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OS32C-DM Safety Laser Scanner with EtherNet/IP

1. OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data Beams 2 Beams 17 32 DT Attribute D ipti Data Field 16 bit 16 bit ribute Description ata Field 16 bit AZS 01 0 0x00 40 Active Warning Zone Set Data Type UINT 16 bit AZS 70 69 0x45 INVALID AZS 32 768 0x8000 11 Unused For future use 12 Unused For future use 13 Unused For future use 14 Unused For future use 15 Unused For future use 16 Protection Zone Status Beam status bitO to bit16 0 Clear 1 Blocked Beams 1 Beams 1 16 17 Protection Zone Status Beam status bitO to bit16 0 Clear 1 Blocked 18 through 57 Protection Zone Status Beams 3 Beam 33 48 Through Protection Zone Status Beams 42 Beams 653 672 Beam status bitO to bit16 0 Clear 1 Blocked Protection Zone Status Beam status bitO to bi16 0 Clear 1 Blocked Beam 678 688 unused Beams 44 Beams 689 704 m Beams 43 Beams 673 688 Unused beams set to zero Note Data used to maintain 16 bit word alignment 59 Unused Zone Status Beams Unused beams set to zero 44 Beams 689 704 Note Data used to maintain 32 bit alignment 60 Warning Zone 1 Status Beam status bitO to bit16 0 Clear 1 Blocked Beams 1 Beams 1 16 61 Warning Zone 1 Status Beam status bitO to bit16 0 Clear 1 Blocked Beams 2 Beams17 32 Warning Zone 1
2. Vendor Specific Object 117 up to 2764 bytes provides system status range and reflectivity measurement data up to 554 bytes up to 554 bytes provides range measurement data provides reflectivity measurement data provides range measurement data provides reflectivity measurement data nN lt lt lt we Note The term Input Assembly is from the originating devices perspective PLCs and PC client software applications are considered the originating devices from the OS32C s perspective The input assembly object data provided by the OS32C can be obtained by using either explicit TCP IP request reply messages or by using implicit UDP I O connections in order to receive the assembly data at a specific repetitive interval Vendor specific object data provided by the OS32C can be obtained by using explicit TCP IP request reply messages at a rate defined by the software application Data provided in vendor specific objects 114 116 and 117 are synchronous with the scan period of the OS32C 40 ms and can be used in applications requiring greater time precision In firmware release 3 18 3 dot 18 or later UDP IO messages are also synchronous with a multiple of the scan period 40 80 120 etc To read individual data attributes from the scanner service code 14 0xOE Get Single Attribute in a TCP request response explicit message can be used to obtain the data For example sending the following paramet
3. It will add a connection configuration to originator device Please configure the Tag Set each of originator device and target device Connection 1 0 Type Exclusive Owner of Assem100 M Originator Device M Target Device Node Address 192 168 250 2 Node Address 192 168 250 1 Comment CJ2B EIP21 Comment 0832C Safety Laser Scanner Input Tag Set Edit Tag Sets Dutput Tag Set D 00000 32Byte PRESEN Connection Mutrcast connection z Output Tag Set Edit Tag Sets Input Tag Set Door DO 2Byte E Output_1 12 2Byte aa ial Point to Point connection ype Show Detail Fig 6 11 Edit Connection Window Click the Show Detail button in the lower left hand corner of this window Set the RPI to 200 ms Click the Regist button when finished then click Close Output Tag Set Edit Tag Ses Input Tag Set D00100 2Byte he E Dutput 112 2Byte E xa sid Point to Point connection ype Hide Detail m Detail Parameter Packet Interval RPI 200 ms 0 5 10000 0 ms Connection Name Timeout Value Packet Interval RPI x 4 Pestana Connection Structure e 192 168 250 2 CJ2B EIP21 Close Fig 6 12 Packet Interval Setting Click OK in the Edit Device Parameters window OS32C with EtherNet IP amp Measurement Data Addendum Edit Device Parameters 192 168 250 2 CJ2B EIP21 1
4. connection configuration to onginalor device Please configure the T ag Set each of ongnator device and target device Connection 1 0 Type Listen Only of Assem100 X ngnator Device Target Device Node Addess 192 168 2503 Node Adde ss 1921682502 Commer CJTw EIP21 Coerenert 05320 Safety Laser Scanner Input Tag Set Output Tag Set Qm 2 Be o Camps Miticon conection Multicast Output Tag Set Eda Tag Sets 4 Connection Type Point to Point connection Octal Parameter Packet Interval RPI 2000 05 100000 me 2 Connection Name Timeout Value Packet Interval RPI x 4 Xj Poesie to onal defaut 001 Connecton Starts Fig 8 11 Listen Only Example Both of these methods work for this type of configuration but note the differences between these two options that should be taken in account 1 Input Only This type of configuration will generate a message to poll the scanner as the RPI set rate this may be an issue if too many devices are requesting data from the scanner OS32C with EtherNet IP amp Measurement Data Addendum 2 Listen Only This type of configuration will only listen to messages generated by a master on the network it will not generate its own This is good to limit generated messages on the network but if the master device stops polling the sensor all other devices will stop as well 45 OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a
5. 1 Reflector Height should be between 300mm to 1000mm depending on application and range 2 To apply A toward a maximum expected error use the formula n A B where n corresponds to the desired multiplier for s 1 2 3 etc and B is the maximum systematic error of 30mm If there are reflectors in the background of the target refer to Table 7 2 in the OS32C user manual Other error factors could arise depending on other measurement conditions such as objects in close proximity to the beam path 9 Maximum range can vary depending on desired measurement accuracy and can also be affected by environmental conditions e g smoke window and or target cleanliness For non safety applications a value of 1 sigma can be used to determine the range accuracy of the OS32C DM so the following calculation can be used in this case Range accuracy n A B where n 10 sigma A random error and B systematic error For example at a range of 1000 mm with a reflectivity of 5096 the following range accuracy can be expected Using these attribute values and the value from the table A 10 mm and B is 30 mm the range accuracy at 1000 mm with 50 reflectivity 10 mm 30 mm 40 mm OS32C with EtherNet IP amp Measurement Data Addendum Laser Scanner Setup 3 Laser Scanner Setup Aside from changing the IP address settings of the OS32C no configuration changes are required to establish communications between the OS32C and an Et
6. 48 Establishing communications with a computer based device 9 4 EtherNet IP Commands 9 4 1 List Identity Command A connection originator may use the List Identity command to locate and identify the scanner This command shall be sent as a unicast message using TCP or UDP or as a broadcast message using UDP and does not require that a session be established The reply shall always be sent as a unicast message When received as a broadcast message the receiving device shall delay for a pseudo random period of time prior to sending the reply as specified in section 2 4 2 3 of the EtherNet IP standard Delaying before sending the reply helps to spread out any resulting ARP requests and List Identity replies from target devices on the network 9 4 2 Table 14 List Identity Command Request Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command 0x0063 UINT 2 bytes List Identity Command Header Length 0 UINT 2 bytes Length of command specific data Session Any value UDINT 4 bytes Any value ignored by target Handle ID Status 0 UDINT 4 bytes 0 Sender UINT 2 bytes Maximum Response Delay in milliseconds Context Data 0 ARRAY 6 6 bytes Reserved shall be ignored by receiver values shall be 0 Command 0 UDINT 4 bytes 0 options 9 4 3 Table 15 List Identity Command Reply Datagram Field Name Field Value Data Data Comments Type
7. 114 115 each can be used to define the active warning zone set as well as the vendor specific object 115 listed in Table 4 23 OS32C with EtherNet IP amp Measurement Data Addendum 5 Installing the OS32C EDS file The EDS file for the OS32C can be found on the OS32C Configuration Tool CD that is shipped with the scanner To install the EDS file in Omron s Network Configurator software From the EDS File menu select Install Untitled Network Configurator Fig 5 1 Install EDS File When prompted locate the EDS file then click OK The OS32C will now appear in the hardware list on the left side of the Network Configurator window OS32C with EtherNet IP amp Measurement Data Addendum Establishing a connection with Omron CJ2 6 Establishing a connection with Omron CJ2 This section provides step by step instructions for setting up communication from the OS32C to Omron s CJ2 or CJ1 PLC via EtherNet IP 6 1 Setting up the EtherNet IP Network Start up Network Configurator and create a new EtherNet IP network Drag and drop the OS32C and the CJ2B EIP21 from the hardware list onto the EtherNet IP network in Network Configurator a O EtherNetJIP 1 Network Configurator i E DeviceNet Hardware gem EtherNet IP Hardware B rs Vendor C OMRON Corporation 192 168 250 1 1921682502 OS32C Safety CJ2B EIP21 Laser Scanner D E ta Scientific Technologies Inc E ga Generic Device
8. and S Ensure the measurement report configuration matches the expected measurement data format q OS32C with EtherNet IP amp Measurement Data Addendum Contens Contents Iam 1 2 Range Data ACCUFacy e Ree Re LR tb t Re a La 2 3 L aser ocarner Setup nd ert ute e aden eta et nq iei teria 3 4 EtherNet IP Input Assembly Data sssssssseeeeeeneenee eene nneen nennen nennen nennen nnn en nennen nnns 4 4 1 Table 1 EtherNet IP Data Types eesesesseeesseeseeesee enne nnne enitn nenne nth n asini a a ieii 5 4 2 Table 2 Input Assembly 100 and Vendor Object 112 32bytes System Status ssssse 5 4 3 Table 3 Input Assembly 101 296 bytes System amp Detection Status sssseee 7 4 4 Table 4 Output Assembly 113 and Vendor Object 115 104 bytes Measurement Report Configuration for Input Assembly 102 amp 103 ssssssseene 9 4 5 Table 5 Output Assembly 114 108 bytes Measurement Report Configuration for Input Assembly 104 amp 105 cis ie eine etta ree dee ne ie ia ica Doa e ce de eaa te d ad 11 4 6 Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through TTia EAA nennen rne nennen nns 13 4 7 Table 7 Output Assembly 112 116 120 I O Connection Triggers see 16 4 8 Table 8 Common Measurement Report Header Format 56 bytes ssssssee 18 4 9 Table 9 I
9. 15 Input Assembly 107 max 554 bytes 0 276 Reflectivity TOT data UINT 16 bit Reflectivity measurement data variable size Size selected using the beam report mask configuration Array Size Number of Beams included in measurement report header maximum size 277 without tags See Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 OS32C with EtherNet IP amp Measurement Data Addendum 21 EtherNet IP Input Assembly Data Input Assembly 108 includes range measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 16 Table 16 Input Assembly 108 max 454 bytes Range measurement data variable size Size selected using the beam report mask configuration Array Size Number of Beams included in measurement report header maximum size 227 without tags Range TOF 0 226 data UINT 16 bit See Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 Input Assembly 109 includes reflectivity measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 17 Table 17
10. 32 bit Scan Rate 39 000 us 500 us 2 amp 3 Data Type UDINT 0x72 1 14 Ox0E 32 bit Scan Time Stamp 0 to 4294967295 252 us 4 amp 5 Data Type UDINT 0x72 1 15 OxOF 32 bit Scan Beam Period 42 777 to 43 888 ns 6 amp 7 Data Type UDINT 0x72 1 16 0x10 32 bit POST I Power on self test STOP 1 Machine Stop Protection Zone Violation Machine State INTERLOCK 2 II Start Interlock RUN 3 Machine Run 5 Data Type UINT 0x70 1 4 STANDBY 4 System Standby 16 bit DEEPSTANDBY 5 II System Standby with reduced power CONFIGURE 6 Configuration process in session FAULT 7 System Faulted OSSD s are OFF DIRTY_WINDOW 0 Dirty window cause system to stop ZONE SELECT NUM ACTIVE 1 Invalid zone inputs with wrong number of active inputs ZONE_SELECT_INVALID 2 Invalid zone inputs with correct Machine Sto number of active inputs Reasons QUALIFIED ZONE VIOLATION 73 Qualified protection zone violation STAND BY REQUEST 7 4 Stand by or deep stand by requested 9 0x70 1 5 i Data Tvpe UINT RX_ERROR 5 Receiver error pu TOO CLEAN WINDOW 6 Too clean window caused system to stop NOT IN MACHINE STOP 1 7 System currently not in stop mode SYSTEM FAULTED 8 The system faulted check display code NOT IN MACHINE STOP_2 79 System currently not in stop mode Active Protection AZS 01 0 0x00 Zone Set ag a Data Type UINT OED fO AZS_70 69 0x45 16 bit INVALID AZS 32 768 0x8000 Zinput 1
11. 4A 01 04 20 04 24 01 2C 71 2C SCANNER gt PC Datagram See section 9 4 17 Table 26 SendRRData Command Reply to a Large Forward Open Request Structure Size 110 bytes SendRRData Response to Large Forward Open Example Updated EIP_UINT16 length 0x0056 Length of command specific data Parameter s EIP_UINT32 session_handle_id 0x00000005 returned EIP UINT16 data item length 0x001E 30 bytes EIP UINT8 service response OxDB Large Forward Open 0x80 EIP_UINT32 o to t connection id 0x780C0002 id selected by scanner EIP UINT32 t to o connection id 0x00020004 id accepted by scanner EIP_UINT16 connection serial number 0x6789 EIP UINT16 originator vendor id 0x0195 405 OSTI EIP_UINT32 originator serial number 0x00004321 EIP_UINT32 o to t rpi 0x001781D0 originator to target actual packet interval EIP UINT32 t to o rpi 0x00025CDS6 target to originator actual packet interval EIP UINT8 application reply size 0x00 Number of 16 bit words EIP UINT8 reserved 0x00 Note remaining data not used Hexadecimal 6F 00 56 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 00 00 00 00 00 B2 00 1E 00 DB 00 00 00 02 00 OC 78 04 00 02 00 89 67 95 01 21 43 00 00 DO 81 17 00 D8 5C 02 00 00 00 00 80 10 00 00 02 08 AE CO A8 01 01 00 00 00 00 00 00 00 00 01 80 10 00 00 02 08 AE CO A8 01 07 00 00 00 00 00 00 00 00 OS32C with EtherNet IP amp Measurement Data Addendum 10
12. 72 20 53 63 61 6E 6E 65 72 OS32C Safety Laser Scanner EIP UINT8 product state 0x03 Operational Hexadecimal 63 00 42 00 00 00 00 00 00 00 00 00 E4 01 00 00 00 00 00 00 00 00 00 00 01 00 OC 00 3C 00 01 00 00 02 AF 12 CO A8 01 01 00 00 00 00 00 00 00 00 95 01 2B 00 OC 00 03 OB 00 00 49 06 00 00 1A 4F 53 33 32 43 20 53 61 66 65 74 79 20 4C 61 73 65 72 20 53 63 61 GE 6E 65 72 03 OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 1 2 5 Register a communication session with the scanner Using the Register Scanner Session command described in section 9 4 5 register a session with the target device in order to obtain the session handle from the target scanner This session handle will be used for all further communications with the scanner including terminating the communication session PC gt SCANNER Datagram Structure See section 9 4 6 Table 17 Register Session Command Request Size 28 bytes Parameters to EIP_UINT16 length 0x0004 Length of command specific data SCANNER gt PC update EIP_UINT16 protocol version 0x0001 EIP UINT16 option flags 0x0000 Hexadecimal 65 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 Datagram Structure See section 9 4 7 Table 18 Register Session Command Reply Successful Size 28 bytes Register Session Response Example Updated EIP UINT32 sessio
13. 9 4 14 Table 23 Set Single Attribute Service Code Request CPF Data Size 50 bytes Parameters to update EIP UINT16 length 0x001A Length of command specific data EIP UINT32 session handle id 0x00000005 EIP UINT8 service code 0x10 Set Single Attribute EIP UINT8 class code 0x73 Vendor Object Measurement Configuration EIP UINT8 instance id 0x01 Vendor Object Instance EIP UINTS8 attribute id 0x05 Reflectivity Format Attribute Number EIP_UINT16 attribute data 0x0001 Reflectivity Format Setting Hexadecimal 6F 00 1A 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 OA 00 10 03 20 73 24 01 30 05 01 00 SCANNER gt PC Datagram Structure See section 9 4 15 Table 24 SendRRData Command Reply to a Set Single Attribute Request Size 44 bytes SendRRData Response Example Updated EIP_UINT16 length 0x0014 Length of command specific data Parameter s EIP_UINT16 data_length 0x0004 4 bytes of service response data returned EIP UINT8 service response 0x90 Set Single Attribute 0x80 EIP UINT8 service status 0x00 Success Hexadecimal 6F 00 14 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 04 00 90 00 0000 OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 1 2 8 Configure the scanner s measurement beam sele
14. Bit 15 measure value detected beam blocked within the warning zone 2 RANGE MEASURE 8M PZWZ1WZ2 9 Bit O to 12 13 bit distance measurement value 0 to 8 190 millimeters Bit 13 measure value detected beam blocked within protection zone Bit 14 measure value detected beam blocked within the warning zone 1 Bit 15 measure value detected beam blocked within the warning zone 2 OS32C with EtherNet IP amp Measurement Data Addendum 13 EtherNet IP Input Assembly Data woe D ipti E tion Possible Val 16 bit escription numeration Possible Values NO_TOT_MEASUREMENTS 0 No time over threshold measurements required REFLECTIVITY MEASURE TOT ENCODED 1 default setting II Bit O to 9 10 bit TOT scaled value 0 to 1 000 Reflectivity Report Bit 10 unused 1 Format Bit 11 object detected beam blocked within the warning zone 2 Data Type UINT II Bit 12 object detected beam blocked within the warning zone 1 16 bit II Bit 13 object detected beam blocked within protection zone II Bit 14 noisy beam detected II Bit 15 no reflection detected REFLECTIVITY MEASURE TOT 4PS 2 II Bit O to 15 16 bit TOT measurement value 0 to 65 535 x 4ps Assembly 106 Range pna adc Ma zd 2 Report Mode P g d Data ee REPORT_RANGE_AND_ REFLECTIVITY 1 Report Range amp Reflectivity Assembly 106 amp 107 Enable User Provided Tag Values for First amp Last Po
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16. Forward Close Request Encapsulation Packet Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command Ox006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle UDINT 4 bytes Session Handle received in the Register Session reply ID message Status 0 UDINT 4 bytes Sender Context Array 8 ARRAY of 8 bytes Value from request Length of 8 Data octet Command options 0 UDINT 4 bytes Command Connection UDINT 4 bytes Connection interface handle to be used in data stream Specific Data Interface Handle Timeout Period UINT 2 bytes Connection timeout period to be used in timer Encapsulation Item count 2 UINT 2 bytes Number of items to follow packet Item 1 Type ID O UINT 2 bytes Address Item Type ID Item 1 Length O UINT 2 bytes Address Item Length Item 2 Type ID 0xB2 UINT 2 bytes Data Item Type ID Item 22 Length ex 0x16 UINT 2 bytes Data Item Length length of data to follow below Data Item 1 Ox4E UINT8 1 byte Forward Close Request Data Item 2 0x02 UINT8 1 byte Number of 16 bit words in path Data Item 3 0x20 UINT8 1 byte Logical class segment Data Item 4 0x06 UINT8 1 byte Logical class request Message Router Data Item 5 0x24 UINT8 1 byte Logical instance segment Data Item 6 0x01 UINT8 1 byte Logical instance request Data Item 7 0x06 UINT8 1 byte P
17. Size EtherNet IP Command 0x0063 UINT 2bytes List Identity Command Header Length UINT 2 bytes Length of command specific data Session Handle UDINT 4 bytes Any value ignored by receiver ID Status 0 UDINT 4 bytes Error status equals 0x0000 if successful Sender Context Array 8 ARRAY 8 bytes Value from the original request Length of 8 Data of octet Maximum Response Delay in milliseconds Command 0 UDINT 4 bytes options Command Item Count 1 UINT 2 bytes Specific Data Item ID 0x0C UINT 2 bytes CIP Identity Object Item Length 2 UINT 2 bytes Number of bytes in item ARRAY of octet See Table 16 EtherNet IP Identity Object Parameters OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device 9 4 4 Table 16 EtherNet IP Identity Object Parameters Parameter Name Data Type Description Encapsulation Protocol Version UINT Encapsulation Protocol Version supported also returned with Register Session reply Socket Address Structure of INT sin_family big endian UINT sin_port big endian UDINT sin addr big endian ARRAY 8 UINTS8 8 sin zero length of 8 big endian Vendor ID UINT Device manufacturers Vendor ID Device Type UINT Device Type of product Product Code UINT Product Code assigned with respect to device type Revision ARRAY 2 Device revision Status WORD Current status of device Serial Numbe
18. Table 25 Large Forward Open Request Encapsulation Packet Size 94 bytes Parameters to update EIP_UINT16 EIP_UINT32 EIP_UINT32 EIP_UINT16 EIP_UINT16 EIP_UINT8 EIP_UINT16 EIP_UINT32 EIP_UINT32 EIP_UINT16 EIP_UINT16 EIP_UINT32 EIP_UINT32 EIP_UINT32 EIP_UINT32 EIP_UINT32 EIP_UINT8 EIP_UINT8 length 0x0046 Length of command specific data session_handle_id 0x00000005 interface_handle_id 0x00000000 timeout 0x0050 80 milliseconds data_item_length 0x0036 54 bytes service request 0x5B Large Forward Open timeout_ticks 0x0050 80 milliseconds o to t connection id 0x00020003 User selectable t to o connection id 0x00020004 User selectable connection serial number 0x6789 User selectable originator vendor id 0x0195 405 OSTI originator serial number 0x00004321 User selectable o to t rpi 0x00177FA0 originator to target repeat packet interval o to t connection parameters 0x48000000 6E output assembly size 6 t to o rpi 0x00013070 target to originator repeat packet interval t to o connection parameters 0x4A000000 0x0584 input assembly size 2 output assembly number 0x71 Output Assembly 113 used as trigger input assembly number 0x66 Input Assembly 102 Hexadecimal 6F 00 46 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 00 02 00 00 00 00 00 B2 00 36 00 5B 02 20 06 24 01 06 00 00 48 70 30 01 00 84 05 00
19. Value of 0x0001 Noisy Beam Value of OX1FFF No Reflection II Bit 13 object detected beam blocked within the warning zone 2 II Bit 14 object detected beam blocked within the warning zone 1 Bit 15 object detected beam blocked within protection zone RANGE_MEASURE_TOF_4PS 5 II Bit O to 15 16 bit TOF measurement value 0 to 65 534 x 4ps Value of 0x0001 Noisy Beam Value of OxFFFF No Reflection RANGE_MEASURE_50M_W3BIT_ENCODED_TOT 6 Bit O to 12 13 bit distance measurement value 0 to 50 000 millimeters 50 meters with 8mm resolution Bit 13 to 15 3 bits encoded reflectivity value 1 128 of measured value RANGE MEASURE 32M WZ 2 7 Bit O to 14 15 bit distance measurement value 0 to 32 766 millimeters Bit 15 measure value detected beam blocked within the warning zone 2 RANGE MEASURE 16M WZ1WZ2 8 II Bit O to 13 14 bit distance measurement value 0 to 16 382 millimeters Bit 14 measure value detected beam blocked within the warning zone 1 Bit 15 measure value detected beam blocked within the warning zone 2 RANGE MEASURE 8M PZWZ1WZ2 9 Bit O to 12 13 bit distance measurement value 0 to 8 190 millimeters Bit 13 measure value detected beam blocked within protection zone Bit 14 measure value detected beam blocked within the warning zone 1 Bit 15 measure value detected beam blocked within the warning zone 2 OS32C with EtherNet
20. amp 0532C Safety Laser Scanner E DeviceType E E34 Communications Adapter x CJTw EIP21 CJTw EIP21 CI2 CJ2B EIP21 amp CJ2M EIP21 A MA eeu rimas Fig 6 1 Select Devices from Hardware List Make sure the IP addresses match the IP address of the respective devices To change the IP address of the device right click on the device icon and select Change Node Address Parameter gt B Maintenance Information Register to other Device gt External Data gt X Cut Copy X Delete Change Node Address Fig 6 2 Change Node Address In this example the OS32C has an IP address of 192 168 250 1 and the CJ2 has an IP address of 192 168 250 2 6 2 Setting up EtherNet IP Tags for the CJ2 Double click the CJ2B EIP21 icon and select the Tag Sets tab select the In Consume tab then click the Edit Tags button OS32C with EtherNet IP amp Measurement Data Addendum Edit Device Parameters 192 168 1 26 CJ2B EIP21 Fig 6 3 Edit Tags Select the In Consume tab then click New to create a new tag Fig 6 4 Create New Tag For the Name field enter the memory location in the PLC where the OS32C data will be written to For this example enter DO for the name to specify the DM memory area 0 of the CJ2 NOTE upper case letters must be used when specifying these memory area In this case enter DO exactly as shown A lower case d w
21. amp Function Blocks v F3 Data Data Types Global Variables v PA Tasks V Be PrimaryTask A Socket E Sequencel Fig 7 3 Data Types In the window that appears right click on Name and select Create New Data Type Union Enumerated Create New Data Type Create New Member Cut Copy Delete Undo Redo Update Offset Select All Collapse All Expand All Fig 7 4 Create New Data Type Two new data types will need to be created OS32C_Scanner_IN and OS32C_Scanner_OUT along with the Base Type STRUCT The tags will look like the following screenshot E Programming QQA Name D OS32C Scanner IN ST Fig 7 5 OS32C IN and OUT Structure Data Types Enumerated Once the base tag has been created assembly I O data needs to be added to each tag Right click on the tag name and select Create New Member Repeat this until all I O data is created as shown in the figure below OS32C with EtherNet IP amp Measurement Data Addendum Name Base Type Offset Type Union w OS32C Scanner IN ine Machine Sop Reasons UNT e Acne Zoneset UN rees ARRAY 35 OF boo Detection Zone Sats ARRAVO 15 OF bool outputs ARRATDS OFbos Rm putsi ARO OF bol C SeenSegmentDiply un Non Ssfey Config CRC Vaie unr C Serey Conta Revae un Fiewer O aoao Rum Rweie2 anaoa OF bool trees ARROW OF bool Reuse aoas OF em Reis ARROW OF bool C Reis ARR
22. bit 0 Zinput 2 bit 1 Zone Inputs Zinput 3 bit 2 Zinput 4 bit 3 H Data Type WORD 0X10 A Zinput 5 bit 4 16 bit Zinput 6 bit 5 Zinput 7 bit 6 Zinput 8 bit 7 EtherNet IP Input Assembly Data Word Vendor Specific 16 bit Description Object instance Enumeration Possible Values y Attribute Number z Detection Zone Protection Zone bit O Status Warning Zone 1 bit 1 12 0x70 1 8 Warning Zone 2 bit 2 Data Type WORD Window Contamination bit 3 16 bit Output Status OSSD Output bit 0 Auxiliary Output bit 1 13 Data Type WORD 0x70 19 Warning Output bit 2 16 bit Input Status StandBy Input bit 0 Start Input bit 1 14 Data Type WORD 970 1 10 0X0 EDM input bit 2 16 bit Seven Segment Digit Low followed by Digit High Display Each Digit Displays 1 to 9 0x01 to 0x09 for normal operation 15 0x70 1 11 OxOB Ox1B and Ox1B for dashes during machine stop operation Data Type UINT 16 bit Non Safety 16 bit Non Safety Configuration CRC Value Configuration 16 Checksum Value 9479 4 12 0x0C Data Type UINT 16 bit Safety 16 bit Safety Configuration CRC Value Configuration 17 Checksum Value 070 1 13 0x0D Data Type UINT 16 bit Active Warning AZS_01 0 0x00 Zone Set T 1s Data Type UINT 7 1 14 0x0E 70 89 0x45 16 bit INVALID AZS 32 768 0x8000 19 Unused For future use 20 Unused For future use 21 Unused F
23. repetition rate defined for the application 4 13 Table 13 Input Assembly 105 max 960 bytes 28 479 Reflectivity TOT data UINT 16 bit Reflectivity measurement data variable size Size selected using the beam report mask configuration Array Size Number of Beams included in measurement report header maximum size 7452 without tags See Table 5 Output Assembly 114 108 bytes Measurement Report Configuration for Input Assembly 104 amp 105 for beam selection mask usage Input Assembly 106 includes range measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 14 Table 14 Input Assembly 106 max 554 bytes 0 276 Range TOF data UINT 16 bit Range measurement data variable size Size selected using the beam report mask configuration Array Size Number of Beams included in measurement report header maximum size 277 without tags See Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 Input Assembly 107 includes reflectivity measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 15 Table
24. report mask configuration Array Size Number of Beams included in measurement report header maximum size 7179 without tags Reflectivity TOT 0 178 data UINT 16 bit See Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 4 20 Data Refresh Rate Expected Packet Rate The data refresh rate for the scanner is approximately 40 38 5 to 39 5 milliseconds When configuring the scanner on an EtherNet IP PLC network it is recommended to set the expected packet rate for the input assembly data to a value of 50 milliseconds or more OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data 4 21 Active Warning Zone Set Selection When the scanners Monitoring zone is configured for multiple detection zone sets and the Warning zone selection by EIP is enabled the EtherNet IP interface can be used to change the active warning zone set instead of using the zone inputs When this feature is enabled an EtherNet IP network device must select one of the 70 possible preprogrammed warning zone sets before starting normal operation For more information on zone configuration and selection see sections Zone Set Selection and Configuration and Zone Set Input Selection in the OS32C user manual The switching time of the active warning zone set using the EtherNet IP interface is one scan cycle or approximately 40 milliseconds Output assembly objects 113
25. 0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 SCANNER gt PC Datagram Structure UDP I O Connection Alive Size 0 bytes UDP I O Connection Alive Response Example Hexadecimal None there is no response to this command but I O data will continue to be streamed on this connection OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 2 2 10 I O Connection Assembly Data sent from the target OS32C and the originator PC Using the UDP I O Output Assembly send a trigger to keep the I O connection alive and updated with new data if needed The keep alive command should be sent on the UDP I O port at an interval less than the previously defined timeout period 800 milliseconds in this example SCANNER gt PC Datagram UDP I O Connection Stream Structure Size 116 bytes Parameters to update EIP_UINT16 item_count 0x0002 EIP_UINT16 address_item_type 0x8002 EIP_UINT16 address_item_length 0x0008 EIP_UINT32 t_to_o_connection_id 0x00020004 selected by scanner EIP_UINT32 t to o sequence id 0x00000015 selected by scanner EIP UINT16 data item type 0x00B1 EIP UINT16 data item length 0x0062 input assembly size 2 EIP_UINT16 t to o 16bit sequence 0x00A1 selected by scanner EIP UINT8 DataArray data item length 2 Input Assembly Data 56 bytes of measurement report header 40 bytes of beam data Note
26. 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 OA 00 10 03 20 73 24 01 30 04 01 00 SCANNER gt PC Datagram Structure See section 9 4 15 Table 24 SendRRData Command Reply to a Set Single Attribute Request Size 44 bytes SendRRData Response Example Updated EIP_UINT16 length 0x0014 Length of command specific data Parameter s EIP UINT16 data length 0x0004 4 bytes of service response data returned EIP UINT8 service response 0x90 Set Single Attribute 0x80 EIP UINT8 service status 0x00 Success Hexadecimal 6F 00 14 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 04 00 90 00 00 00 OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 1 2 7 Configure the scanner s measurement reflectivity format Using the EtherNet IP SendRRData command send an explicit TCP IP messages to configure the reflectivity measurement format of the scanner using the following parameters Service code 16 0x10 Object class 115 0x73 Instance 1 0x01 Attribute 5 0x05 O O O UINT16 Data value PC gt SCANNER II Set Single Attribute Vendor Specific Object Class Vendor Specific Instance Reflectivity Measurement Reporting Format l Data 1 REFLECTIVITY MEASURE TOT ENCODED default Datagram Structure See section 9 4 11 Table 20 SendRRData Command Request See section
27. 0x01 Vendor Object Instance attribute id 0x03 Assembly Object Data Hexadecimal SCANNER gt PC 6F 00 18 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 08 00 OE 03 20 72 24 01 30 03 Datagram Structure See section 9 4 13 Table 22 SendRRData Command Reply to a Get Single Attribute Request Size 140 bytes For this example there are 20 beams in measurement report SendRRData Response Example Updated Parameter s returned EIP_UINT16 length 0x0074 Length of command specific data EIP_UINT16 data_length 0x0064 100 bytes 4 bytes of service response 56 bytes of the measurement report header 40 bytes of the beam data EIP UINT8 service response Ox8E Get Single Attribute 0x80 EIP UINT8 service status 0x00 Success EIP UINT8 Data Array data length 4 See section 4 8 Table 8 Common Measurement Report Header Format 56 bytes Note Number of beams 0x0014 20 See section 4 9 Table 9 Input Assembly 102 and Vendor Specific Object 114 max 1410 bytes Hexadecimal 2 To maintain a constant connection with the scanner the application code should resend the TCP IP request with a minimum delay of 2 milliseconds after receiving data from the scanner The scanner 6F 00 74 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 64 00 8E 00 00 00 D3 D7 02 00 38 9
28. 0x01 UINT8 1 byte Transport Class Trigger Client Data Item 23 0x04 UINT8 1 byte Number of words in connection path Data Item 24 0x20 UINT8 1 byte Connection path class instance Data Item 25 0x04 UINT8 1 byte Assembly Object connection path logical class OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device Datagram Field Name Field Value Data Type Data Size Comments Data Item 26 0x24 UINT8 1 byte Connection path logical instance segment Data Item 27 0x01 UINT8 1 byte Connection path logical instance Data Item 28 Ox2c UINT8 1 byte Connection point O gt T Data Item 29 any UINT8 1 byte Output assembly number ex 112 See EDS file Data Item 30 Ox2c UINT8 1 byte Connection point T gt 0 Data Item 31 any UINT8 1 byte Input assembly number ex 102 See EDS file 9 4 17 Table 26 SendRRData Command Reply to a Large Forward Open Request Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command 0x006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle ID UDINT 4 bytes Session Handle received in the Register Session reply message Status 0 UDINT 4 bytes 0 if successful Sender Context Data Array 8 ARRAY of octet 8 bytes Value from request Length of 8 Comma
29. 1 t to o sequence id will be incremented by the scanner 2 Only 20 0x0014 measurement beams were selected in this example Hexadecimal 02 00 02 80 08 00 04 00 02 00 15 00 00 00 B1 00 62 00 A1 00 76 53 04 00 64 96 00 00 18 BE 97 8A 19 A7 00 00 03 00 07 00 00 00 00 00 00 00 01 00 00 00 08 07 88 33 AE 31 00 00 00 00 00 00 00 00 00 00 00 00 01 00 02 00 00 00 14 00 52 08 42 08 52 08 40 08 52 08 40 08 53 08 58 08 52 08 40 08 58 08 58 08 58 08 5E 08 67 08 5D 08 67 08 5E 08 5E 08 6F 08 OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 2 2 11 Terminate a Forward Open I O Connection between the originator PC and the scanner Using the SendRRData command described in section 9 4 10 and the Forward Close Request described in section 9 4 19 terminate the I O connection with the scanner The command is sent before un registering a scanner session and closing the TCP socket connection PC gt SCANNER Datagram See section 9 4 11 Table 20 SendRRData Command Request Structure See section 9 4 19 Table 28 Forward Close Request Encapsulation Packet Size 62 bytes Parameters to EIP_UINT16 length 0x0026 Length of command specific data update EIP_UINT32 session_handle_id 0x00000005 EIP_UINT32 interface handle id 0x00000000 EIP UINT16 timeout 0x0028 40 milliseconds EIP_UINT16 data_item_length 0x0016 22 bytes EIP UINT8 service request Ox4E Forward Close EIP UINT8 timeout
30. 11 2101 6300 www omron com br OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands e 31 0 23 568 13 00 e www industrial omron eu Authorized Distributor Automation Control Systems Machine Automation Controllers MAC Programmable Controllers PLC e Operator interfaces HMI Distributed I O Software Drives amp Motion Controls Servo amp AC Drives Motion Controllers amp Encoders Temperature amp Process Controllers Single and Multi loop Controllers Sensors amp Vision e Proximity Sensors Photoelectric Sensors Fiber Optic Sensors Amplified Photomicrosensors Measurement Sensors Ultrasonic Sensors Vision Sensors Industrial Components RFID Code Readers Relays Pushbuttons amp Indicators e Limit and Basic Switches Timers Counters Metering Devices Power Supplies Safety e Laser Scanners Safety Mats Edges and Bumpers Programmable Safety Controllers Light Curtains Safety Relays Safety Interlock Switches Z336 E1 05 04 14 Note Specifications are subject to change 2015 Omron Electronics LLC Printed in U S A Printed on recycled paper amp
31. 2 2 9 Keep the I O Application Examples Connection Alive between the originator PC and the scanner Using the UDP I O Output Assembly send a trigger to keep the I O connection alive and updated with new data if needed The keep alive command should be sent on the UDP I O port at an interval less than the previously defined timeout period 800 milliseconds in this example PC gt SCANNER Datagram UDP I O Connection Alive Structure Size 128 bytes Parameters to update EIP_UINT16 item_count 0x0002 EIP_UINT16 address_item_type 0x8002 EIP_UINT16 address_item_length 0x0008 EIP_UINT32 o to t connection id 0x780C0002 selected by scanner EIP UINT32 o to t sequence id 0x00000001 selected by originator EIP UINT16 data item type 0x00B1 EIP UINT16 data item length OxOOG6E output assembly size 6 EIP UINT16 o to t 16bit sequence 0x0001 selected by originator EIP UINT32 header trigger 0x00000003 EIP UINT8 DataArray 104 Output Assembly 113 data Note 1 o to t sequence must be incremented by originating application 2 Only 20 measurement beams were selected in this example Hexadecimal 02 00 02 80 08 00 02 00 OC 78 01 00 00 00 Bi 00 6E 00 01 00 03 00 00 00 01 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 FF FF OF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0
32. 3 Establishing a TCP connection with a scanner using a known IP address Using the appropriate socket programming language establish a TCP IP connection to the scanner using the local computer IP address and the target scanner IP address 10 2 2 4 Register a communication session with the scanner See section 10 1 2 5 Register a communication session with the scanner described in TCP IP example 10 2 2 5 Configure the scanner s measurement range format See section 10 1 2 6 Configure the scanner s measurement range format described in TCP IP example 10 2 2 6 Configure the scanner s measurement reflectivity format See section 10 1 2 7 Configure the scanner s measurement reflectivity format described in TCP IP example 10 2 2 7 Configure the scanner s measurement beam selection See section 10 1 2 8 Configure the scanner s measurement beam selection mask described in TCP IP example OS32C with EtherNet IP amp Measurement Data Addendum 67 Application Examples 10 2 2 8 Create a Large Forward Open I O Connection between the originator PC and the scanner Using the SendRRData command described in section 9 4 10 and the Large Forward Open Request described in section 9 4 16 create an I O connection with the scanner to stream Assembly Object 102 at an interval of 80 milliseconds with a timeout period of 800 milliseconds PC gt SCANNER Datagram Structure See section 9 4 11 Table 20 SendRRData Command Request See section 9 4 16
33. 35 DINT INT32 Double Integer 2147483647 23 2147483646 23 1 UDINT UINT32 Unsigned Double Integer 0 4294967295 232 BYTE Bit string 8 bits 0 OxFF WORD Bit string 16 bits 0 OxFFFF DWORD Bit string 32 bits 0 OxFFFFFFFF Input Assembly 100 listed in Table 2 below provides run time system status information that can be used to monitor the behavior and the current configuration of the scanner Using an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 2 Table 2 Input Assembly 100 and Vendor Object 112 32bytes System Status WORD Vendor Specific 16 bit Description uin i pe Enumeration Possible Values Instance 0x01 Attribute Number POST 0 Power on self test STOP 1 Machine Stop Protection Zone Violation Machine State INTERLOCK 2 Start Interlock 0 4 RUN 3 Machine Run Data Type UINT STANDBY 4 System Standby 16 bit DEEPSTANDBY 5 System Standby with reduced power CONFIGURE 6 Configuration process in session FAULT 7 II System Faulted OSSD s are OFF OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data WORD Vendor Specific 16 bit TET Object 0x70 Description Instance 0x01 Enumeration Possible Values Attribute Number DIRTY WINDOW 7 0 Dirty window cause system to stop ZONE SELECT NUM ACTIVE 1 Invalid zone inputs with wrong number of
34. 5 1381 data UINT 16 bit Note 1 See section Table 4 Output Assembly 113 and Vendor Object 115 104 bytes Measurement Report Configuration for Input Assembly 102 amp 103 for beam selection mask usage 2 Vendor Specific Assembly reports are synchronous with the scan period of the scanner OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data In addition to the common measurement report header defined in Table 8 Input Assembly 104 includes range measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 12 Table 12 Input Assembly 104 max 960 bytes 28 479 Range TOF data UINT 16 bit Range measurement data variable size Size selected using the beam report mask configuration Array Size Number of Beams included in measurement report header maximum size 452 without tags See Table 5 Output Assembly 114 108 bytes Measurement Report Configuration for Input Assembly 104 amp 105 for beam selection mask usage In addition to the common measurement report header defined in Table 8 Input Assembly 105 includes reflectivity measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a
35. 5 User Provided Tag Value for First Position of Input Assembly Data 6 User First Position Tag Data Type UINT 16 bit Assembly 105 User Provided Tag Value for Last Position of Input Assembly Data 7 User Last Position Tag Data Type UINT 16 bit Active Warning Zone Minimum Value ZONE_1 0 8 Set Number Data Type UINT 16 bit Maximum Value ZONE_70 69 9 Unused For future use Beam Report Selection Beam Report Selection Mask is used to define the reported beam measurements in Assembly 40 53 Mask Input Objects 104 105 Bit 0 excluded from measurement report Bit 1 included in measurement reports default setting OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data 4 6 Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 Word 16 bit Description Enumeration Possible Values Range Report Format Data Type UINT 16 bit NO_TOF_MEASUREMENTS 0 II No time of flight measurements required RANGE_MEASURE_50M 1 default setting Bit O to 15 16 bit distance measurement value 0 to 50 000 millimeters Value of 0x0001 Noisy Beam Value of OXFFFF No Reflection RANGE MEASURE 32M PZ 2 Bit O to 14 15 bit distance measurement value 0 to 32 766 millimeters Value of 0x0001 Noisy Beam Value of Ox7FFF No Reflection II Bit 15 object detected beam blocked within protectio
36. 67 10 2 2 Computer PLC Configuration amp Process Control Example ssssssssssseeeeeees 67 TA SROVISION HISTON 2222 ccccs2e2 EE 72 OS32C with EtherNet IP amp Measurement Data Addendum Introduction 1 Introduction The OS32C xxx DM Safety Laser Scanner with EtherNet IP and Measurement Data allows the laser scanner to be monitored by products that adhere to the ODVA guidelines for EtherNet IP communications The OS32C with EtherNet IP functions as an EtherNet IP target slave device to the products that function as EtherNet IP originator master devices Multiple EtherNet IP master devices can be set up to monitor a single OS32C and a single EtherNet IP master can be set up to monitor multiple OS32Cs The OS32C with EtherNet IP uses standard EtherNet IP communications and does not use CIP safety protocols EtherNet IP communications with this laser scanner are for monitoring and changing warning zone s purposes only EtherNet IP originator products are able to monitor the OS32C s detection zone state input amp output status configuration checksum values and more Full details of the OS32C s produced data assembly can be found in this document along with detailed instructions for establishing communications between commonly used PLCs and the OS32C General information for setting up communication connections between the OS32C and a computer based device is also provided in this document A data measurement demo tool
37. 8 00 00 28 7E C4 BO 21 A9 00 00 03 00 07 00 00 00 00 00 00 00 01 00 00 00 02 01 88 33 AE 31 00 00 00 00 00 00 00 00 OO OO 00 OO 01 00 01 00 00 00 14 004D 08 3E 08 4E 08 3D 08 4E 08 53 08 4E 08 3D 08 5B 08 53 08 5B 08 53 08 5B 08 61 08 65 08 61 08 65 08 63 08 65 08 6D 08 will reply with new data at the end of the next scan cycle 3 To terminate the connection with the scanner the application code should first send the UnRegister Scanner Session command as described in section 9 4 8 and then close the appropriate TCP IP socket PC gt SCANNER Datagram Structure See section 9 4 9 Table 19 Un Register Session Command Request Size 24 bytes Parameters to update EIP_UINT32 session handle id 0x00000005 Hexadecimal 66 00 00 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 SCANNER gt PC Note There will be no reply to this command The scanner will close the TCP IP socket connection when it receives this command Size 0 bytes Un Register Session Response Example Hexadecimal None OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 2 Runtime Monitoring using an Implicit UDP I O Connection 10 2 1 Network Configuration Configure the scanners IP Address Subnet Mask and Default Gateway using the OS32C Configuration Tool from Omron Scientific Technologies Inc See OS32C User Manual 10 2 2 Computer PLC Config
38. 8 1 byte Get or Set Single Attribute error status code Data Item 3 Additional UINT8 1 byte Number of additional error status information in 16 Status Size bit words Attribute Data Data Array ARRAYT Length of Attribute Data if any data 9 4 14 Table 23 Set Single Attribute Service Code Request CPF Data Field Name Sub Field Name Field Value Data Type Data Size Comments Encapsulation Item count 2 UINT 2 bytes Number of items to follow packet Item 1 Type ID O UINT 2 bytes Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 2 Type ID OxB2 UINT 2 bytes Data Item Type ID Item 22 Length 8 data UINT 2 bytes Data Item Length length OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device Field Name Sub Field Name Field Value Data Type Data Size Comments Data Item 1 Service Code UINT8 1 byte Get or Set Single Attribute Request Data Item 2 0x03 UINT8 1 byte Request Path Size in Words Data Item 3 0x20 UINT8 1 byte Logical Class Type Data Item 4 Class UINT8 1 byte Logical Class Number Data Item 5 0x24 UINT8 1 byte Logical Instance Type Data Item 6 Instance UINT8 1 byte Logical Instance Number Data Item 7 0x30 UINT8 1 byte Logical Attribute Type Data Item 8 Attribute UINT8 1 byte Logical Attribute Number Data Array ARRAYT Length of Attri
39. 8 8 All Scanners Configured All three laser scanners are now registered to the CJ2 DeviceNet_ EtherNet IP 1 amp 9 amp amp 192 168 250 1 192 168 250 2 192 168 250 3 192 168 250 4 Moeaa 0532C Safe OS32C Safe 0532C Safe e 250 1 e 250 1 e 250 1 Fig 8 9 Registration Complete 8 2 Multiple PLCs Polling One OS32C The setup for multiple devices polling a single OS32C is very similar to the setup for one device polling multiple scanners The key point with this type of configuration is only one device can be the Exclusive Owner of the scanner while all other master devices need to be configured as Listen only or Input Only Input Only Example OS32C with EtherNet IP amp Measurement Data Addendum 43 emere aes be amar ongnator device Please configure the Tag Set each of originator device and target device Connection 1 0 Type Input Only of Assem100 X Originator Device Target Device Node Address 192168 250 3 Node Address 1921682502 Commen CJTw EIP21 Comment OS32C Safety Laser Scanner Input Tag Set Edi Tag Sets Output Tag Set Ce G iro 100 PaB z eee Output Tag Set Edi Tag Sets Input Tag Set m i Point to Point connection Detail Parameter Packet Inteval RPI 2000 e195 190000ms Connection Name 3 00 Timeout Value Packet Interval RPI x 4 E Poble to omi defaut 001 Fig 8 10 Input Only Example Listen Only Example etui
40. 88 bytes Beam Selection Mask Setting Hexadecimal 6F 00 70 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 60 00 10 03 20 73 24 01 30 0C FE FF FF FF FF FF FF FF FF FF FF FF FF FF 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 OO OO 00 00 OO OO 00 00 00 OO 00 00 00 00 00 00 00 00 OO OO OO OO OO OO OO OO OO 00 OO OO OO OO 00 F8 FF FF FF FF FF FF FF FF FF FF FF FF FF OF 00 00 00 SCANNER gt PC Datagram Structure See section 9 4 15 Table 24 SendRRData Command Reply to a Set Single Attribute Request Size 44 bytes SendRRData Response Example Updated EIP_UINT16 length 0x0014 Length of command specific data Parameter s EIP UINT16 data length 0x0004 4 bytes of service response data returned EIP UINT8 service response 0x90 Set Single Attribute 0x80 EIP UINT8 service status 0x00 Success Hexadecimal 6F 00 14 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 04 00 90 000000 10 1 2 9 Read the scanners measurement data using explicit TCP IP messages 1 In order to read the scanner s measurement data use the SendRRData command to send an explicit TCP IP message to read the entire assembly object of interest When requesting data from input assemblies 102 and 103 the scanner will reply with data that is not synchronous with the scan period To read scanner data t
41. 92 168 250 1 8001 0532C Safet a default 001 Input D00000 Input_100 default_001 Output D00100 Output_112 Fig 6 13 OS32C Is Registered 6 3 Downloading EtherNet IP Configuration to the CJ2 Now that the Tags have been set up the EtherNet IP configuration needs to be downloaded to the CJ2 Connect the computer to the CJ2 via USB cable In the Network Configurator go to the Option menu choose Select Interface then select CJ2 USB Serial Port Fa Untitled Network Configurator Fig 6 14 Select Interface From the Network menu select Connect Select TCP 2 then click OK to connect Fig 6 15 Select Network Port Right click on the CJ2B icon select Parameter then select Download OS32C with EtherNet IP amp Measurement Data Addendum Fig 6 16 Download to Device To download to the CJ2 module without changing the PLC to Program mode click Download with Current Mode when prompted List of Device that are executing 192 168 250 2 CJ2B EIP21 Fig 6 17 Download with Current Mode 31 OS32C with EtherNet IP amp Measurement Data Addendum Establishing a connection with Omron NJ 7 Establishing a connection with Omron NJ This section provides step by step instructions for setting up communication from the OS32C to Omron s NJ5 PLC using EtherNet IP communications 7 1 NJ5 MAC EtherNet IP Adapter Setup Open the Sysmac Studio programming software and either open the proje
42. Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 2 Type ID OxB2 UINT 2 bytes Data Item Type ID Item 2 Length Data length UINT 2 bytes Data Item Length length of data to follow below Data Item 1 Response UINT8 1 byte Response Code ex OXCE Reserved field 0 UINT8 1 byte Reserve field not used Data Item 2 Status UINT8 1 byte Status Code Data Item 4 UINT 2 bytes Connection serial number Data Item 5 UINT 2 bytes Originator Vendor ID number Data Item 6 UDINT 4 bytes Originator serial number Data Item 7 Data Size UINT8 1 byte Application data size Number of 16 bit words in application data array Reserved field 0 UINT8 1 byte Reserve field not used Data Array ARRAY Length of Application data if any data size OS32C with EtherNet IP amp Measurement Data Addendum Application Examples 10 Application Examples 10 1 Runtime Monitoring using Explicit TCP IP Request Reply Messages 10 1 1 Network Configuration Configure the scanners IP Address Subnet Mask and Default Gateway using the OS32C Configuration Tool from Omron Scientific Technologies Inc See OS32C User Manual 10 1 2 Computer PLC Configuration amp Process Control Example Using the explicit message command information provided in the scanners electronic data sheet configure the Computer or PLC device to access the scanners EtherNet IP Explicit Messages for monitoring measurement report data In this exampl
43. BIL 14 15 16 17 18 ITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or oth erwise of any intellectual property right c Buyer Remedy Omron s sole obli gation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non complying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be responsi ble for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were prop erly handled stored installed and maintained and not subject to contamina tion abuse misuse or inappropriate modification Return of any Products by Buyer must be approved in writing by Omron before shipment Omron Compa nies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components circuits system assemblies or any other materials or substances or environ ments Any advice reco
44. Cli N OMRON amp INNOVATION OS32C DM Safety Laser Scanner with EtherNet IP This addendum is to be used in conjunction with the OS32C User s Manual P N 99863 0010 or Manual No Z296 E1 EtherNet VIP OSTI P N 99863 0060 Rev E Cat No Z336 E1 05 Safety Precautions The Alert symbols and their meanings ensure safe use of the products In order to use the OS32C safely the precautions listed in this manual are indicated by alert symbols The descriptions must be followed Failure to follow all precautions and alerts may result in an unsafe installation or operation The following indications and symbols are used Indicates a potentially hazardous situation which if not avoided will result in minor or moderate injury or may result in serious injury or death Additionally there may be significant property damage Z WARNING Indicates a potentially hazardous situation which if not avoided will result in minor or moderate injury or VAN CAUTION there may be property damage Meanings of Alert Symbols S Indicates prohibited actions Indicates mandatory actions Alert Statements in this Manual System and zone status parameters monitored over EtherNet IP are to be used for diagnostic purposes only and must not be used in safety critical functions must not be used in safety critical functions Measurement data monitored over EtherNet IP are to be used for diagnostic purposes only
45. Downloading EtherNet IP Configuration to the NJ Connect the NJ5 to the computer using the USB cable In the Network Configurator software choose the Option pull down menu then choose Select Interface then choose NJ Series USB Port From the Network menu select Connect Click on TCP 2 and then press OK OS32C with EtherNet IP amp Measurement Data Addendum 37 Select Connect Network Port Select a network port that you would like to connect Browse y BackPlane B 2 192 168 051 NJ501 1400 Device Infomation Vendor ID Product Name Device Type Revision Fig 7 17 Select Network Port Select Use the existing network and click OK Select Connected Network EtherNet IP_1 Fig 7 18 Use Existing Network Right click the NJ5 icon select Parameter then choose Download Parameter Ed Maintenance Information Fig 7 19 Download to NJ5 To download to the NJ5 without changing the PLC to Program mode click Download with Current Mode OS32C with EtherNet IP amp Measurement Data Addendum List of Device that are executin 192 168 250 4 NJ501 1400 Fig 7 20 Download with Current Mode When the download is complete click OK Setup is now complete 39 OS32C with EtherNet IP amp Measurement Data Addendum Setup for multiple OS32Cs or multiple PLCs 8 Setup for multiple OS32Cs or multiple PLCs The OS32C with EtherNet IP can be polled in a few different ways
46. ECT NUM ACTIVE 1 Invalid zone inputs with wrong number of active inputs ZONE SELECT INVALID 2 Invalid zone inputs with correct number of active inputs 4 Machine Stab Reasens QUALIFIED ZONE VIOLATION 3 Qualified protection zone violation P STAND BY REQUEST 4 Stand by or deep stand by requested RX_ERROR 5 Receiver error TOO_CLEAN_WINDOW 6 Too clean window caused system to stop NOT IN MACHINE STOP_1 7 System currently not in stop mode SYSTEM FAULTED 8 The system faulted check display code NOT IN MACHINE STOP 2 7 9 System currently not in stop mode AZS 01 0 0x00 2 Active Protection Zone Set AZS 70 69 0x45 INVALID AZS 32 768 0x8000 Zinput 1 bit O Zinput 2 bit 1 Zinput 3 bit 2 Zinput 4 bit 3 3 Zone Inputs Zinput 5 bit 4 Zinput 6 bit 5 Zinput 7 bit 6 Zinput 8 bit 7 Protection Zone bit 0 2 Warning Zone 1 bit 1 4 Detection Zone Status Warning Zone 2 bit 2 Window Contamination bit 3 OSSD Output bit 0 5 Output Status Auxiliary Output bit 1 Warning Output bit 2 Standby Input bit 0 6 Input Status Start Input bit 1 EDM Input bit 2 Digit Low followed by Digit High 7 Seven Segment Display Each Digit Displays 1 to 9 0x01 to 0x09 for normal operation 0x1B and Ox1B for dashes during machine stop operation 8 Non Safety Configuration 16 bit Non Safety Configuration CRC Value Checksum Value 9 Safety Configuration 16 bit Safety Configuration CRC Value
47. IP amp Measurement Data Addendum 11 EtherNet IP Input Assembly Data Data Type UINT 16 bit ARRAY 44 woe D ipti E tion Possible Val 16 bit escription numeration Possible Values NO_TOT_MEASUREMENTS 0 No time over threshold measurements required REFLECTIVITY MEASURE TOT ENCODED 1 default setting II Bit O to 9 10 bit TOT scaled value 0 to 1 000 Reflectivity Report Bit 10 unused 1 Format Bit 11 object detected beam blocked within the warning zone 2 Data Type UINT II Bit 12 object detected beam blocked within the warning zone 1 16 bit II Bit 13 object detected beam blocked within protection zone II Bit 14 noisy beam detected II Bit 15 no reflection detected REFLECTIVITY MEASURE TOT 4PS 2 II Bit O to 15 16 bit TOT measurement value 0 to 65 535 x 4ps Range REPORT_RANGE_ONLY 0 5 Report Mode Report Range Only Data ow REPORT RANGE AND REFLECTIVITY 1 Report Range amp Reflectivity Assembly 104 amp 105 Enable User Provided Tag Values for First amp Last Positions of Input Assembly Data 3 Enable User Tags Disable 0 default Enable 1 Data Type UINT 16 bit Assembly 104 User Provided Tag Value for First Position of Input Assembly Data 4 User First Position Tag Data Type UINT 16 bit Assembly 104 User Provided Tag Value for Last Position of Input Assembly Data 5 User Last Position Tag Data Type UINT 16 bit Assembly 10
48. Input Assembly 109 max 454 bytes Reflectivity measurement data variable size Size selected using the beam report mask configuration Array Size Number of Beams included in measurement report header maximum size 7227 without tags Reflectivity TOT 0 226 datal UINT 16 bit See Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 Input Assembly 110 includes range measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 18 Table 18 Input Assembly 110 max 358 bytes Range measurement data variable size R TOF due Size selected using the beam report mask configuration 0 178 data S UINT 16 bit Array Size Number of Beams included in measurement report header maximum size 179 without tags See Table 6 Output Assembly 115 316 bytes Measurement Report Configuration for Input Assembly 106 through 111 Input Assembly 111 includes reflectivity measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 19 Table 19 Input Assembly 111 max 358 bytes Reflectivity measurement data variable size Size selected using the beam
49. OWS OF boot v 0532 Senne OUT STRUCT L Freee ARRAYO 15 OF bool Fig 7 6 OS32C IN and OUT Structure Members 7 3 Setting Tags into Global Variable Section Once the OS32C EtherNet IP tags and I O data have been created in the NJ a global variable will have to be generated for every laser scanner that the NJ will establish EtherNet IP communications with Click on the Global Variables option in the project work space Right click in the global variable window and select Create New and a new variable will be created vE Data 2 Data Types Global Variables Fig 7 7 Global Variables Data Type Initial Value Fig 7 8 Create New Global Variable Give the variable a name and choose the structure name from the variable type It is also necessary to define the tag as an input or output on the network This will need to be done once for the produced variable and once for the consumed variable OS32C with EtherNet IP amp Measurement Data Addendum 7 4 7 5 Establishing a connection with Omron NJ The OS32C produced and consumed tags are shown below Data Type Initial Value AT Retain Constant Network Publish OS32C Out Node7 OS32C Scanner OUT F1 F1 Output OS32C In Node OS32C Scanner IN ma Fiet Fig 7 9 OS32C Produced and Consumed Tags Notice that the OS32C produced information is named as an input for the tag creation This is because when the OS32C produces data it is consumed
50. Saaana 46 9 2 1 Table 11 EtherNet IP Command List 0 00 0 cece cere ieee eee ee eee eeeeeeetaeeeeeeteeeeeeenneeeeee 46 9 2 2 Table 12 EtherNet IP Status Error Code List cc ccecceeeeeeeeeeee sere eeneeeeeeeaeeeeeesieeeeeeeeaeeeeene 47 9 3 EtherNet IP Command Specific Data cecccccceccecee cee eeeeeeeeeeeeeeaecaeeeeeeeeeeeeeeseceeaaecaeeeeeeeeeeeeeeeeesenes 47 9 3 1 Table 13 EtherNet IP Common Packet Format CPF sss emm 47 9 4 EtherNet IP Commands 2 ccccccccceeeeeeeeeeeee a a a ae a a aaa a aaa ra Aa Taea nE PaE 48 941 Eistildentity Commtnd 0 E E E ep e RERE ARE EAE EE REEERE 48 9 4 2 Table 14 List Identity Command Request ssssesssssseeeeneeee eene 48 9 4 3 Table 15 List Identity Command Reply eene 48 9 4 4 Table 16 EtherNet IP Identity Object Parameters sssssse eem 49 9 4 5 Register Scanner Session Command sse nnne 49 9 4 6 Table 17 Register Session Command Request sssssssssseeeeeene eee 49 9 4 7 Table 18 Register Session Command Reply sssssssssseeeene eene 49 9 4 8 Un Register Scanner Session Command sss eene ennemis 50 9 4 9 Table 19 Un Register Session Command Request sssssssssse eem 51 9 4 10 SendRRData Command siirre aaiae ennemi eT a i ren i E rennen enin 51 9 4 11 Table 20 SendRRData Command Request ssssssssssssssssssseeeeeene ee
51. Status Beam status bitO to bit16 0 Clear 1 Blocked Beams 3 Beam 33 48 62 101 Through Warning Zone 1 Status Beams 42 Beams 653 672 Beam status bitO to bi16 0 Clear 1 Blocked 102 Warning Zone 1 Status Beam 678 688 unused Beams 43 Beams 672 688 Unused beams set to zero Note Data used to maintain 16 bit word alignment 103 Warning Zone 1 Status Unused beams set to zero Beams 44 Beams 689 704 Note Data used to maintain 32 bit alignment Warning Zone 2 Status Beam status bitO to bit16 0 Clear 1 Blocked 104 Beams 1 Beams 1 16 105 Warning Zone 2 Status Beam status bitO to bit16 0 Clear 1 Blocked Beams 2 Beams17 32 Warning Zone 2 Status Beam status bitO to bit16 0 Clear 1 Blocked Beams 3 Beam 33 48 106 145 Through Warning Zone 2 Status Beams 42 Beams 653 672 Beam status bitO to bi16 0 Clear 1 Blocked 146 Warning Zone 2 Status Beam 678 688 unused Beams 43 Beams 672 688 Unused beams set to zero Note Data used to maintain 16 bit word alignment p Unused beams set to zero 147 Warning one ia Statys Note Data used to maintain 32 bit alignment OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data Output Assembly Object 113 and Vendor Specific Object 115 listed in Table 4 below are used to configure the run time measurement data that the scanner provides in input assembly objects 102 and 103 as well as vendor s
52. The laser scanner can have multiple EtherNet IP master devices polling it for information or one EtherNet IP master can be set up to poll multiple scanners 8 1 One PLC Polling Multiple OS32Cs One master device can poll multiple laser scanners on the network Open Network Configurator and add the number of needed scanners to the EtherNet IP network For this example there are three OS32Cs and a CJ2 PLC O DeviceNet 1 EtherNet IP 1 E m wow 192 168 250 192 168 250 2 192 168 250 3 192 168 250 4 PISIA 0532C Safe 0532C Safe 0532C Safe Fig 8 1 One PLC with Multiple OS32Cs Double click the CJ1W EIP21 icon and select the Tag Sets tab select the In Consume tab then click the Edit Tags button Edit Device Parameters 192 168 250 1 CJ1W EIP21 CJ2 x Connections F Consume J out Produce New Edit Delete Expand All Collapse All Import To From File UN EditTas Delete all of unused Tag Sets Usage Count 0 256 Fig 8 2 Edit Tags OS32C with EtherNet IP amp Measurement Data Addendum Enter DO for name this field will determine the memory location written to in the PLC In the size field enter 32 bytes this number needs to match the number of Target Input bytes on the OS32C This step will need to be repeated for the number of scanners to be registered to this master Make sure the memory locations do not overlap Name DO Size 32 Use Bit Da
53. active inputs ZONE SELECT INVALID 2 Invalid zone inputs with correct number Machine Stop E Rsasons of active inputs 4 5 QUALIFIED ZONE VIOLATION 3 Qualified protection zone violation f STAND_BY_REQUEST 4 Stand by or deep stand by requested Data De PIT RX ERROR 5 Receiver error TOO CLEAN WINDOW 7 6 Too clean window caused system to stop NOT IN MACHINE STOP 1 7 System currently not in stop mode SYSTEM FAULTED 8 The system faulted check display code NOT IN MACHINE STOP 2 9 System currently not in stop mode Active Protection AZS_01 0 0x00 2 Zone Set 6 ice Data Type UINT AZS_70 69 0x45 16 bit INVALID AZS 32 768 0x8000 Zinput 1 bit 0 Zinput 2 bit 1 Zone Ipute Zinput 3 bit 2 Zinput 4 bit 3 3 Data boca 7 Zinput 5 bit4 Zinput 6 bit 5 Zinput 7 bit 6 Zinput 8 bit 7 Detection Zone Protection Zone bit 0 4 Status 8 Warning Zone 1 bit 1 Data Type WORD Warning Zone 2 bit 2 16 bit Window Contamination bit 3 Output Status OSSD Output bit 0 5 Data Type WORD 9 Auxiliary Output bit 1 16 bit Warning Output bit 2 Input Status Standby Input bit 0 6 Data Type WORD 10 0x0A Start Input bit 1 16 bit EDM Input bit 2 Seven Segment Digit Low followed by Digit High 7 Display 11 0x0B Each Digit Displays 1 to 9 0x01 to 0x09 for normal operation Ox1B and Ox1B Data Type UINT for dashes during machine stop operation 16 bit Non Safety 16 bit Non Safety Configu
54. and Command options UDINT 4 bytes Optional command flags Command specific Command data ARRAY of 0 to 0 to 65511 bytes The encapsulation data portion of the message is data 65511 octets required only for certain commands 9 2 EtherNet IP Command List EtherNet IP provides fundamental commands for accessing all scanner data as outlined in Table 11 below 9 2 1 Table 11 EtherNet IP Command List Command Name Command Code Description NOP 0x0000 A non operational command used during TCP communications to verify TCP connections may be sent only using TCP List Services 0x0004 List the scanners EtherNet IP services available may be sent using either UDP or TCP List Identity 0x0063 List the scanners EtherNet IP identity vendor ID device ID serial number and other information may be sent using either UDP or TCP List Interfaces 0x0064 List the scanners EtherNet IP assembly and input output object interfaces available may be sent using either UDP or TCP Register Session 0x0065 Open and register a communication session with the scanner may be sent only using TCP OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device Command Name Command Code Description Un Register Session 0x0066 Close the registered communication session with the scanner may be sent only using TCP SendRRData 0x006F Send a request reply command
55. asurement values can be separated from the detection zone bits by using a binary mask for the selected format When a measurement beam is noisy and does not contain valid information the value returned is 1 0x0001 and when there is no measurement of the value the maximum value for the range report format is returned i e for the RANGE MEASURE 50M format the returned value is 65535 OxFFFF The range measurements are provided in input assembly object 102 104 106 108 and 110 as well as vendor specific object 114 and 117 which also contains reflectivity measurements The reflectivity report formats available in the configuration output assembly 113 114 and 115 provides another option to receive reflectivity measurements in a scaled unit with encoded detection zone bits or time over threshold measurements in picoseconds The encoded detection bits that are embedded in the reflectivity measurements serve the same purpose as described above but provide an alternate method for zone detection when long range measurements are required The reflectivity measurements are provided in input assembly object 103 105 107 109 and 111 as well as vendor specific objects 116 and 117 which also contains range measurements Output Assembly 112 and 116 through 120 are single word assemblies which are used to keep a PLC I O connection alive for streaming any of the standard Input assemblies 100 through 111 The output data of this assembly has no effect on the meas
56. bute Data attribute data 9 4 15 Table 24 SendRRData Command Reply to a Set Single Attribute Request Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command 0x006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle ID UDINT 4 bytes Session Handle received in the Register Session reply message Status 0 UDINT 4 bytes Error status equals 0x0000 if successful Sender Context Array 8 ARRAY of 8 bytes Value from request Length of 8 Data octet Command options 0 UDINT 4 bytes Command Interface Handle UDINT 4 bytes Interface Handle selected by originator PLC or PC Specific Data ID Timeout UINT 2 bytes 0 to 65535 in seconds Encapsulation Item count 2 UINT 2 bytes Number of items to follow Packet Item 21 Type ID O UINT 2 bytes Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 22 Type ID OxB2 UINT 2 bytes Data Item Type ID Item 22 Length 8 data UINT 2 bytes Data Item Length length Data Item 1 Response UINT8 1 byte Get or Set Single Attribute Response Code Reserved field 0 UINT8 1 byte Reserve field not used Data Item 2 Status UINT8 1 byte Get or Set Single Attribute error status code Data Item 3 Additional UINT8 1 byte Number of additional error status information in 16 bit Status Size words The SendRRData command is also used to es
57. by the NJ5 Therefore it acts like as an input to the NJ5 The OS32C consumed information is produced or output by the NJ5 so the network publish type is set to output Exporting Tags to Network Configurator The tags that have been created in the NJ can now be exported to be used by the Network Configurator software Doing this will ensure the tag I O structure will match Under the Tools menu in the main window select Export Global Variables then select Network Configurator troller Simulation Tools _ Heip Backup Variables and Memory gt B Programmir Option d Fig 7 10 Export Global Variables This will save the data in an Excel spreadsheet as a csv file to be imported by the Network Configurator software Configuring the EtherNet IP Network To configure the Ethernet IP connection to the NJ start up the Network Configurator software and create a new EtherNet IP program Drag and drop the NJ5 and the OS32C from the hardware list onto the EtherNet IP network in the Network Configurator Ensure the IP addresses match the hardware IP settings CO EtherNet IP_1 192 168 250 7 192 168 250 2 0532C Safety NJ501 1400 Laser Scanner Fig 7 11 Add NJ5 and OS32C to the EtherNet IP Network Double click on the NJ5 and select the Tag Sets tab Click the To From button and select Import From File OS32C with EtherNet IP amp Measurement Data Addendum 35 Establishing a connection with Omron NJ Edit D
58. computer based device 9 Establishing communications with a computer based device This section provides general information for setting up communication connections between the OS32C and a computer based device This section provides information from the EtherNet IP specification necessary to communicate with the OS32C within a single EtherNet IP subnet network When used in a standard Ethernet network communications across subnet networks is also possible using the communication formats provided in this manual 9 1 EtherNet IP Command Protocol All electronic datagram command payloads contain a fixed length header of 24 bytes followed by an optional data portion The total datagram payload length is limited to 65535 bytes for TCP IP messages and 1500 bytes for UDP IP messages Table 10 below outlines the basic structure for EtherNet IP commands 9 1 1 Table 10 EtherNet IP Datagram Header Command Format Structure Field Name Data Type Data Size Field Value Encapsulation Command UINT 2 bytes Encapsulation command number Header Length UINT 2 bytes Length in bytes of the command specific data portion of the message following the encapsulation header Session Handle ID UDINT 4 bytes Session identification used for configuration and run time monitoring Status UDINT 4 bytes Status code used in reply messages Sender Context ARRAY of 8 octets 8 bytes Information pertinent only to the sender of an Data encapsulation comm
59. ct associated with the machine or create a new one Double click on the Built in EtherNet IP Port Setting option under Configurations and Setup as shown below Y Configurations and Setup J EtherCAT gt 5 CPU Expansion Racks 1 0 Map Y amp Controller Setup 3 Operation Settings Built in EtherNet IP Port Settings gt i Motion Control Setup Cam Data Settings Event Settings LUB T Settings Data Trace Settings Fig 7 1 Built in EtherNet IP Port Setting In the window that appears make the appropriate IP address setting to the NJ In this example the NJ will be set to 192 168 250 2 and the OS32C will be set to 192 168 250 7 Y IP Address Fixed setting ENGSTE 192 168 250 2 ETE 255 255 255 0 d Obtain from BOOTP server Fix at the IP address obtained from BOOTP server v DNS DNS Do not use Use Priority DNS server i Secondary DNS server e Domain name SS v Host Name IP Address Reset all to default Fig 7 2 IP Address Setting 7 2 Setting up tags in the NJ Controller The NJ supports tag based I O structures and these tags need to be generated in order for the OS32C to communicate correctly with the NJ controller via EtherNet IP Under the Programming tab in the menu tab select Data and then Data Types OS32C with EtherNet IP amp Measurement Data Addendum Establishing a connection with Omron NJ v A POUs v Programs B Socket Sequencel E004 Functions
60. ction mask Using the EtherNet IP SendRRData command send an explicit TCP IP messages to configure the beam selection mask of the scanner using the following parameters o Service code 16 0x10 Set Single Attribute Object class 115 0x73 Vendor Specific Object Class o Instance 1 0x01 Vendor Specific Instance o Attribute 12 Ox0C Beam Selection Mask o UINT16 Data 44 Data required can be selected using the following algorithms define beam selection mask memset uint8 amp BeamReportMask ZERO sizeof BeamReportMask SetupBeamSelectionMask 0 45 BeamReportMask SetupBeamSelectionMask 225 270 BeamReportMask J EERE EK AEE EAEE KEA E AA AE E AE ALR ELA ERA L ERLE ORE HOKGE HON RARER RARER E AS ERR EAE Function Task SetupBeamSelectionMask Purpose Select the beams used within the measurement data reports Arguments float startAngle 0 4 to 270 4 degrees on float endAngle 0 4 to 270 4 degrees ais uint16 BeamSelectionData pointer to Beam Selection Array Return bool TRUE FALSE PASS FAIL SOKIORESOR SOR AGIOE AEKA EOK AE IE OK A E K A A AK OIOE IORGE IOIOE EOIGE ERLE RSE KE SELLER EER ERASE RE LEER EA GE 7 bool SetupBeamSelectionMask float startAngle float endAngle uint16 BeamSelectionData int16 i int16 startBeam startAngle 10 4 startAngle 0 4 degress per beam int16 endBeam endAngle 10 2 4 endAngle O 4 degress per beam uint32 beamSelectionMask 0x0001 u
61. d area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 10 Table 10 Input Assembly 103 and Vendor Specific Object 116 max 1410 bytes Reflectivity measurement data variable size Size selected using the beam report mask configuration 1 Array Size Number of Beams included in measurement report header maximum size 677 Reflectivity TOT 28 704 data UINT 16 bit In addition to the common measurement report header defined in Table 8 Vendor Specific Object 117 includes both range and reflectivity measurement data for the selected area of interest Since UDP I O messages are limited to less than 1500 bytes this assembly can only be provided using explicit TCP IP request reply messages The scanner will respond to each request immediately after the next scan period 4 11 Table 11 Vendor Specific Object 117 max 2764 bytes Range measurement data variable size Size selected using the beam report mask configuration 1 2 Array Size Number of Beams included in measurement report header maximum size 677 Range TOF 28 704 data UINT 16 bit Reflectivity measurement data variable size Size selected using the beam report mask configuration 1 2 Array Size Number of Beams included in measurement report header maximum size 677 Reflectivity TOT 70
62. e configure the scanner s run time monitoring attributes to monitor two sector locations within the 0 4 to 270 4 scanning field The following information outlines the configuration and TCP IP request reply commands for this example 10 1 2 1 Configure the scanner s protection and warning zones 1 Using the scanners configuration tool configure the scanner for a limited protection zone range of 500 mm 2 Using the configuration tool configure the scanners Warning Zone 1 for detection zone range of 1000 mm in sector 1 0 to 45 3 Using configuration tool configure the scanners Warning Zone 2 for detection zone range of 1500 mm for sector 2 225 to 270 10 1 2 2 Configure the software driver communication ports Initialize a UDP IP port 44818 for performing the discovery process on all connected scanners The List identity command can be used to determine which devices are OS32C scanners Initialize a TCP IP port 44818 for receiving and transmitting all explicit messages used to establish connections with the OS32C scanners elf a UDP I O connection is required for the application initialize the UDP IP port 2222 for receiving and transmitting all I O connected messages 10 1 2 3 Establishing a TCP connection with a scanner using a known IP address Using the appropriate socket programming language establish a TCP IP connection to the scanner using the local computer IP address and the target scanner IP address OS32C with EtherN
63. eceived in the Register Session reply ID message Status 0 UDINT 4 bytes 0 Sender Context 0 ARRAY 8 8 bytes Reserved shall be ignored by receiver values shall be 0 Data Command 0 UDINT 4 bytes 0 options Command Interface Handle 0 UDINT 4 bytes Interface Handle selected by originator PLC or PC Specific Data ID Timeout 0 UINT 2 bytes 0 to 65535 in seconds Encapsulation See Common Packet Format specification in section 9 3 packet and section 9 4 12 Table 21 Get Single Attribute Service Code Request CPF Data 9 4 12 Table 21 Get Single Attribute Service Code Request CPF Data Field Name Sub Field Name Field Value Data Type Data Size Comments Encapsulation packet Item count 2 UINT 2 bytes Number of items to follow Item 1 TypeID O UINT 2 bytes Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 2 Type ID OxB2 UINT 2 bytes Data Item Type ID Item 22 Length 8 UINT 2 bytes Data Item Length OS32C with EtherNet IP amp Measurement Data Addendum 51 52 Establishing communications with a computer based device Field Name Sub Field Name Field Value Data Type Data Size Comments Data Item 1 Service Code UINT8 1 byte Get or Set Single Attribute Request Data Item 2 0x03 UINT8 1 byte Request Path Size in Words Data Item 3 0x20 UINT8 1 byte Logical Class Type Data Item 4 Class UINT8 1 byte Logica
64. endered ineffective or invalid such provision shall not invalidate any other provision f Setoff Buyer shall have no right to set off any amounts against the amount owing in respect of this invoice g Definitions As used herein including means including without limitation and Omron Compa nies or similar words mean Omron Corporation and any direct or indirect subsidiary or affiliate thereof Certain Precautions on Specifications and Use 1 Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyer s application or use of the Product At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a complete determination of the suitability of the Prod uct in combination with the end product machine system or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer s application product or system Buyer shall take application responsibility in all cases but the following is a non exhaustive list of applications for which particular attention must be given i Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses n
65. ent value 0 to 8 190 millimeters Value of 0x0001 Noisy Beam Value of Ox1FFF No Reflection II Bit 13 object detected beam blocked within the warning zone 2 II Bit 14 object detected beam blocked within the warning zone 1 Bit 15 object detected beam blocked within protection zone RANGE MEASURE TOF 4PS 5 Bit O to 15 16 bit TOF measurement value 0 to 65 534 x 4ps Value of 0x0001 Noisy Beam Value of OXFFFF No Reflection RANGE MEASURE 50M WS3BIT ENCODED TOT 6 II Bit O to 12 13 bit distance measurement value 0 to 50 000 millimeters 50 meters with 8mm resolution Bit 13 to 15 3 bits encoded reflectivity value 1 128 of measured value RANGE MEASURE 32M WZ 2 7 II Bit O to 14 15 bit distance measurement value 0 to 32 766 millimeters Bit 15 measure value detected beam blocked within the warning zone 2 RANGE MEASURE 16M WZ1WZ2 8 Bit O to 13 14 bit distance measurement value 0 to 16 382 millimeters II Bit 14 measure value detected beam blocked within the warning zone 1 Bit 15 measure value detected beam blocked within the warning zone 2 RANGE MEASURE 8M PZWZ1WZ2 9 Bit O to 12 13 bit distance measurement value 0 to 8 190 millimeters Bit 13 measure value detected beam blocked within protection zone Bit 14 measure value detected beam blocked within the warning zone 1 Bit 15 measure value detected beam blocked within the wa
66. ers to the scanner will provide an unsigned 16 bit machine state value Service code 14 0xXOE Get Single Attribute Object class 112 0x70 Vendor Specific Object Number System Status Instance 1 0x01 Vendor Specific Instance Attribute 4 0x04 see additional attributes listed in the tables specified below To read the entire input assembly object data service code 14 OxOE Get Single Attribute can be used in a TCP request reply explicit message using the following parameters Service code 14 OXOE Get Single Attribute OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data Object class 4 0x04 II Assembly Object Class Instance 100 0x64 Input Assembly Object Number System Status Attribute 03 0x03 Input Assembly Object Data To read the entire vendor specific object data service code 14 OxOE Get Single Attribute can be used in a TCP request reply explicit message using the following parameters Service code 14 0XOE Get Single Attribute Object class 114 0x72 Vendor Specific Object Number Range Data Instance 1 0x01 Vendor Specific Instance Attribute 03 0x03 Vendor Specific Object Data 4 1 Table 1 EtherNet IP Data Types Keyword Description Minimum Maximum SINT INT8 Short Integer 128 127 USINT UINT8 Unsigned Short Integer 0 255 INT INT16 Integer 32768 32767 UINT UINT16 Unsigned Integer 0 655
67. es Length of command specific data OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device Telegram Field Name Field Value Data Type Data Size Comments Datagram part Session Handle UDINT 4 bytes Session Handle ID returned by the scanner ID Status 0 UDINT 4 bytes Error status equals 0x0000 if successful Sender Context Array 8 ARRAY of 8 bytes Value from request Length of 8 Data octet Command 0 UDINT 4 bytes 0 options Command Specific Protocol Version UINT 2 bytes Version from Register Session request if supported If Data the request version is not supported contains the highest version supported Option flags UINT 2 bytes Option flags from Register Session request if supported If the request Option flags are not supported contains the supported Option flags The Session Handle field of the header shall contain a scanner generated identifier that the client application shall save and insert in the Session Handle field of the header for all subsequent command requests This field shall be valid only if the Status field is zero 0 If the client application was successfully registered with the scanner the Status field shall be zero 0 If the client application was not successfully registered the Status field shall contain the appropriate error code as follows Error code 0x0001 shall be returned if the client application attemp
68. et IP amp Measurement Data Addendum 59 Application Examples 10 1 2 4 Discover the identity of the scanner Using the List Identity Command described in section 9 4 1determine the serial number and product name of the target scanner PC gt SCANNER Datagram Structure See section 9 4 2 Table 14 List Identity Command Request Size 24 bytes Parameters to update EIP_UINT16 Timeout 0x01F4 500 milliseconds Hexadecimal 63 00 00 00 00 00 00 00 00 00 00 00 E4 01 00 00 00 00 00 00 00 00 00 00 SCANNER gt PC Datagram Structure See section 9 4 3 Table 15 List Identity Command Reply Size 90 bytes List Identity Response Example Additional EIP UINT16 item count 0x0001 Parameters EIP_UINT16 item id Ox000C returned EIP_UINT16 item length Ox003C EIP UINT16 encap version 0x0001 EIP UINT8 sock family 2 0x0002 Big Endian EIP UINT8 sock port 2 0x12AF Big Endian EIP UINT8 sock addr 4 0x0101A8CO Big Endian EIP UINT8 sock zero 8 00 00 00 00 00 00 00 00 Big Endian EIP UINT16 vendor id 0x0195 405 EIP UINT16 device type 0x002B Generic EIP UINT16 product code 0x000C 12 OS32C EIP UINT8 revision 2 0x030B v3 11 EIP_UINT16 current status 0x0000 EIP UINT16 serial number low 0x0649 AS01609 EIP_UINT16 serial number high 0x0000 EIP UINT8 name length 0x1A 26 EIP UINT8 product name name length 4F 53 33 32 43 20 53 61 66 65 74 79 20 4C 61 73 65
69. evice Paramet 192 168 250 2 NJ501 1400 In Consume aias Name Edit Delete Expand All Collapse A Delete all of unused Tag Sets Usage Count 0 32 import To From File Export to File i Import from File Fig 7 12 Import Tag Sets from File Browse to the csv file that contains the network tags that were exported from Sysmac Studio select it and press OK When prompted click Yes to import the symbols The tags will now appear on the In Consume and Out Produce tabs When complete the In Consume and Out Produce tabs will appear as follows Edit Device Parameters 192 168 250 7 NJ501 1400 E xj Connections Tag Sets In Consume Out Produce 0S32C In Node7 Fig 7 13 In Consume Tab Edit Device Parameters 192 168 250 7 NJ501 1400 E xj Connections Tag Sets In Consume Out Produce Name i Ft Sze Bt Auto OS32C Out Node7 2Byte Fig 7 14 Out Produce Tab Select the Connections tab The OS32C module will appear under the list of unregistered devices Select OS32C module and press the down arrow to move the OS32C from the unregistered device list to the registered device list Once the OS32C is shown in the registered device list double click on the OS32C which will bring up an Edit Connection window Match the tag names on the left hand side up with the input and the output assemblies on the right hand side In this example
70. for the PC is available on the Omron STI website at www sti com This demo tool is a C application that allows a user to view information such as system status zone status range measurement and more from the OS32C without the need for a PLC Also available on the website are data application function blocks for PLC programs Users can use or modify these function blocks for their own PLC programs One such function block is a configuration function block which allows users to choose the amount of data they would like to receive from the OS32C by specifying parameters such as the number of beams and number of scans Object detection function blocks are also available to help users process the data they receive from the scanner OS32C with EtherNet IP amp Measurement Data Addendum Range Data Accuracy 2 Range Data Accuracy Estimated 16 random error in mm A for given target reflectivity 2 iim _ Retocor wath imm 12 5 Tee 25 S 75 100 ey 250 70 20 10 10 10 10 10 10 10 500 70 20 10 10 10 10 10 10 10 1000 70 20 10 10 10 10 10 10 10 2000 70 20 20 10 10 10 10 10 10 3000 70 20 20 10 10 10 10 10 10 4000 70 20 20 20 20 20 20 20 20 5000 80 30 20 20 20 20 20 20 20 7500 120 40 20 20 20 20 20 20 10000 150 40 20 20 20 20 20 20000 300 40 20 20 20 20 30000 450 30 30 30 30 40000 600 Outside recommended range 3 30 30 30 50000 750 40 40
71. hat is synchronous with the scan period the vendor specific assemblies 114 116 and 117 must be used For vendor specific object data requests the scanner will reply with the required data after the end of the current scan cycle and before the next scan cycle Service code 14 OxOE Get Single Attribute should be used in a TCP request reply explicit message using the following parameters For standard input assemblies 102 amp 103 use Service code 14 OxOE Get Single Attribute Object class 0x04 0x04 Assembly Object Class Instance number II Assembly Number for example 102 0x66 Attribute 03 0x03 II Assembly Data For vendor specific objects 114 116 amp 117 use Service code 14 OxOE Get Single Attribute Object class number Vendor Specific Object for example 114 0x72 Instance 1 0x01 Instance Number Attribute 03 0x03 I Assembly Data OS32C with EtherNet IP amp Measurement Data Addendum 65 Application Example S PC gt SCANNER Datagram See section 9 4 11 Table 20 SendRRData Command Request Structure See section 9 4 12 Table 21 Get Single Attribute Service Code Request CPF Data Size 48 bytes Parameters to update EIP UINT16 length 0x0018 Length of command specific data EIP UINT32 session handle id 0x00000005 EIP_UINT8 EIP_UINT8 EIP_UINT8 EIP_UINT8 service code OxOE Get Single Attribute class code 0x72 Vendor Object 114 Range Measurement Data instance id
72. herNet IP master device To change the OS32C configuration including the IP address settings refer to Chapter 3 of the OS32C Safety Laser Scanner manual For OS32C wiring diagrams refer to Chapter 5 of the OS32C Safety Laser Scanner manual OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data 4 EtherNet IP Input Assembly Data The OS32C has twelve standard input assembly objects and four vendor specific objects as described below Input Assembly Object 100 32 bytes and Vendor Specific Object 112 provide system status data Input Assembly Object 101 296 bytes provides both system status and zone status data Input Assembly Object 102 up to 1410 bytes and Vendor Specific Object 114 provide both system status and range measurement data Input Assembly Object 103 up to 1410 bytes and Vendor Specific Object 116 provide both system status and reflectivity measurement data Input Assembly Object 104 up to 960 bytes provides both system status and range measurement data e Input Assembly Object 105 up to 960 bytes provides both system status and reflectivity measurement data Input Assembly Object 106 Input Assembly Object 107 Input Assembly Object 108 up to 454 bytes Input Assembly Object 109 up to 454 bytes Input Assembly Object 110 up to 358 bytes provides range measurement data Input Assembly Object 111 up to 358 bytes provides reflectivity measurement data
73. ill not work Enter 32 bytes for the size field When done click the Regist button then the Close button Fig 6 5 Register Tag OS32C with EtherNet IP amp Measurement Data Addendum Select the Out Produce tab then click New to create a new tag lEdit Tags Fig 6 6 Create New Tag Enter D100 for the name to specify DM memory area 100 of the CJ2 Reminder the D in D100 must be upper case Enter 2 bytes for the size When done click the Regist button then the Close button Fig 6 7 Register Tag Click OK to complete the creation of the tags Enab 2Byte Fig 6 8 Click OK When prompted click Yes to register the new Tags as Tag Sets OS32C with EtherNet IP amp Measurement Data Addendum 27 Network Configurator aS NI TNT Fig 6 9 Register Tag Sets Select the Connections tab highlight the OS32C then click the down arrow to register the OS32C as a slave device to the CJ2 Edit Device Parameters 192 168 250 2 CJ2B EIP21 Fig 6 10 Register OS32C to CJ2 Once the OS32C is listed under the Register Device List double click on the OS32C to edit the connection Under the Originator Device select the input and output tag sets that were just created so that it matches the screenshot below OS32C with EtherNet IP amp Measurement Data Addendum Establishing a connection with Omron CJ2 192 168 250 1 0532C Safety Laser Scanner Edit Connection xj
74. int32 beamSelctionCtr 0 if startBeam lt 1 startBeam gt 677 endBeam lt 1 endBeam gt 677 startBeam gt endBeam return FALSE setup initial mask variables for i 1 i lt startBeam i if beamSelectionMask 0x8000 beamSelctionCtr beamSelectionMask 0x0001 else beamSelectionMask beamSelectionMask lt lt 1 end if else end for setup required measurement beams for i startBeam i lt endBeam i BeamSelectionData beamSelctionCtr beamSelectionMask if beamSelectionMask 0x8000 beamSelctionCtr beamSelectionMask 0x0001 else beamSelectionMask beamSelectionMask lt lt 1 end if else end for return TRUE end SetupBeamSelectionMask OS32C with EtherNet IP amp Measurement Data Addendum Application Examples PC gt SCANNER Datagram Structure See section 9 4 11 Table 20 SendRRData Command Request See section 9 4 14 Table 23 Set Single Attribute Service Code Request CPF Data Size 136 bytes Parameters to update EIP_UINT16 length 0x0070 Length of command specific data EIP UINT32 session handle id 0x00000005 EIP UINT8 service code 0x10 Set Single Attribute EIP UINT8 class code 0x73 Vendor Object Measurement Configuration EIP UINT8 instance id 0x01 Vendor Object Instance EIP UINT8 attribute id Ox0C Beam Selection Mask Attribute Number EIP_UINT16 attribute data 44
75. it Assembly 110 User Provided Tag Value for Last Position of Input Assembly Data 409 User Last Position Tag Data Type UINT 16 bit Assembly 111 User Provided Tag Value for First Position of Input Assembly Data 410 User First Position Tag Data Type UINT 16 bit Assembly 111 User Provided Tag Value for Last Position of Input Assembly Data 111 User Last Position Tag Data Type UINT 16 bit 112 Unused For future use 113 Unused For future use Beam Report Selection Mask is used to define the reported beam measurements in Assembly Beam Report Selection f Mask Input Objects 110 111 114 157 Bit 0 excluded from measurement report Data Type UINT 16 bit ARRAY 44 Bit 1 included in measurement reports default setting The range report formats available in the configuration output assembly 113 114 and 115 provide options to receive range measurements in millimeters units encoded detection zone bits and OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data 4 7 millimeter units or time of flight measurements in picoseconds The encoded detection zone bits that are provided by the scanner serve two purposes 1 to provide fast detection of the location where zone violations occur and 2 so that the client application PLC or PC is not required to maintain the same detection zone parameters that are already stored in the scanner When encoded range measurements are provided the me
76. l Class Number Data Item 5 0x24 UINT8 1 byte Logical Instance Type Data Item 6 Instance UINT8 1 byte Logical Instance Number Data Item 7 0x30 UINT8 1 byte Logical Attribute Type Data Item 8 Attribute UINT8 1 byte Logical Attribute Number 9 4 13 Table 22 SendRRData Command Reply to a Get Single Attribute Request Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command 0x006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle ID UDINT 4 bytes Session Handle received in the Register Session reply message Status 0 UDINT 4 bytes Error status equals 0x0000 if successful Sender Context Array 8 ARRAY of 8 bytes Value from request Length of 8 Data octet Command options 0 UDINT 4 bytes Command Interface Handle 0 UDINT 4 bytes Interface Handle selected by originator PLC or Specific Data ID PC Timeout UINT 2 bytes 0 to 65535 in seconds Encapsulation Item count 2 UINT 2 bytes Number of items to follow Packet Item 1 TypeID JO UINT 2 bytes Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 2 Type ID 0xB2 UINT 2 bytes Data Item Type ID Item 2 Length 8 data length UINT 2 bytes Data Item Length Data Item 1 Response UINT8 1 byte Get or Set Single Attribute Response Code Reserved field 0 UINT8 1 byte Reserve field not used Data Item 2 Status UINT
77. m Type ID Item 22 Length ex 54 UINT 2 bytes Data Item Length length of data to follow below Data Item 1 0x5B UINT8 1 byte Large Forward Open Request Data Item 2 0x02 UINT8 1 byte Request Path Size in Words Data Item 3 0x20 UINT8 1 byte Logical Class Type Data Item 4 0x06 UINT8 1 byte Logical Class Request Data Item 5 0x24 UINT8 1 byte Logical Instance Type Data Item 6 0x01 UINT8 1 byte Logical Instance Request Data Item 7 0x06 UINT8 1 byte Priority Time Tick Data Item 8 ex 880 UINT8 1 byte Timeout Ticks ms Data Item 9 0 UDINT 4 bytes O T identification number Data Item 10 Any UDINT 4 bytes T gt O identification number use a random number here Data Item 11 Any UINT 2 bytes Connection serial number Data Item 12 405 UINT 2 bytes Vendor identification number use of the OSTI vendor ID is acceptable here Data Item 13 Any UDINT 4 bytes Originator serial number Data Item 14 0 UINT8 1 byte Connection Timeout Multiplier default 0 Data Item 15 0 UINT8 1 byte Reserved Data Item 16 0 UINT8 1 byte Reserved Data Item 17 0 UINT8 1 byte Reserved Data Item 18 Any UDINT 4 bytes O T repetitive packet interval RPI in microseconds ex 880000 us Data Item 19 ex 0x48000 UDINT 4 bytes O gt T connection parameters 008 See EDS file Data Item 20 Any UDINT 4 bytes T gt O repetitive packet interval RPI in microseconds ex 80000 us Data Item 21 ex 0x48000 UDINT 4 bytes T gt O connection parameters 588 See EDS file Data Item 22
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79. n handle id 0x00000005 Parameter s returned Hexadecimal 65 00 04 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 OS32C with EtherNet IP amp Measurement Data Addendum 61 Application Examples 10 1 2 6 Configure the scanner s measurement range format Using the EtherNet IP SendRRData command send an explicit TCP IP messages to configure the range measurement format of the scanner using the following parameters O O O O 0 UINT16 Data PC gt SCANNER Service code 16 0x10 Object class 115 0x73 Instance 1 0x01 Attribute 4 0x04 II Set Single Attribute Vendor Specific Object Class II Vendor Specific Instance Range Measurement Reporting Format Il Data 1 RANGE MEASURE 50M default value Datagram Structure See section 9 4 11 Table 20 SendRRData Command Request See section 9 4 14 Table 23 Set Single Attribute Service Code Request CPF Data Size 50 bytes Parameters to update EIP UINT16 length 0x001A Length of command specific data EIP UINT32 session handle id 0x00000005 EIP UINT8 service code 0x10 Set Single Attribute EIP UINT8 class code 0x73 Vendor Object Measurement Configuration EIP UINT8 instance id 0x01 Vendor Object Instance EIP UINT8 attribute id 0x04 Range Format Attribute Number EIP_UINT16 attribute data 0x0001 Range Format Setting Hexadecimal 6F 00 1A 00 05 00 00 00 00 00 00 00 00 00 00 00 00
80. n zone RANGE MEASURE 16M WZ1PZ 3 Bit O to 13 14 bit distance measurement value 0 to 16 382 millimeters Value of 0x0001 Noisy Beam Value of Ox3FFF No Reflection II Bit 14 object detected beam blocked within the warning zone 1 Bit 15 object detected beam blocked within protection zone RANGE MEASURE 8M WZ2WZATPZ 4 Bit O to 12 13 bit distance measurement value 0 to 8 190 millimeters II Value of 0x0001 Noisy Beam Value of OX1FFF No Reflection II Bit 13 object detected beam blocked within the warning zone 2 II Bit 14 object detected beam blocked within the warning zone 1 Bit 15 object detected beam blocked within protection zone RANGE_MEASURE_TOF_4PS 5 II Bit O to 15 16 bit TOF measurement value 0 to 65 534 x 4ps Value of 0x0001 Noisy Beam Value of OxFFFF No Reflection RANGE_MEASURE_50M_W3BIT_ENCODED_TOT 6 Bit O to 12 13 bit distance measurement value 0 to 50 000 millimeters 50 meters with 8mm resolution Bit 13 to 15 3 bits encoded reflectivity value 1 128 of measured value RANGE MEASURE 32M WZ 2 7 Bit O to 14 15 bit distance measurement value 0 to 32 766 millimeters Bit 15 measure value detected beam blocked within the warning zone 2 RANGE MEASURE 16M WZ1WZ2 8 II Bit O to 13 14 bit distance measurement value 0 to 16 382 millimeters Bit 14 measure value detected beam blocked within the warning zone 1
81. nd options 0 UDINT 4 bytes Command Connection Interface UDINT 4 bytes Connection interface handle to be used in Specific Data Handle data stream Timeout Period UINT 2 bytes Connection timeout period to be used in timer Encapsulation Item count 4 UINT 2 bytes Number of items to follow Data Item 1 Type ID 0 UINT 2 bytes Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 22 Type ID 0xB2 UINT 2 bytes Data Item Type ID Item 2 Length Data length UINT 2 bytes Data Item Length length of data to follow below Data Item 1 Response UINT8 1 byte Response Code ex OxDB Reserved field 0 UINT8 1 byte Reserve field not used Data Item 2 Status UINT8 1 byte Status Code Data Item 3 Additional UINT8 1 byte Additional status size data If not zero check Status Size following error status word Data Item 4 UDINT 4 bytes O T identification number ID Data Item 5 UDINT 4 bytes T gt O identification number ID Data Item 6 UINT 2 bytes Connection serial number Data Item 7 UINT 2 bytes Originator Vendor ID number Data Item 8 UDINT 4 bytes Originator serial number Data Item 9 UDINT 4 bytes O gt T accepted packet interval API Data Item 10 UDINT 4 bytes T gt O accepted packet interval API Data Item 11 Data Size UINT8 1 byte Application data size Data Array ARRAYT Length of Data if any data size Once the UDP I O connection has been established the target device will stream assembly data t
82. ne 51 9 4 12 Table 21 Get Single Attribute Service Code Request CPF Data 51 9 4 13 Table 22 SendRRData Command Reply to a Get Single Attribute Request 52 9 4 14 Table 23 Set Single Attribute Service Code Request CPF Data sss 52 9 4 15 Table 24 SendRRData Command Reply to a Set Single Attribute Request 53 9 4 16 Table 25 Large Forward Open Request Encapsulation Packet ssessssssssss 54 9 4 17 Table 26 SendRRData Command Reply to a Large Forward Open Request 55 9 4 18 Table 27 UDP I O connection packet sssssssssssssssseseeenenn eee ne enne nnn nnne 56 9 4 19 Table 28 Forward Close Request Encapsulation Packet ssssss sss 57 9 4 20 Table 29 SendRRData Command Reply to a Forward Close Request suususss 58 10 Application Examples 2i rere tee tte teg RD Adae ert aep esa Cose S dane tana ae 59 10 1 Runtime Monitoring using Explicit TCP IP Request Reply Messages see 59 10 1 1 Network Configuration essen nennen nennen nenne nennen LEEA RAEE A T 59 10 1 2 Computer PLC Configuration amp Process Control Example ssssssssssseeeeees 59 10 2 Runtime Monitoring using an Implicit UDP I O Connection sseemm e 67 10 2 1 Network Cornnguration 4 eorr E oe rtt veri OR PERRA NU ge EUR ae
83. nput Assembly 102 and Vendor Specific Object 114 max 1410 bytes 20 4 10 Table 10 Input Assembly 103 and Vendor Specific Object 116 max 1410 bytes 20 4 11 Table 11 Vendor Specific Object 117 max 2764 bytes 20 4 12 Table 12 Input Assembly 104 max 960 bytes ssssssssseee enm emm enn 21 4 13 Table 13 Input Assembly 105 max 960 bytes ssssssssssee nme 21 4 14 Table 14 Input Assembly 106 max 554 bytes eene 21 4 15 Table 15 Input Assembly 107 max 554 bytes emen 21 4 16 Table 16 Input Assembly 108 max 454 bytes enne ene 22 4 17 Table 17 Input Assembly 109 max 454 bytes enm eene enne 22 4 18 Table 18 Input Assembly 110 max 358 bytes emen 22 4 19 Table 19 Input Assembly 111 max 358 bytes ssssssssse eem eene 22 4 20 Data Refresh Rate Expected Packet Rate sss nennen 22 4 21 Active Warning Zone Set Selection ssssssssssssseeeeee eene nnns 23 5 Installing the OS32C EDS file eese nnne nannte I E EXE Lh dau anon e ER Ente ERES 24 6 Establishing a connection with Omron CJ2 sse nnne nnne nennen enne 25 6 1 Setting up the EtherNet IP Network ssseesesseeeeeenee enne nemrn nne n renes ener enne 25 6 2 Setting up EtherNet IP Tags for the CJ2 ssssssssssseseseeeneeneeenne nennen nennen nennen nnn 25 6 3 Downloading E
84. o the originating device at the accepted packet interval Section 9 4 18 Table 27 UDP I O connection packet below describes the format of the data stream sent by the OS32C scanner target device OS32C with EtherNet IP amp Measurement Data Addendum 55 Establishing communications with a computer based device 9 4 18 Table 27 UDP I O connection packet Field Name Sub Field Name Field Value Data Type Data Size Comments Encapsulation Item count UINT 2 bytes Number of items to follow packet Item 1 Type ID UINT 2 bytes Address Item Type ID Item 1 Length UINT 2 bytes Address Item Length Item 1 Connection ID UDINT 4 bytes Connection ID number Item 1 Sequence ID UDINT 4 bytes Sequence ID number Item 22 Type ID UINT 2 bytes Data Item Type ID Item 2 Length UINT 2 bytes Data Item Length length of data to follow below Sequence Number UINT 2 bytes Packet Sequence number Data Array ARRAY Length of Assembly Object Data data length 2 bytes To terminate the UDP I O connection the originating device must send the SendRRData command along with the Forward Close Request Section 9 4 19 Table 28 Forward Close Request Encapsulation Packet below describes the format of the encapsulated message sent to the OS32C scanner target device OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device 9 4 19 Table 28
85. of Omron Companies and Buyer shall not attempt to duplicate it in any way without the written permission of Omron Notwithstanding any charges to Buyer for engineering or tooling all engineering and tooling shall remain the exclusive property of Omron All information and materials supplied by Omron to Buyer relating to the Products are confidential and proprietary and Buyer shall limit distribution thereof to its trusted employees and strictly prevent disclosure to any third party Export Controls Buyer shall comply with all applicable laws regulations and licenses regarding i export of products or information iii sale of products to forbidden or other proscribed persons and ii disclosure to non citizens of regulated technology or information Miscellaneous a Waiver No failure or delay by Omron in exercising any right and no course of dealing between Buyer and Omron shall operate as a waiver of rights by Omron b Assignment Buyer may not assign its rights hereunder without Omron s written consent c Law These Terms are governed by the law of the jurisdiction of the home office of the Omron company from which Buyer is purchasing the Products without regard to conflict of law princi ples d Amendment These Terms constitute the entire agreement between Buyer and Omron relating to the Products and no provision may be changed or waived unless in writing signed by the parties e Severability If any provi sion hereof is r
86. only one tag will be in the list for each of the connections Use 200 for the RPI value When done the settings will look like the screenshot below OS32C with EtherNet IP amp Measurement Data Addendum 7 6 Establishing a connection with Omron NJ It wall add a connection configuration to onginator device Please configure the T sg Set each of ongnstor device and target device Connection 1 0 Type Exclusive Owner X Ongnator Device Taga Device NodeAddess 1921682502 Node Addess 1921682507 Comment NJ501 1400 Comenert OS32C Safety Laser Scanner Input Tag Set Edit Tag Sets Output Tag Set OS32C IN Node 328yte X o Input 100 32Byte X Connection Type Mulrcast connection X Output Tag Set Edt Tag Sets Irput Tag Set OS32C Out Node 28yte E Outpet_112 28yte Mar Pont to Point connection X ype Hide Detal Detal Parameter Packet Interval RPI 2000 ns 05 100000 me Connection Name Timeout Value Packet Interval RPI x 4 Possible to omg delauh 001 Fig 7 15 Edit Connection Window Press the Regist button at the bottom of the window then press the Close button Lastly click OK on the Edit Device Parameters page The network will now look like the screenshot shown below The arrow highlighted in the red box shows that the node is now registered to the NJ5 CO EtherNetJIP 1 192 168 250 7 192 168 250 2 0532C Safety NJ501 1400 Z 250 2 Fig 7 16 OS32C Is Registered to NJ5
87. or future use 22 Unused For future use 23 Unused For future use Range Report Report format of range data Format es Data Type UINT Genes 16 bit Reflectivity Report Report format of reflectivity data Format 25 Data Type UINT 0x 2 1 5 16 bit Range Renon REPORT_RANGE_ONLY 0 default ese P II Assembly 102 Report Range Only 26 Data Tvpe UINT 0x72 1 6 0x06 P bit REPORT RANGE AND REFLECTIVITY 1 Assembly 102 Report Range amp Reflectivity 27 Number of Beams 0x72 1 17 0x11 Number of measurement beams in report OS32C with EtherNet IP amp Measurement Data Addendum 19 EtherNet IP Input Assembly Data In addition to the common measurement report header defined in Table 8 Input Assembly 102 and Vendor Specific Object 114 includes range measurement data for the selected area of interest Using explicit TCP IP request reply messages or an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 9 Table 9 Input Assembly 102 and Vendor Specific Object 114 max 1410 bytes Range measurement data variable size Size selected using the beam report mask configuration 1 Array Size Number of Beams included in measurement report header maximum size 677 Range TOF 28 704 data UINT 16 bit In addition to the common measurement report header defined in Table 8 Input Assembly 103 includes reflectivity measurement data for the selecte
88. ot described in this document ii Use in consumer products or any use in significant quantities iii Energy control systems combustion systems railroad systems aviation Systems medical equipment amusement machines vehicles safety equip ment and installations subject to separate industry or government regulations iv Systems machines and equipment that could present a risk to life or prop erty Please know and observe all prohibitions of use applicable to this Prod uct NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON S PRODUCT IS PROP ERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitabil ity and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application require ments Actual performance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifications and accessories may be changed at any time based on improvements and
89. other reasons It is our prac tice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifica tions of the Product may be changed without any notice When in doubt spe cial part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions SAFETY TECHNOLOGY amp INNOVATION OMRON AUTOMATION amp SAFETY OMRON AUTOMATION AND SAFETY THE AMERICAS HEADQUARTERS Chicago IL USA 847 843 7900 800 556 6766 e www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 www omron247 com Cono Sur 54 11 4783 5300 OMRON ELECTRONICS DE MEXICO HEAD OFFICE M xico DF 52 55 59 01 43 00 01 800 226 6766 mela omron com OMRON ELECTRONICS DE MEXICO SALES OFFICE OMRON CHILE SALES OFFICE Santiago 56 9 9917 3920 OTHER OMRON LATIN AMERICA SALES Apodaca N L 52 81 11 56 99 20 01 800 226 6766 mela omron com 54 11 4783 5300 OMRON ELETR NICA DO BRASIL LTDA HEAD OFFICE S o Paulo SP Brasil 55
90. overage from 90 to 180 degrees in the scan plane 90 to 180 Beam 225 thru 450 0 4 per beam Fig 4 2 Beam Report Selection Mask Beam 225 through 450 As shown in Figure 4 3 below the beam report selection mask can also be used to reduce the amount of data provided in the area of interest For example setting every 5th beam in the selection bits 225 through 450 in the selection mask provides an area of coverage with a resolution of 2 degrees Fig 4 3 Beam Report Selection Mask Beam 225 through 450 with Low Resolution OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data Input assembly objects 102 through 105 as well as vendor specific objects 114 116 and 117 provide a common measurement report header format in addition to the specific measurement data provided in these assembly structures Table 8 below shows the common measurement report header format Using explicit TCP IP request reply messages or an implicit UDP I O connection for assembly objects 102 through 105 the scanner can be monitored at a repetition rate defined for the application 4 8 Table 8 Common Measurement Report Header Format 56 bytes OS32C with EtherNet IP amp Measurement Data Addendum Word Vendor Specific tebi Description Objects Instance Enumeration Possible Values y Attribute Number z Scan Count 0 to 4294967295 232 0 amp 1 Data Type UDINT 0x72 1 13 Ox0D
91. pecific Objects 8 51 0x73 1 12 0x0C 114 116 and 117 Data Type UINT 16 bit ARRAY 44 Bit 0 excluded from measurement report default setting Bit 1 included in measurement reports OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data 4 5 Table 5 Output Assembly 114 108 bytes Measurement Report Configuration for Input Assembly 104 amp 105 Word 16 bit Description Enumeration Possible Values Range Report Format Data Type UINT 16 bit NO_TOF_MEASUREMENTS 0 II No time of flight measurements required RANGE_MEASURE_50M 1 default setting Bit O to 15 16 bit distance measurement value 0 to 50 000 millimeters Value of 0x0001 Noisy Beam Value of OXFFFF No Reflection RANGE MEASURE 32M PZ 2 Bit O to 14 15 bit distance measurement value 0 to 32 766 millimeters Value of 0x0001 Noisy Beam Value of Ox7FFF No Reflection II Bit 15 object detected beam blocked within protection zone RANGE MEASURE 16M WZ1PZ 3 Bit O to 13 14 bit distance measurement value 0 to 16 382 millimeters Value of 0x0001 Noisy Beam Value of Ox3FFF No Reflection II Bit 14 object detected beam blocked within the warning zone 1 Bit 15 object detected beam blocked within protection zone RANGE MEASURE 8M WZ2WZATPZ 4 Bit O to 12 13 bit distance measurement value 0 to 8 190 millimeters II
92. pecific objects 114 116 and 117 In output assembly 113 and vendor specific 115 objects the measurement report range and reflectivity formats as well as the individual beams to be monitored can be selected using a beam report selection mask array 4 4 Table 4 Output Assembly 113 and Vendor Object 115 104 bytes Measurement Report Configuration for Input Assembly 102 amp 103 WORD 16 bit Description Range Report Format Data Type UINT 16 bit Vendor Specific Object x Instance y Attribute Number z 0x73 1 4 Enumeration Possible Values NO_TOF_MEASUREMENTS 0 II No time of flight measurements required RANGE_MEASURE_50M 1 default setting Bit O to 15 16 bit distance measurement value 0 to 50 000 millimeters Value of 0x0001 Noisy Beam Value of OxFFFF No Reflection RANGE MEASURE 32M PZ 2 II Bit O to 14 15 bit distance measurement value 0 to 32 766 millimeters Value of 0x0001 Noisy Beam Value of Ox7FFF No Reflection II Bit 15 object detected beam blocked within protection zone RANGE MEASURE 16M WZ1PZ 3 Bit O to 13 14 bit distance measurement value 0 to 16 382 millimeters II Value of 0x0001 Noisy Beam Value of Ox3FFF No Reflection II Bit 14 object detected beam blocked within the warning zone 1 Bit 15 object detected beam blocked within protection zone RANGE MEASURE 8M WZ2WZATPZ 4 Bit O to 12 13 bit distance measurem
93. puter based device 9 4 9 Table 19 Un Register Session Command Request Telegram Field Name Field Value Data Type Data Size Comments Datagram part EtherNet IP Command 0x0066 UINT 2 bytes Terminate the Session Header Length 0 UINT 2 bytes Length of command specific data Session Handle ID UDINT 4 bytes Value of current Session Handle ID Status 0 UDINT 4 bytes Sender Context Array 8 ARRAY of 8 bytes Any value Length of 8 ignored by scanner Data octet Command options 0 UDINT 4 bytes 0 The receiver shall not reject the Un Register Session due to unexpected values in the encapsulation header invalid Session Handle non zero Status non zero Options or additional command data In all cases the TCP connection shall be closed 9 4 10 SendRRData Command The SendRRData command is used to send an encapsulated request reply packet between the originator and target scanner using the TCP port where the originator initiates the command The actual request reply packets shall be encapsulated in the data portion of the message and are the responsibility of the target scanner and originator 9 4 11 Table 20 SendRRData Command Request Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command Ox006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle UDINT 4 bytes Session Handle ID r
94. r UDINT Serial number of device Product Name ARRAY 32 Human readable description of device State UINT8 Current state of device 9 4 5 Register Scanner Session Command The register session procedure is a single step process which only involves obtaining a TCP session handle from the scanner using the TCP port Once the session handle is obtained it can be used for all subsequent TCP and UDP I O communications Standard UDP communications using the List Identity or List Interface commands do not require a session handle 9 4 5 1 Required Sequence Request a session handle from the scanner using the Register Session command 9 4 6 Table 17 Register Session Command Request Datagram part Field Name Field Value Data Type Data Size Comments EtherNet IP Command 0x0065 UINT 2 bytes Request a session handle Header Length 4 UINT 2 bytes Length of command specific data Session Handle ID 0 UDINT 4 bytes Any value ignored by scanner Status 0 UDINT 4 bytes Sender Context Data Array 8 ARRAY of 8 bytes Any value Length of 8 octet Command options 0 UDINT 4 bytes 0 Command Protocol Version 1 UINT 2 bytes Specific Data Option flags 0 UINT 2 bytes 9 4 7 Table 18 Register Session Command Reply Tel PESE Field Name Field Value Data Type Data Size Comments Datagram part EtherNet IP Command 0x0065 UINT 2 bytes Request a session handle Header Length 4 UINT 2 byt
95. ration CRC Value Configuration 8 Checksum Value 12 0x0C Data Type UINT 16 bit Safety 16 bit Safety Configuration CRC Value Configuration 9 Checksum Value 13 0x0D Data Type UINT 16 bit Active Warning AZS 01 0 0x00 Zone Set S m Data Type 1 0X0E AZS_70 69 0x45 UINT 16 bit INVALID AZS 32 768 0x8000 NOTE Words 11 15 are unused OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data Input Assembly 101 listed in Table 3 below provides run time system status plus protection zone warning zone 1 and warning zone 2 detection status information This information can be used to monitor the behavior of the scanner as well as the detection zones of the scanner Using an implicit UDP I O connection the scanner can be monitored at a repetition rate defined for the application 4 3 Table 3 Input Assembly 101 296 bytes System amp Detection Status Checksum Value wore Attribute D ipti Data Field 16 bit 16 bit ribute Description ata Field 16 bit POST I Power on self test STOP Machine Stop Protection Zone Violation INTERLOCK II Start Interlock RUN 3 II Machine Run 9 Machine State STANDBY 4 Ii System Standby DEEPSTANDBY 5 System Standby with reduced power CONFIGURE 6 II Configuration process in session FAULT 7 II System Faulted OSSD s are OFF DIRTY WINDOW 7 0 Dirty window cause system to stop ZONE SEL
96. riority Time Tick Data Item 8 ex 880 UINT8 1 byte Timeout Ticks ms Data Item 9 UDINT 4 bytes Originator serial number Data Item 10 2 UINT8 1 byte Number of 16 bit words in path Data Item 11 0 UINT8 1 byte Reserved Data Item 12 0x20 UINT8 1 byte Logical class segment Data Item 13 0x02 UINT8 1 byte Logical class request Connection Manager Data Item 14 0x24 UINT8 1 byte Logical instance segment Data Item 15 0x01 UINT8 1 byte Logical instance request OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a computer based device 9 4 20 Table 29 SendRRData Command Reply to a Forward Close Request Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command Ox006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle ID UDINT 4 bytes Session Handle received in the Register Session reply message Status 0 UDINT 4 bytes 0 if successful Sender Context Array 8 ARRAY of 8 bytes Value from request Length of 8 Data octet Command options 0 UDINT 4 bytes Command Connection UDINT 4 bytes Connection interface handle to be used in data stream Specific Interface Handle Data Timeout Period UINT 2 bytes Connection timeout period to be used in timer Encapsulati Item count 2 UINT 2 bytes Number of items to follow on Data Item 1 Type ID 0 UINT 2 bytes
97. rning zone 2 OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input Assembly Data WORD Vendor Specific 16 bit Description Object Instance Enumeration Possible Values y Attribute Number z NO_TOT_MEASUREMENTS 0 II No time over threshold measurements required REFLECTIVITY MEASURE TOT ENCODED 1 default setting Bit O to 9 10 bit TOT scaled value 0 to 1 000 Reflectivity Report Bit 10 unused 1 Format 0x73 4 5 Bit 11 object detected beam blocked within the warning zone 2 Data Type UINT vor II Bit 12 object detected beam blocked within the warning zone 1 16 bit II Bit 13 object detected beam blocked within protection zone II Bit 14 noisy beam detected II Bit 15 no reflection detected REFLECTIVITY MEASURE TOT 4PS 2 Bit O to 15 16 bit TOT measurement value 0 to 65 535 x 4ps Range Rebot REPORT_RANGE_ONLY 0 default g P Assembly 102 Report Range Only Mode a Data Type UINT PERO Pn REPORT RANGE AND REFLECTIVITY 1 I Assembly 102 Report Range amp Reflectivity Active Warning Minimum Value ZONE 1 0 Zone Set Number ud E Data Type UINT OTS olf Maximum Value ZONE_70 69 16 bit 4 Unused For future use 5 Unused For future use 6 Unused For future use 7 Unused For future use Beam Report Beam Report Selection Mask is used to define the reported beam Selection ae measurements in Assembly Input Objects 102 103 amp Vendor S
98. ron Omron will not drop ship except in break down situations b Such carrier shall act as the agent of Buyer and delivery to such carrier shall constitute delivery to Buyer c All sales and shipments of Products shall be FOB shipping point unless oth erwise stated in writing by Omron at which point title and risk of loss shall pass from Omron to Buyer provided that Omron shall retain a security inter est in the Products until the full purchase price is paid d Delivery and shipping dates are estimates only and e Omron will package Products as it deems proper for protection against nor mal handling and extra charges apply to special conditions Claims Any claim by Buyer against Omron for shortage or damage to the Products occurring before delivery to the carrier must be presented in writing to Omron within 30 days of receipt of shipment and include the original trans portation bill signed by the carrier noting that the carrier received the Products from Omron in the condition claimed Warranties a Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied b Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTA
99. sembly Data von D ipti E tion Possible Val 16 bit escription numeration Possible Values Assembly 108 User Provided Tag Value for First Position of Input Assembly Data 56 User First Position Tag Data Type UINT 16 bit Assembly 108 User Provided Tag Value for Last Position of Input Assembly Data 57 User Last Position Tag Data Type UINT 16 bit Assembly 109 User Provided Tag Value for First Position of Input Assembly Data 58 User First Position Tag Data Type UINT 16 bit Assembly 109 User Provided Tag Value for Last Position of Input Assembly Data 59 User Last Position Tag Data Type UINT 16 bit 60 Unused For future use 61 Unused For future use Beam Report Selection Beam Report Selection Mask is used to define the reported beam measurements in Assembly 62 105 Mask Input Objects 108 109 Data Type UINT Bit 0 excluded from measurement report 16 bit ARRAY 44 Bit 1 included in measurement reports default setting Assembly 110 Range Fe ae 30 Report Mode P 3 y 108 Data Type UINT Pid REPORT RANGE AND REFLECTIVITY 1 Report Range amp Reflectivity Assembly 110 amp 111 Enable User Provided Tag Values for First amp Last Positions of Input Assembly Data 407 Enable User Tags Disable 0 default Enable 1 Data Type UINT 16 bit Assembly 110 User Provided Tag Value for First Position of Input Assembly Data 408 User First Position Tag Data Type UINT 16 b
100. sitions of Input Assembly Data 3 Enable User Tags Disable 0 default Enable 1 Data Type UINT 16 bit Assembly 106 User Provided Tag Value for First Position of Input Assembly Data 4 User First Position Tag Data Type UINT 16 bit Assembly 106 User Provided Tag Value for Last Position of Input Assembly Data 5 User Last Position Tag Data Type UINT 16 bit Assembly 107 User Provided Tag Value for First Position of Input Assembly Data 6 User First Position Tag Data Type UINT 16 bit Assembly 107 User Provided Tag Value for Last Position of Input Assembly Data 7 User Last Position Tag Data Type UINT 16 bit Active Warning Zone Minimum Value ZONE_1 0 8 Set Number Data Type UINT 16 bit Maximum Value ZONE_70 69 9 Unused For future use Beam Report Selection Beam Report Selection Mask is used to define the reported beam measurements in Assembly 40 53 Mask Input Objects 106 107 Data Type UINT Bit 0 excluded from measurement report 16 bit ARRAY 44 Bit 1 included in measurement reports default setting Assembly 108 Range e PN 39 54 Report Mode P 9 y Data Tan REPORT_RANGE_AND_REFLECTIVITY 1 Report Range amp Reflectivity Assembly 108 amp 109 Enable User Provided Tag Values for First amp Last Positions of Input Assembly Data 55 Enable User Tags Disable 0 default Enable 1 Data Type UINT 16 bit OS32C with EtherNet IP amp Measurement Data Addendum EtherNet IP Input As
101. t the bottom of the front and back covers of this document Cat No Z336 E1 05 Revision code Revision code Date Revised contents 01 January 2013 First edition 02 February 2013 Minor corrections 03 April 2013 minor corrections and updates added figure numbers Added Input Assemblies 104 to 111 with reduced assembly data sizes as well as Output Assemblies 114 to 120 to support the interfacing with CJ2 NJ and other PLC s Added Range Reporting Formats to support compressed Range amp Reflectivity data and 04 November 2013 alternative encoded protection and warning zone bits Added User Tag option for Input Assemblies 104 to 111 to allow users to insert predefined data in the first and last positions of the assembly data Minor corrections and updates Add active warning zone set to Input Assemblies 100 and 101 as well as Output Assemblies 113 114 and 115 Add active warning zone set selection Minor corrections and updates 05 April 2014 OS32C with EtherNet IP amp Measurement Data Addendum Terms and Conditions of Sale omnon Ti Qa 9 10 11 12 Offer Acceptance These terms and conditions these Terms are deemed part of all quotes agreements purchase orders acknowledgments price lists catalogs manuals brochures and other documents whether electronic or in writing relating to the sale of products or services collectively the Products by Omron
102. ta Bit Size 0 Over Load Disable Regist Fig 8 3 Create Input Tags Click Regist to create the tag Repeat this for every laser scanner Select the Out Produce tab then Click New to create a new tag Enable Enter D100 for name this field will determine the memory location written to in the PLC D100 would be location DM100 in the PLC The size field needs to be 2 bytes as this number has to match the number of Target Output bytes on the OS32C Name di od Sze 2 Use Bit Data Bit Size o Bit Byte Over Load Disable Fig 8 4 Create Output Tags Click Regist to create the tag When all tags have been created the tag window should look like this Enable Fig 8 5 Completed Output Tags OS32C with EtherNet IP amp Measurement Data Addendum 41 Select the Connections tab highlight the OS32C and click the Down Arrow as shown below to move the device from the unregistered device list to the registered device list Repeat for all scanners that will be slaves to this master Connections 0 256 0 0 T 0 Ce Product Name 192 168 250 1 CJTW EIP21 CJ2 Van Target Variable d 192 168 250 4 004 O Fig 8 6 Register Each OS32C to PLC Double click on the scanner in the registered device window to configure each scanner s I O location in the PLC Notice that there will be three different Input and Output Tags
103. tablish a UDP I O connection between the originating PC or PLC and the target OS32C devices Section 9 4 16 Table 25 Large Forward Open Request Encapsulation Packet describes the common packet format used along with the SendRRData command in order to initiate a streaming UDP I O connection from the OS32C scanner OS32C with EtherNet IP amp Measurement Data Addendum 53 Establishing communications with a computer based device 9 4 16 Table 25 Large Forward Open Request Encapsulation Packet Datagram Field Name Field Value Data Type Data Size Comments EtherNet IP Command 0x006F UINT 2 bytes SendRRData Command Header Length UINT 2 bytes Length of command specific data Session Handle ID UDINT 4 bytes Session Handle received in the Register Session reply message Status 0 UDINT 4 bytes Error status equals 0x0000 if successful Sender Context Array 8 ARRAY of 8 bytes Value from request Length of 8 Data octet Command options 0 UDINT 4 bytes Command Interface Handle UDINT 4 bytes Interface Handle selected by originator PLC or PC Specific Data ID Timeout 0 UINT 2 bytes 0 to 65535 in seconds Encapsulation Item count 2 UINT 2 bytes Number of items to follow packet Item 21 Type ID 0 UINT 2 bytes Address Item Type ID Item 1 Length 0 UINT 2 bytes Address Item Length Item 2 Type ID OxB2 UINT 2 bytes Data Ite
104. therNet IP Configuration to the CJ2 ssssssssseeene nennen nennen 30 7 Establishing a connection with Omron NJ sssssesssseeneeeeennen eene enne nnn nennen nnne nennen 32 7 1 NJ5 MAC EtherNet IP Adapter Setup sssssssssssssssssssssssseereeeee nenne nennen emer nr nnn nennen 32 7 2 Setting up tags in the NJ Controller ennt eterne A EA ARE ERARE 32 7 3 Setting Tags into Global Variable Section ssssssessssseeeeee eene nen 34 7 4 Exporting Tags to Network Configurator ssessssseseeeneeneeeeene nennen nennen nennen enne 35 7 5 Configuring the EtherNet IP Network sssssseeeeeenne eene nennen enne enne 35 7 6 Downloading EtherNet IP Configuration to the NJ enne nnns 37 8 Setup for multiple OS32Cs or multiple PLCS ssssssssssssssssesseseeeeneenee nene eere nnne nnne 40 8 1 One PLC Polling Multiple OS32CS mieia rer a R EE EAEE EE 40 8 2 Multiple PLCs Polling One OS32C rori T R TE E T e n nener inna 43 9 Establishing communications with a computer based device sssessseee e 46 9 1 EtherNet IP Command Protocoll 0 cece eee inne ieee eerie eene nnne nennen se enne enne 46 OS32C with EtherNet IP amp Measurement Data Addendum Contents 9 1 1 Table 10 EtherNet IP Datagram Header Command Format sess 46 9 2 EtherNet IP Command Listi aa an aiana ene iaaa Eea Eea aa nnns nnns nne n nennt retener He
105. ticks 0x28 40 milliseconds EIP UINT16 connection serial number 0x6789 User selected EIP_UINT16 originator vendor id 0x0195 405 OSTI EIP UINT32 originator serial number 0x00004321 User selected Hexadecimal 6F 00 26 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 28 00 02 00 00 00 00 00 B2 00 16 00 4E 02 20 06 24 01 06 28 65 87 95 01 21 43 00 00 02 00 20 02 24 01 SCANNER gt PC Datagram See section 9 4 20 Table 29 SendRRData Command Reply to a Forward Close Request Structure Size 54 bytes SendRRData Response to Forward Close Example Updated EIP_UINT16 length 0x001E Length of command specific data Parameter s EIP_UINT32 session_handle_id 0x00000005 returned EIP UINT16 data item length OxOOOE 14 bytes EIP UINT8 service response OxCE Forward Close 0x80 EIP UINT16 connection serial number 0x6789 EIP UINT16 originator vendor id 0x0195 405 OSTI EIP_UINT32 originator serial number 0x00004321 EIP UINT8 application reply size 0x00 Number of 16 bit words EIP UINT8 reserved 0x00 Hexadecimal 6F 00 1E 00 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 00 00 00 00 00 B2 00 OE 00 CE 00 00 00 65 87 95 01 21 43 00 00 00 00 71 OS32C with EtherNet IP amp Measurement Data Addendum Revision History 11 Revision History A revision code appears as a suffix to the catalog number a
106. to choose from Select the DM location in the PLC where the data from the scanner will be written to This step is needed for every scanner It will add a connection configuration to originator device Please configure the Tag Set each of originator device and target device Connection 1 0 Type Exclusive Owner of Assem100 X Originator Device Target Device Node Address 192 168 250 1 Node Address 192 168 250 2 Comment CJ1W EIP21 CJ2 Comment OS32C Safety Laser Scanner Input Tag Set Edit Tag Sets Output Tag Set Mico nec Output Tag Set Edit Tag Sets Input Tag Set m d Das 172 BAe Connection Type C Hide Detail DES Detail Parameter Packet Interval RPI 200 0 ins 0 5 1000 0 ms Connection Name Timeout Value Packet Interval RPI x 4 Y Possible to omitl Fig 8 7 Edit Connection Window OS32C with EtherNet IP amp Measurement Data Addendum When all scanners have been configured the screen should look like the following figure Connections 6 256 O 6 T 0 L Register Device List Product Name 192 168 250 1 CJ1W EIP21 CJ2 Van Target Variable 192 168 250 2 002 0 mi defautt_001 Input D00000 Input 100 default 001 Output Output 112 192 168 250 3 003 0 a default 002 Input Input 100 default 002 Output Output 112 192 168 250 4 004 O da default 003 Input Input 100 default 003 Output Output 112 E Co Fig
107. to the scanner along with a sub command and optional data may be sent only using TCP If the command requests are successfully registered with the scanner the Status field shall be zero 0 If the command requests are not successfully registered the Status field shall contain the one of the following error codes 9 2 2 Table 12 EtherNet IP Status Error Code List Error Codes Description 0x0000 No error in command request 0x0001 Invalid command used in request 0x0002 Insufficient memory in target device 0x0003 Incorrect data used in request 0x0064 Invalid session handle used in request 0x0065 Invalid command length used in request 0x0069 Unsupported Protocol Version used in request 9 3 EtherNet IP Command Specific Data Command specific data provided by the scanner must follow the CIP Common Packet Format as shown in Table 13 below 9 3 1 Table 13 EtherNet IP Common Packet Format CPF Field Name Data Type Description Item count UINT Number of items to follow Item 1 Item Structure Field Name Data Type Description 1st Common Packet Format CPF item Type ID UINT Type of item encapsulated Length UINT Length in bytes of the Data Field Data Variable The data if length gt 0 Item 2 Item Structure see above 2nd CPF item Item n Item Structure see above nth CPF item OS32C with EtherNet IP amp Measurement Data Addendum
108. ts to register more than 1 active session on the same TCP connection Error code 0x0002 shall be returned if the scanner does not have sufficient resources to register the client application Error code 0x0069 shall be returned for Protocol Version or Options mismatches as described below The Protocol Version field shall equal the requested version if the client application was successfully registered If the scanner does not support the requested version of the protocol the session shall not be created the Status field shall be set to unsupported encapsulation protocol 0x0069 the scanner shall return the highest supported version in the Protocol Version field 9 4 8 Un Register Scanner Session Command 9 4 8 1 Either the client application or the scanner may send this command to terminate the session using the TCP port The receiver shall initiate a close of the underlying TCP IP connection when it receives this command The session shall also be terminated when the connection between the client application and scanner is terminated The receiver shall perform any other associated cleanup required on its end There shall be no reply to this command Required Sequence After a request of a session handle from the scanner using the Register Session command see section 9 4 5 Logoff the scanner using the current session handle OS32C with EtherNet IP amp Measurement Data Addendum Establishing communications with a com
109. uction sale delivery importa tion consumption or use of the Products sold hereunder including customs duties and sales excise use turnover and license taxes shall be charged to and remitted by Buyer to Omron Financial If the financial position of Buyer at any time becomes unsatisfactory to Omron Omron reserves the right to stop shipments or require satisfactory security or payment in advance If Buyer fails to make payment or otherwise comply with these Terms or any related agreement Omron may without liabil ity and in addition to other remedies cancel any unshipped portion of Prod ucts sold hereunder and stop any Products in transit until Buyer pays all amounts including amounts payable hereunder whether or not then due which are owing to it by Buyer Buyer shall in any event remain liable for all unpaid accounts Cancellation Etc Orders are not subject to rescheduling or cancellation unless Buyer indemnifies Omron against all related costs or expenses Force Majeure Omron shall not be liable for any delay or failure in delivery resulting from causes beyond its control including earthquakes fires floods strikes or other labor disputes shortage of labor or materials accidents to machinery acts of sabotage riots delay in or lack of transportation or the requirements of any government authority Shipping Delivery Unless otherwise expressly agreed in writing by Omron a Shipments shall be by a carrier selected by Om
110. uration amp Process Control Example Using the I O message command information provided in the scanners electronic data sheet configure the Computer or PLC device to access the scanners I O messages in order to monitor the measurement data In this example configure the scanner s run time monitoring attributes to monitor two sector locations within the O to 270 scanning field The following information outlines the configuration and request reply commands needed in this example 10 2 2 1 Configure the scanner s protection and warning zones 1 Using the scanners configuration tool configure the scanner for a limited protection zone range of 500 mm 2 Using the configuration tool configure the scanners Warning Zone 1 for detection zone range of 1000 mm in sector 1 0 to 45 3 Using configuration tool configure the scanners Warning Zone 2 for detection zone range of 1500 mm for sector 2 225 to 270 10 2 2 2 Configure the software driver communication ports Initialize a UDP IP port 44818 for performing the discovery process on all connected scanners The List identity command can be used to determine which devices are OS32C scanners Initialize a TCP IP port 44818 for receiving and transmitting all explicit messages used to establish connections with the OS32C scanners elnitialize a UDP I O connection for the required application Initialize the UDP IP port 2222 for receiving and transmitting all I O connected messages 10 2 2
111. urement report configuration and can be used to trigger an alternate I O connection When the measurement report configuration Output Assembly 113 is used to collect range measurement data for example Output Assemblies 112 116 through 120 can be used to create an alternate streaming connection in order to collect reflectivity data Table 7 Output Assembly 112 116 120 I O Connection Triggers nen D ipti E tion Possible Val 16 bit escription numeration Possible Values Data Type UINT Not used 16 bit The OS32C uses a beam report selection mask to select the areas of interest When defining the required resolution and selected zones of interest the beam report selection mask provides the greatest flexibility for changing monitored zones during run time Figure 4 1 below shows the coverage area when all beams are selected and each bit in the beam report selection mask is set to 1 Two additional beams before and after the sensing field are provided to ensure the full safety region is protected at all times Therefore the true monitoring region coverage is from 0 4 to 270 4 OS32C with EtherNet IP amp Measurement Data Addendum 0 4 to 270 4 Beam 0 thru 676 0 4 per beam Fig 4 1 Beam Report Selection Mask All Beams Using the OS32C beam report selection mask smaller areas of interest can also be defined For example setting the selection bits 225 thru 450 in the beam report selection mask provides an area of c

OS32C-DM Safety Laser Scanner with EtherNet/IP

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