06 as MSB O 1 14 WRPAR_ADRPAR Request for writing the value of a parameter Address of the parameter copied from N7 13 but with MSB and LSB swapped O 1 15 WRPAR_VALUE Request for writing the value of a parameter Value of the parameter copied from N7 14 but with MSB and LSB swapped S 24 INDEX_SYS Index register used in indexed addressing prefix T4 1 TIMEOUT_WR_PARAM Timer for the timeout of the parameter writing command 3 seconds Appendix C Practical Example RSLogix 500 1744088 03 2009 117 The example includes a personalized screen for monitoring the data called CDM 2 WR_PAR in order to simplify the use of this example The content of this screen is shown below Address Symbol Display Address Symbol Display N7 12 WR_SLAVE Decimal N7 25 WRPAR_5_VALUE Decimal N7 13 WR_ADDRESS Decimal N7 26 WRPAR_6_ADDRESS Decimal N7 14 WR_VALUE Decimal N7 27 WRPAR_6_VALUE Decimal B3 0 2 WR_COMMAND Binary N7 28 WRPAR_7_ADDRESS Decimal N7 29 WRPAR_7_VALUE Decimal B3 0 3 WR_RUNNING Binary N7 30 WRPAR_8_ADDRESS Decimal B3 0 4 WR_OK Binary N7 31 WRPAR_8_VALUE Decimal N7 15 WR_INDEX Decimal O 1 13 WRPAR_SLAVE_FCT Hexadecimal N7 16 WRPAR_1_ADD
225. ytes 0x14 Get OUT total length Optional UINT 0x0020 This attribute indicates the total size of the output data used in the gateway s extended memory OUT bytes supported expressed as a number of bytes This size is equal to the value of the previous attribute size of outputs in DPRAM as it only contains output data The values of attributes 0x12 0x13 and 0x14 are all identical With the LUFP9 gateway s default configuration the value of this attribute is equal to 32 bytes NOTE The gateway s extended internal memory is different from the DPRAM memory dealt with in the rest of this guide As a result when using the gateway you will not have to worry about it Services of instance 0x01 of class 0xAA Service code Name of the service Need Description 0x0E Get_Attribute_Single Required This service allows to read the value of the single instance of the Diagnostic Object 138 1744088 03 2009 Appendix E Modbus Commands Function code Broadcast 1 Modbus command 03 0x03 Read Holding Registers 06 0x06 Yes Preset Single Register Only the Modbus commands shown in the right hand table are supported by the gateway The structure of the query and response frames for each of these commands is then described in the following chapters 16 0x10 Yes Preset Multiple Registers 1 The content of this column shows whether the command can be added Yes or not to the list of a b

6. Configuring the Gateway

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