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Parker Hannifin 6K Switch User Manual

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2. 3 0IN 3 3 3OUT 2 3 5ANO 1 3 7ANI 2 e To verify the I O configuration as per NTIO and to check the status of each module s 66 99 inputs and outputs type n TIO where n is the server number 66 99 e To set a digital output type n mOUT i b where n is the server number m is the module number i is the point number on that module and b is the state 1 on 0 off To set multiple digital outputs on the same module type n mOUTbbbb Ot t 1 page 10 Output 1 Output 2 fp Suet utpu n mOUTbbbb Network Server __f Range 1 6 Options for b are 1 Turn on 0 Turn off Module on Server n Range 0 7 x Don t Change For example Server 3 to turn on outputs 1 and 4 and leave outputs 2 and 3 un changed on module 2 type 3 20UT1XxX1 To turn off only output 4 type 3 20UT 4 0 e To set an analog output voltage type n mANO i r where n is the server number m 1s 6G 99 the module number i is the output number on that module and r is the voltage For example to set analog output 1 on module 5 of Server 3 to 6 4V type 3 5ANO 1 6 4 e To read a digital input or output module use the assignment comparison operands n mIN or n mOUT or the transfer commands n mTIN or n mTOUT Following are examples IF 3 0IN b1100 is an IF condition that reads all four digital inputs on module 0 ITF 3 0IN 2 b
3. 7 d r y Shared variable 8 con Set the broadcasting r Assign this unit an ID Shared variable 1 con Shared variable 2 con t variables VARSHO3 VARSHO7 tains the value of VARI1 ate to 50 milliseconds of 2 q4 tains axis 1 s programmed distance q tains axis 3 s encoder position KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Use this space to define shared outpu KEKKKKKKKKKKKKKKKK KKK KK KK KKK KKK K KK KKK KKKKK KKK KKK KKK KKK KKK KKK KKK KKKKKKEKK VARSHO8 1ANI 1 r Shared variable 8 con t variables VARSHO3 VARSHO7 qd tains the voltage value at analog input 1 on I O brick 1 NTRATE50O Set the broadcasting rate to 50 milliseconds Third 6K or Gem6K NTRATE50 Set the broadcasting rate to 50 milliseconds This third unit will receive data only Therefore it does not require a unit ID number or VARSHO data assignment Program Each Unit can read the broadcast variables of each other unit with the nvVARSHIi command Interaction The n specifies the ID number NTID of the unit you want to read from the i is the VARSHO number of that unit to be read For example if you want unit 1 to read unit 2 s VARSHO8 data then use 2VARSHI8 Using the VARSHI command you can process data from the VARSHO variable of another peer to peer unit Use the following ways e Assign the VARSHO data to a VAR numeric VAR
4. The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 Digital Digital Digital igi Analog Input Input Output Input Module Module Module Module 2 OTIN 3 2 3TOUT 2 2 5TANO 1 2 7TANI 2 page 40 TANO Transfer Network Analog Output Status Type Network Transfer Product Rev Syntax lt gt n mTANO lt i gt 6K 5 3 Units n network server m module i analog output on module m for bit select operation The response represents volts DC Range n 1 6 m 0 7 i 1 2 Default n a Response 1 1TANO 2 42 3 32 1 ITANO 2 3 32 See Also ANO ANO NTIO TIO The TANO command returns the voltage commanded at one of the network analog outputs the voltage is commanded with the ANO command The network server number and module number must precede the TANO command e g 2 3ANO reports the voltage commanded on all analog outputs on module 3 of network server 2 If the status of a specific analog output is required use the bit select operator For example 1 3TANO 2 reports the voltage of analog output 2 on
5. NTS TER TERF TNTS TNTSF The NTCONN command attempts the connection to the server the server is assigned with the NTIP command If the connection is successful it will be reported to the user with the message CONNECTION SUCCESSFUL and Network Server status bit 1 will be set see NTS TNTS and TNTSF If the connection is unsuccessful e g attempting to connect to an unspecified server or attempting to connect to a server in an incompatible subnet then Error Status bit 23 1s set to 1 see ER TER and TERF and the 6K transmits the error message NO NETWORK IP ADDRESS SPECIFIED FOR CONNECTION SEE NTIP Potential Error Conditions e Ifyou attempt to connect to an Ethernet server before you enable Ethernet communication in the 6K with the NTFEN command the 6K will not allow the connection and will transmit the error message ETHERNET COMMUNICATION MUST BE ENABLED BEFORE MAKING CONNECTION SEE NTFEN e Ifyou attempt to execute an NTIP command attempt while the connection is open the 6K will transmit the error message NETWORK IP ADDRESS CANNOT BE CHANGED WHILE CONNECTION IS OPEN SEE NTCONN e If there is a connection error a polling timeout error message from the server etc the 6K will transmit the error message CONNECTION ERROR CONNECTION IS NOW BEING CLOSED and will also set Error Status bit 23 see ER TER and TERF Example 2NTIP L lays 7 ke pO Identify network server 2 as an A
6. Automation Ethernet Networking for 6K and Gem6K Effective February 11 2002 MPORT ANT User Information A WARNING A 6K and Gem6K Series products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel 6K and Gem6K Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers and may not be copied disclosed or used for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide 2002 Parker Hannifin Corporation All Rights Reserved Motion Planner and Servo Tuner are trademarks of Parker Hannifin Corporation Microsoft and MS DOS are registered trademarks and Windows Visual Basic and Visual C are trademarks of Microsoft Corporation Technical Assistance C gt Contact your local automation technolog
7. Default 0 off Response NTRATE NTRATE50 See Also NTFEN NTID SYSPER VARSHO VARSHI Use the NTRATE command to establish the broadcast rate for VARSHO information packets to other 6K units With NTRATEO broadcasting and listening to other units that are broadcasting is disabled With a value gt 0 it is enabled A rate of 50 is recommended All sharing units should have the same NTRATE NTRATE is not accepted unless the 6K is operating in NTFEN1 mode Each 6K unit internally updates its VARSHO data at the System Update Rate 2 milliseconds therefore the NTRATE command must be set to a value of gt 2 milliseconds If you lengthen the System Update Rate see SYSPER increase the NTRATE value accordingly The NTRATE command is not saved in the 6K s non volatile memory If you wish the 6K to re establish the NTRATE broadcasting rate when you cycle power or issue a RESET command put the NTRATE command in the startup program assigned with the STARTP command Example KKEKKKKKKKKKKKKKK KKK KK KK KKK KKK KK KK KEK KKK KKK KKK KK KKK KKK KK KKK KKK KKK KKK KKK KKK KKK KKKKKKKKHK Send these setup commands to 6K unit 1 NTID1 Set unit 1 s network ID to 1 NTRATE50O Unit 1 will broadcast at 50 millisecond intervals KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKK KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKEK Send these setup commands to 6K unit 2
8. on Server n 4 Analog Outputs Range 0 7 Use the NTIO command to identify to the 6K controller the type s of I O modules that are used by a specific OPTO22 server The 6K in turn can use these I O with the network I O handling commands IN OUT ANI and ANO Saved in Non Volatile Memory This command is saved in the controller s non volatile memory and is remembered on power up and RESET Implementation process for client server connection to an OPTO22 unit further details are provided in the Programmer s set the polling interval to 50 milliseconds Guide Follow the manufacturer s setup procedure for the OPTO22 Ethernet I O rack 2 Connect the 6K and OPTO22 products in a network and configure the 6K for Ethernet communication according to the Ethernet Networking configuration procedures in the Programmer s Guide 3 Choose a Server Connection Number for this device The 6K can support up to 6 simultaneous server connections Pick a number 1 6 that has not been used already for another connection This will be used to reference the OPTO22 unit from now on 4 Enter the IP address of the OPTO22 and specify a 2 for connection type with the NTIP command For example if the OPTO22 is Server 3 and its IP address is 172 20 34 170 then the command would be SNTIP2 172 20 34 170 5 Attempt a connection to the device with NTCONN For example 1f the server number is 3 the command would be 3NTCONN1 If the conn
9. to be transmitted to the PLC The required mapping command is 5NTMPWI19 0 15 20 of first integer variable VARI in 6K beginning of range max value is 225 7 Set the polling rate with the NTPOLL command 50 milliseconds is recommended For example to set the polling rate to 50 ms on Server 5 use the 5NTPOLL50 command If there is an error during polling Error Status bit 24 will be set see ER TER or TERF Example NTADDR172 34 54 123 Set the IP address of the 6K OPTENO Disable the option card for Fieldbus units only RESET NTFEN2 Enable network function on 6K RESET S5SNTIP1 172 34 54 124 Identify network server 5 as an Allen Bradley PLC at IP address 172 34 54 124 SNTCONN1 Connect to network server 5 5NTMPRB11 7 1 106 File 11 element 7 in the AB PLC is mapped to the 6K s binary variable VARB106 5NTMPRI20 5 2 128 File 20 elements 5 6 in the AB PLC are mapped to the 6K s integer variables VARI128 VARI129 respectively 5NTMPWB11 3 4 100 File 11 elements 3 6 in the AB PLC are mapped to the 6K s binary variables VARB100 VARB103 5NTMPWI20 3 2 120 File 20 elements 3 4 in the AB PLC are mapped to the 6K s integer variables VARI120 VARB121 S5NTPOLL50 Start polling network server 5 set interval to 50 ms xkkxkxkx xx xx xk xk xkxk x xx xk xkxkxk x xx x xk xkxk xk x x xk xkxk x x xxk xk xkxk x xx xk xk xkxk x xx xk xk xkxk xk
10. 0 no 1 Connection Open 2 Client Connection Error This bit is set when a connection attempt with a server times out This will also set Error Status bit 23 see ER TER TERF Polling Enabled This bit is set when polling is enabled with NTPOLL Error during polling This bit is set when an error during polling occurs This will also set Error Status bit 24 see ER TER TERF 5 8 Reserved NTSELP Network Program Select Enable Type Network Product Rev Syntax lt gt NTSELP lt b gt lt i gt 6K 5 3 Units b enable bit 1 number of the integer variable VARI used for program select Range b 0 disable or 1 enable i 1 225 Default b 0 disabled i 1 Response NTSELP NTSELPO 1 See Also COMEXS NICONN NTIP NTMPRI NTMPWI NTPOLL NTS TDIR TNTS TNTSF The NTSELP command allows you to enable disable the Network Program Select Mode where through the process of exchanging integer data an Allen Bradley PLC can execute a 6K Gem6K program by its number Use the following procedure as a guideline for implementing the Network Program Select mode 1 Setup up Ethernet Networking with the Allen Bradley PLC This includes assigning the server connection NTIP and connecting NTCONN 2 Use the NTMPRI command to map at least one 6K variable to an Element in an integer data file in the PLC page 28 3 Start polling the PLC for integer data NTPOLL When the 6K polls the PLC it will read the value o
11. PLAN MICS Code tg Sxecuted On Per Unto hs AAR AAA REAR ARE RAR ARK KARK NTID1 This unit is the primary unit unit 1 NTRATE1OO Set the sharing rate to 100ms and enable this unit VARSHO1 1PE Store axis 1 encoder position in shared output variable 1 SORA RERE KERER RER Re NRO RON ON NN REN Te Ree ROT KEER E RER Te aes Ren EN Ie ON EG Noe IN Re eR K NENN aC ne Np Tene ERKEK This code Ls executed on unit 3 kkxkxxk xkx xkx xkxk x xkx xkx xkxkx xkxx xk kxxkxx xx xx NTID3 Set unit ID to 3 NTRATE100 Set the sharing rate to 100ms and enable this unit VARSHO2 4PCEA Store the captured encoder position of axis 4 in shared output variable 2 VARSHO1 3AS Store axis 3 s axis status binary data in shared output variable 1 SORT IOR ee eR Tea REKER Te es KEKER a aE RER EER EER KERR NER R ON Te Dey KER KR RERE RER KERER RER RRR REREN E RENER Ne IR Ie Me KEKER This code Ls executed on unit 2 kkxkxxk xkxk xkx xkxk xk xkx xkxk xk kxkx xkx xk kxk kxx xx xx NTID2 Set unit ID to 2 NTRATE100 Set the sharing rate to 100ms and enable this unit VAR1 1VARSHI1 Load the value of unit 1 s first shared data 1PE into VARI WRITE AXTS 1 AT POSITION Report axis 1 s current position the value of VAR1 WRVAR1 VAR2 8 PCEA 3VARSHI2 Calculate offset position Subtract synch unit 3 s VARSHO2 4PCEA from the captured encoder position of axis 8 8PCEA IF VAR2 gt 10000 If position offset by more th
12. See ER TER TERF 6 Map the required integer and binary variables between the 6K and the data files in the Allen Bradley PLC There are four mappings possible a programming example is provided below e Use the NTMPRB command to read up to 50 binary elements from a PLC s binary file and write them to VARB variables in the 6K nNTMPRBi i i i EXAMPLE Network Server IF Range 1 6 e Allen Bradley PLC is server 5 e The PLC s binary data file 3 has 30 of Allen Bradley data file elements Use data elements 15 29 of first element in AB data file 15 elements total for binary data that is to be shared with the 6K e Use the 6K s binary variables 35 49 of elements in range 15 variables total to store the data from the PLC The required mapping command is SNIMPRBS 15 15 35 beginning of range of first binary variable VARB in 6K beginning of range max value is 125 e Use the NTMPRI command to read up to 50 integer elements from a PLC s Integer file and write them to VARI variables in the 6K page 12 n NTMPRI i i i i EXAMPLE Network Server IF Range 1 6 e Allen Bradley PLC is server 5 e The PLC s integer data file 9 has 30 of Allen Bradley data file elements Use data elements 15 29 of first element in AB data file 15 elements total for integer data beginning of range that is to be shared with the 6K e Use the 6K s integer variables 35 49 of elements in range 15 variable
13. VARI40 mapped to file 9 element 20 in the PLC is 22 NTMPWI Network Map Integer Variables for Writing to PLC Type Network Product Rev Syntax lt gt lt n gt NTIMPWI lt i gt lt i gt lt i gt lt i gt 6K 53 Units n network server 18 i Allen Bradley data file 2 i of the 1 element in data file beginning of range 3 o 4 Of the elements to include in range A i of the 1 integer VARI variable in the 6K to map to Range n 1 6 i 4 SOs nm depends omr size of file 27 4 0 n n depends on size of file ae 4 0 or 1 50 40 disables polling for this mapping 6nly 4 i 1 225 Default 1NTMPWI0 0 0 0 no mapping Response 1NIMPWI 1NTMPWI1 5 15 23 See Also NTCONN NTIP NTMPRB NTMPRI NTMPWB NTPOLL NTS TNTS TNTSE VARI lt n gt NTMPWI lt i gt lt i gt lt i gt lt i gt EXAMPLE Network Server i IF Range 1 6 e Allen Bradley PLC is server 2 e The PLC s integer data file 9 has 30 of Allen Bradley data file elements Use data elements 0 14 of first element in AB data file 15 elements total for integer data beginning of range to be transmitted from the 6K e Use the 6K s integer variables 20 34 of elements in range 15 variables total to store the data to be transmitted to the PLC The required mapping command is 2NTMPWI9 0 15 20 of first integer variable VARI in 6K beginning of range max value is 225 The NTMPWI command map
14. eee eA eS RAS NTID1 This unit is the primary unit unit 1 NTRATE100 Set the sharing rate to 100ms and enable this unit VARSHO1 1 PE Store axis 1 encoder position in shared output variable 1 SRKEKEKERRKEKRKEKREREKEKRKERRKKERERERERRERERKEREKREREKEKERRKEKREKREREKEKEEKRKERK KEK This code Ls executed on unit 3 kkxkx xkxkxk xkx xkxkxk xkx xkxkxkxkxk xkxkxkxkxx xx xxk NTID3 Set unit ID to 3 NTRATE100 Set the sharing rate to 100ms and enable this unit VARSHO2 4PCEA Store the captured encoder position of axis 4 in shared output variable 2 VARSHO1 3AS Store axis 3 s axis status binary data in shared output variable 1 SEEKER EER ERERERREREAR ER RAE RER ER RAE R ER ER RARER ER ER ERR RK ERE KR ER ER ERR ER ER ERR ER page 31 eee This code is executed NTID2 NTRATE100 VAR1 1VARSHI1 WRITE AXTS 1 AT POSITION WRVARL on unit 2 Set unit ID to 2 KKEKKKKKKKKKKKKKKKKKKKKKKKSK Set the sharing rate to 100ms and enable this unit Load the value of unit 1 s first shared data Report axis 1 s current position Calculate offset position VARSHO2 of axis 8 4PCEA 8PCEA 1PE into VAR1 the value of VARL1 Subtract synch unit 3 s from the captured encoder position If position offset by more than 10000 encoder counts Get unit 3 s VARSHO1 information VAR2 8 PCEA 3VARSHI2 ITF VAR2 gt 10000 WRITE AXTS 20 OUT OF POSITION NIF VARB1 3VARSHI1 IF VARB1 B1 WRITE AX
15. gt lt n gt NTIP lt i gt lt i gt lt i gt lt i gt lt i gt n network server Ti Server type i i TP address octet Bo TP address oereL 4 i IP address octets Bf 40 TP address octet4 n 1 6 Le a Tr l AlvenHaBrad ley Pic oe Sheen a OHI 5 S n 0 Ble sh 2 ap neo a a 10 NTIP INTI PIAA OA 2QNTIP1 172 54 125 67 SNTIP 1NTIP INTIP FID 549125 04 ER NTADDR NTCONN NTMASK NTS shows config Product Rev 6K 5 3 2 OPTO22 3 DVT camera of all servers TNTS TNTSF n gt NTIP aS lt i gt lt 1 lt I gt lt I gt Network Server a Range 1 6 Server Type 1 Allen Bradley PLC 2 OPTO22 MODBUS TCP 3 DVT Vision Camera t IP Address of Server Range for each octet 0 255 For example to enter an address of 172 20 34 246 type in 172 20 34 246 be sure to use commas instead of periods between the octets The NTIP command describes the type of connection the 6K controller will make with a server and it specifies the IP address of the server Saved in Non Volatile Memory This command is saved in the controller s non volatile memory and is remembered on power up and RESET Potential Error Conditions e A valid IP address for the designated server must be specified or the 6K connection will timeout and Error Status bit 23 see ER TER and TERF will be set to 1 and the NTS TNTS TNTSF reports will indicate which connection wa
16. in 6K ship kit 255 255 0 0 p n 71 017635 01 Connection to company network Ethernet Ethernet Card Card Server IP 172 20 34 30 Client IP 172 20 34 160 IP 172 20 44 180 e Combination of server and client For example the 6K could be the client for an OPTO22 server and an Allen Bradley PLC server At the same time a software program running on a PC could be using the 6K as a server Ethernet Switch Ethernet Switch 255 255 255 0 255 255 0 0 out pooee Connection to company network Ethernet Ethernet Card Card Client Server to PC IP 192 168 10 30 Server IP 192 168 10 80 Server IP 192 168 100 120 Client IP 192 168 10 31 IP 172 20 44 180 page 2 e Peer to peer network with other 6K or Gem6K units The 6K may be connected to other 6K devices 6K Controllers or Gem6K drive controllers via Ethernet Up to eight 6K devices may be networked in this manner This type of connection uses UDP broadcasting and is not a client server relationship see page 8 for setup procedures Setup Wizard Available The Motion Planner Wizard Editor provides a setup wizard called Network to help you establish 6K peer to peer communication Ethernet Switch Ethernet Switch 255 255 255 0 255 255 0 0 out Connection to company network Ethernet Ethernet Card Card IP 192 168 10 30 IP 192 168 10 40 IP 192 168 10 31 IP 172
17. input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 3 Digital Digital Digital Digital Analog Input Input Output Output Input Module Module Module Module Module 2 30UT 2 2 5ANO 1 2 7ANI 2 Example ZNTIPZ L127 5457 125734 Identify network server 2 as an OPTO22 unit at IP address 172 54 125 34 2NTCONN1 Attempt a connection to network server 2 OPTO22 unit 2 6NTIO3 Server 2 OPTO22 module 6 is an analog input module 2 7NTIO3 Server 2 OPTO22 module 7 is an analog input module WAIT 2 6ANI 1 lt 1 5 Wait until the voltage at analog input 1 of module 6 on Server 2 OPTO22 is less than or equal to 1 5VDC IF 2 7ANI 2 gt 2 4 If the voltage at analog input 2 of module 7 on Server 2 OPTO22 is greater than 2 4 VDC page 34 ANO Network Analog Output Type Network Product Rev Syntax lt gt n mANO i r 6K 5 3 Units n network server m module i analog output on module m r voltage value VDC Range n 1 6 m 0 7 i 1 2 r 10 00 to 10 00 Default n a Response n a See Also ANO NTIO TANO TIO Use the ANO command to set the voltage of an OPTO22 analog output The maximum output range can be set from 10 00 VDC to 10 00 VDC The 6K controller does not recognize the
18. module 3 of network server 1 The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 Digital Digital Digital igi Analog Input Input Output Input Module Module Module Module 2 OTIN 3 2 3TOUT lt 2 2 5TANO 1 2 7TANI 2 page 41 TIN Transfer Network Digital Input Status Type Network Transfer Product Rev Syntax lt gt n mTIN lt i gt 6K 53 Units n network server m module i digital input on module m for bit select operation Range n 1 6 m 0 7 i 1 4 Default n a Response 1 1TIN 1100 1 1TIN 2 l See Also IN NTIO TIO The TIN command returns the current status active on or inactive off of the network digital inputs Each module of digital inputs has its own unique TIN response The network server number and module number must precede the TIN command e g 2 3TIN reports the status of all digital inputs on module 3 of network server 2 If the status of a specific input is required use the bit select operator For example 1 3TIN 2 reports the status of input 2 on module 3 of network ser
19. not accept the NIMPWI command it will transmit the error message ERROR INVALID FILE TYPE NUMBER OR SIZE and it will automatically stop polling all mapped binary and integer variables equivalent to executing the NTMPRBi i 0 i NTMPWBi i 0 i NTMPRIi i 0 i and NTMPWIi i 0 1i commands Control over Polling If you want to stop the 6K from writing integer data to the PLC but continue to exchange NTMPRI NTMPRB and NTMPWB data use the NTMPWIi i 0 i command If you need to stop polling all mapped variables use the nNTPOLLO command Example 2NTIP1 172 54 125 34 Identify network server 2 as an Allen Bradley PLC at IP address 172 54 125 34 Attempt connection to network server 2 File 9 elements 0 14 in the AB PLC are mapped to the 6K s integer variables VARI20 VARI34 Start polling network server 2 set interval to 50 ms The value of AB file 9 element 5 will be set to 42 because it is mapped to VARI25 2NTCONN1 2ZNTMPWI9 0 15 20 2ZNTPOLL50 VARI 42 Ne Ne Ne Ne Ne Ne Ne e NTPOLL Network Polling Rate Type Network Product Rev Syntax lt gt lt n gt NTPOLL lt i gt 6K 53 Units n network server i polling rate milliseconds Range n 1 6 i 0 disable polling or 1 9999 50 is recommended Default 0 disabled Response 1NTPOLL 1NTPOLL50 See Also NTIP NTCONN NTMPRB NTMPRI NTMPWB NTMPWI The NTPOLL command establishes the rate at which the 6K polls the Ethernet server devices for in
20. rate to 50 ms on server 3 use the 3NTPOLL50 command If there is an error during polling then Error Status bit 24 will be set Example NTADDRI 12 34754 123 Set the IP address of the 6K OPTENO Disable the option card for Fieldbus units only RESET NTFEN2 Enable network function on 6K RESET DEL OP TOSU DEF OPTOSU 2NTIP2 172 34 54 124 Identify an OPTO22 device as Server 2 which is located at IP address 172 34 54 124 2NTCONN1 Attempt connection to Server 2 OPTO22 2 INTIOZ Configure OPTO22 module 1 as digital output 2 2NTIO2 Configure OPTO22 module 2 as digital output 2 3NTIO1 Configure OPTO22 module 3 as digital input 2 4NTIO3 Configure OPTO22 module 4 as analog input 2NTPOLL5O Begin polling set polling interval to 50 ms END Program Once the OPTO22 is configured and a connection is made you can then set outputs and check Interaction inputs How the 6K addresses OPTO22 I O locations The 6K addresses each I O bit by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 3 0 2 3 Digital Digital Digital Digital Analog Input Input Output Output Output Module Module Module Module Module Output 1 Output 2
21. unit and m is the I O module number e g VARB16 2 00UT The OUT operand can also be used in an expression such as IF 2 30UT b11 1 or IF 2 30UT h7F To make a comparison against a binary value place the letter b b or B in front of the value The binary value itself must only contain ones zeros or Xs 1 X x To make a comparison against a hexadecimal value place the letter h h or H in front of the value The hexadecimal value itself must only contain the letters A F or the numbers G 9 Bit Select Operation To address only one output value instead of all the outputs use the bit select operator For example VARB1 2 30UT 3 assigns the binary state of output 3 on module 3 of OPTO22 server 2 to binary variable 1 In another example IF 2 30UT 1 b1 evaluates true if output 1 on module 3 of OPTO22 server 2 is active The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 3 Digital Digital Digital Digital Analog Input Input Output Output Input Module Module Module Module Module 2 30UT 2 2 5ANO 1 2 JANI 2 Example
22. using shared output variables VARSHO1 through VARSHO8 The following table lists the information you can assign to a shared output variable Anani Acceleration AD Deceleration ANI Analog input voltage ANO Analog output voltage ASen Axis status ASX Extended axis status Dra Distance DAC DAC output value DKEY RP240 keypad value EF Pienaar Error status FB Feedback device pos ESen Following status IN Input status Po Enable input status LIM Limit input status MOV AXis moving status NMCY Master cycle number So System status OUT Output status SWAP Task Swap assignment PANT Analog input position TASK Task number Pera Commanded position TIM Timer value PCC Captured command pos TRIG Trigger interrupt status PCE Captured encoder pos UG caase User defined status PCME Captured master enc pos Vae Velocity PE nannan Encoder position VARI Integer variable PER Position error Position of Master PME Master encoder pos Net position shift SC rn Controller status PLC scan time Follower pos command VARB Binary variable WE biecasaucs Commanded velocity VELA ACtual velocity VMAS Velocity of the master VARSHI Shared input variable SEG Free segment buffers The data can be either binary as in the AS axis status operand or a 32 bit unscaled integer as in PE encoder po
23. voltage range set on the I O device 1 e an ANO setting of 10 VDC 1s allowed for an analog output configured with a maximum limit of 5 VDC The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 Example OTIS 172 520 795 34 2NTCONN1 2 4NTIO4 2 5NTIO4 2 4ANO 1 4 8 page 35 0 3 Digital Digital Digital Digital Analog Input Input Output Output Input Module Module Module Module Module 2 30UT 2 2 5ANO 1 2 7ANI 2 Identify network server 2 as an OPTO22 unit at IP address 1724942125434 Attempt a connection to network server 2 OPTO22 unit Server 2 OPTO22 module 4 is an analog output module Server 2 OPTO22 module 5 is an analog output module On Server 3 module 4 set the voltage on analog output 1 to 4 8 VDC ANO Network Analog Output Status Type Network Assignment or Comparison Product Rev Syntax n mANO i see example below 6K 5 3 Units n network server m module i analog output on module m Range n 1 6 m 0 7 7 1 2 Default n a Response n a See Also ANO NTIO TA
24. x xx xk xkxkxk kx xx xk xkxkxk kxx xx xxk kxk kxk kxx xx xx The 6K s VARB106 will read from the PLC s File 11 element 7 The 6K s VARI128 VARI129 will read from the PLC s File 20 elements 5 6 The PLC s File 11 elements 3 6 will read from the 6K s VARB1O0O0 VARB103 The PLC s File 20 elements 3 4 will read from the 6K s VARI120 VARB121 KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK page 13 page 14 Program Interaction Example After the connection is established mapping has been set up and polling enabled the 6K starts exchanging data automatically with the PLC Here is how to e Write a binary variable to the PLC Write a value to one of the VARB variables in the NTMPWB mapping The new data is written to the binary file during the next poll e Write an integer variable to the PLC Write a value to one of the VARI variables in the NTMPWI mapping The new data is written to the integer file during the next poll e Read a binary variable from the PLC The VARB variables in the NTMPRB mapping correspond to the values in the binary file in the PLC e Read an integer variable from the PLC The VARI variables in the NTMPRI mapping correspond to the values in the integer file in the PLC VARB100 HAB79 Element 3 in file 10 of the AB PLC will be equal to VARB100 if VARB106 B1111111111111111 VARB106 will be equal to variable 7 in file 10 of the AB PLC if VARI129 17 E
25. 0 5 2 128 2NTPOLL50 33NTSELP1 128 Ne Ne Ne Ne Ne Ne Ne Ne Ne Ne Ne NTWRIT Network Write ASCII String to DVT Camera Type Network Product Rev Syntax lt gt lt n gt NTWRIT lt message gt 6K 5 3 Units n network server message ASCII string Range n 1 6 message up to 69 characters cannot use or Default n a Response n a See Also NTIP Use the NTWRIT command to write ASCII strings to the DVT camera If you address the NTWRIT command to a non DVT connection see NTIP the 6K transmits the error message INVALID SERVER TYPE Example page 29 2NTIP3 172 54 125 34 Network server 2 a DVT camera at IP address 172 54 125 34 2NTCONN1 Attempt connection to the DVT camera 2NTWRIT P134 Write the string P134 to the DVT camera TNTS Transfer Network Status Type Network Syntax lt gt lt n gt TNTS lt i gt Units n server i bit number of status register see table below Range n 1 6 i 1 8 Default n a Response TNTS XTNES displays status of all six servers 1TNTS 0000 0000 2TNTS 0000 0000 STNTS 0000 0000 ATNTS 0000 0000 STNTS 0000 0000 6TNTS 0000 0000 2 TNTS 2NTS 1010 0000 status for server 2 2TNTS 3 x 2TNTS 3 1 bit 3 for server 2 TNTS 3 TNTS 3 110000 bit 3 for all six servers See Also NTCONN NTIP NTPOLL NTS TNTSF Product Rev 6K 5 3 The TNTS command returns the current status of all network server connections To use the Network
26. 1 is an IF condition that reads only digital input 2 on module 0 ITF 3 20UT b1100 is an IF condition that reads all four outputs on module 2 TF 3 20UT 3 b1 is an IF condition that reads only digital output 3 on module 2 3 OTIN transfers the binary status of all four digital inputs on module 0 3 OTIN 2 transfers the binary status of only digital input 2 on module 0 3 2TOUT transfers the binary status of all four digital outputs on module 2 3 2TOUT 3 transfers the binary status of only digital output 3 on module 2 e To read an analog input or output module use the assignment comparison operands n mANTI or n mANO or the transfer commands n mTANI or n mTANO Following are examples WAIT 3 7ANI 2 lt 2 4 is an WAIT condition that reads analog input 2 on module 7 ITF 3 5ANO 1 gt 1 0 is an IF condition that reads analog output 1 on module 5 3 6TANT transfers the voltage status of both analog inputs on module 6 3 6TANI 2 transfers the voltage status of only analog input 2 on module 6 3 4TANO transfers the voltage status of both analog outputs on module 4 3 4TANO 1 transfers the voltage status of only analog output 1 on module 4 Networking with a DVT Vision System The controller can send trigger commands to the camera The camera should send back ASCII strings similar to what follows VARn 123 456 VARm 234 567 The ASCII strings are VAR assignments set apart by commas The values are then w
27. 20 44 180 Networking Guidelines e Use a closed network Because of network broadcasts it is best to put the 6K along with any associated server devices on a closed network with its own subnet If you have a PC connected to the Ethernet Client Server network and the PC is also connected to your company s network use one Ethernet card for the Ethernet Client Server network and another Ethernet card for the company network refer to the example below Ethernet Switch Ethernet Switch 255 255 255 0 255 255 0 0 out Client Server to PC IP 192 168 10 30 Ethernet Ethernet Card Card Server IP 192 168 10 80 Server IP 192 168 10 120 Client IP 192 168 10 31 IP 172 20 44 180 page 3 page 4 If the 6K is placed on an open network put the 6K and any associated server devices on one side of an Ethernet network switch with its own subnet and install a bridge to filter traffic such that broadcast traffic does not pass in either direction see diagram below a Device 2 Client Server E IP 192 168 10 30 IP 192 168 10 80 IP 172 20 44 180 Ethernet Device 1 Server IP 192 168 10 120 Use a switch recommended or hub if you are making more than one Ethernet connection with the 6K The 6K client must have the same subnet address as all of the server devices it will connect to PLC OPTO22 DVT etc For example if the subnet mask NTMASK 1s 255 255 255 0 and the su
28. 4 is an analog output module 2 4ANO 1 4 8 On Server 3 module 4 set the voltage on analog output 1 to 44 8 VDC VAR23 2 4ANO 1 Assign the voltage at analog output 1 on module 4 of Server 2 to real variable 23 VAR23 Based on the preceding command the value should be 4 80 WAIT 2 4ANO 2 lt 1 5 Wait until the voltage at analog output 1 of module 4 on Server 2 is less than or equal to 1 5VDC page 36 IN Type Syntax Units Range Default Response See Also Network Digital Input Status Network Assignment or Comparison Product Rev n mIN lt Bbbbb gt see example below 6K 5 3 n iIN i see example below n network server m module i digital input on module m for bit select operation n 1 6 m 0 7 j 1 4 n a n a NTIO TIN TIO VARB Use the IN operand to assign an OPTO22 digital input value to a binary variable VARB or to make a comparison against a binary or hexadecimal value Syntax 66 2099 66 99 VARBx n mIN where n is the network server number of the OPTO22 unit and m is the I O module number e g VARB16 2 0IN The IN operand can also be used in an expression such as IF 2 3IN b11 1 or IF 2 3IN h7F To make a comparison against a binary value place the letter b b or B in front of the value The binary value itself must only contain ones zeros or Xs 1 X x To make a comparison against a hexadecima
29. ANTIP2Z 172 547 125 34 Identify network server 2 as an OPTO22 unit at IP address 172 54 125 34 2NTCONN1 Attempt a connection to network server 2 OPTO22 unit 2 3NTIO2 Server 2 OPTO22 module 3 is a digital output module 2 30UT1001 On Server 2 module 3 turn on Outputs 1 and 4 and turn off Outputs 2 and 3 VARB 9 2 30UT Assign the binary state of all digital outputs on module 3 of Server 2 to binary variable 9 VARB9 As a result the value Of VARBY will be 1001 0000 0000 0000 0000 0000 0000 0000 IF 2 30UT bxx1 If input 3 of module 3 on Server 2 OPTO22 is active page 39 TANI Transfer Network Analog Input Status Type Network Transfer Product Rev Syntax lt gt n mTANI lt i gt 6K 5 3 Units n network server m module i analog input on module m for bit select operation The response represents volts DC Range n 1 6 m 0 7 i 1 2 Default n a Response 1 1TANI 2 42 3 32 1 1TANI 2 BD ee See Also ANI NTIO TIO The TANI command returns the voltage present at one of the network analog inputs The network server number and module number must precede the TANI command e g 2 3ANT reports the voltage present on all analog inputs on module 3 of network server 2 If the status of a specific analog input is required use the bit select operator For example 1 3TANI 2 reports the voltage of analog input 2 on module 3 of network server 1
30. E OPTO22 is Network Server 2 0 Digital Input Module Digital Input Module Example 2NTIP2 172 54 125 34 172 54 125 34 2NTCONN1 2 2NTIO2 Server 2 OPTO22 2 3NTIO2 Server 2 OPTO22 2 30UT1001 On Server 2 modul Outputs 2 and 3 2 20UT 3 1 On Server 2 modul page 38 Digital Output Module 3 Digital Output Module 2 30UT 2 e 3 e 2 turn Attempt a connection to network server 2 module 2 module 3 turn is is on on Module Output 1 Output 2 2 5ANO 1 2 7ANI 2 Identify network server 2 as an OPTO22 unit at IP address OPTO22 unit a digital output module a digital output module Outputs 1 and 4 and turn off only Output 1 OUT Network Digital Output Status Type Network Assignment or Comparison Product Rev Syntax n mOUT lt Bbbbb gt see example below 6K 5 3 n iOUT i see example below Units n network server m module i digital output on module m for bit select operation Range n 1 6 m 0 7 j 1 4 Default n a Response n a See Also NTIO OUT TOUT TIO VARB Use the OUT operand to assign an OPTO22 digital output value to a binary variable VARB or to make a comparison against a binary or hexadecimal value The digital outputs are turned on and off with the OUT command 66 099 66 99 Syntax VARBx n mOUT where n is the network server number of the OPTO22
31. ENTER If you receive the response No ARP Entries Found 1 Switch to the Motion Planner Terminal window type NTFEN2 or NTFEN1 if using a peer to peer network and press ENTER then type RESET and press ENTER 2 Switch to the DOS window type the ping command and press ENTER ping 192 168 10 30 If your PC responds with Request Timed Out check your Ethernet space E 6K s IP Address from TNT report Wiring and IP address setting 3 Repeat the arp s command as instructed above Use arp a to verify 4 Switch to the Motion Planner Terminal window type NTFEN2 or NTFEN1 if using a peer to peer network and press ENTER then type RESET and press ENTER e OPTIONAL Automate the arp s static mapping command This allows your PC to automatically perform the static mapping when it is booted otherwise you will have to manually perform static mapping every time you boot your PC e Windows 95 98 Add the arp s command to the Autoexec bat file e Windows NT Create a batch file that contains the arp s command Save the file name the file 6KARP BAT to the root directory on the C drive Using Windows Explorer locate the 6k ARP BAT file create a shortcut then cut and paste the shortcut into the StartUp directory Windows NT has several StartUp directories to accommodate various user configurations We recommend using the Administrators or All Users locations For example you can paste the shortcut into th
32. HO command in context with the process of setting up the peer to peer Ethernet data sharing Options for shared data in the VARSHO variable Denen Acceleration AD irira Deceleration ANI Analog input voltage ANO Analog output voltage AS oue Axis status ASX Extended axis status Dianei Distance DAC DAC output value DKEY RP240 keypad value ER sius Error status PB aaa Feedback device pos E Spes Following status IN oonan Input status INO Enable input status LIM Limit input status MOV AXiS moving status page 32 NMCY Master cycle number OUT Output status Analog input position PCan Commanded position PCC Captured command pos PCE Captured encoder pos PE actus Encoder position PER Position error Position of Master PME Master encoder pos Net position shift Follower pos command BC shes Controller status PLC scan time SEG Free segment buffers Captured master enc pos CS ideas System status SWAP Task Swap assignment TASK Task number TIM ooa Timer value TRIG Trigger interrupt status WS existent User defined status Vessemse Velocity VARI Integer variable VARB Binary variable VE Digare Commanded velocity VELA Actual velocity VMAS Velocity of the master VARSHI Shared input variable Example This example uses peer to peer communication with three 6K8 products
33. I integer or VARB binary variable For example the command VART1 2VARSHT8 assigns the value of VARSHO8 on unit 2 to the VARI1 integer variable e Assign the VARSHO data to a virtual input IN For example 3IN 2VARSHT3 assigns the binary value of VARSHO3 from unit 2 to virtual input brick 3 e Use the VARSHO data in a conditional expression for an IF WAIT WHILE or UNTIL statement For example if VARSHO5 on unit 2 1s assigned is assigned the status of onboard trigger input 3 VARSHO5 IN 3 then you could use this command to make unit 1 wait until trigger input 3 on unit 2 was on WAIT 2VARSHI5 b1 Example First 6K or Gem6K unit 1 VARI1 2VARSHTI8 Assign Unit 2 s VARSHO8 which is the voltage value at analog input 1 on I O brick 1 to VARI1 Second 6K or Gem6K unit 2 VARI100 1VARSHT2 Assign Unit 1 s VARSHO2 which is the encoder position of axis 1 to VARII100 Third 6K or Gem6K reading data only VARI90 IVARSHI1 Assign Unit 1 s VARSHO1 which is the acceleration of axis 1 to VARI9O Networking with OPTO22 SNAP I O The 6K client can communicate with the OPTO22 SNAP I O server to read digital and analog inputs and outputs and write digital and analog outputs The 6K supports up to eight modules per OPTO22 Setup 1 Follow the manufacturer s setup procedure for the OPTO22 Ethernet I O rack 2 Connect the 6K and OPTO22 products in a network and configure the 6K for Ethernet communication acc
34. IS 19 IN MOTION NIF If axis 3 on unit 3 axis 19 3AS is in motion SRK EKER ERK ERE RARER RE RERE RR ERE RRR EKRERRR ER EAR ERK ER ARREKR RARER RRR EERE RRR EA VARSHO Type Variable Network Syntax lt gt VARSHO lt i gt lt xx gt Units i variable number xx 32 bit data operand see list below Range i 1 8 Default n a Response VARSHOL1 VARSHO1 PME See Also NTRATE VAR VARB VARI VARSHI Shared Output Variable for Peer to Peer Data Exchange Product Rev 6K 5 3 The VARSHO command is used to set up data to be shared over a peer to peer Ethernet connection 1 e connection between other 6K or Gem6K products Each unit on the Ethernet peer to peer network has eight shared output variables VARSHO1 through VARSHO8 with which it can share with other units the values of its motion attributes controller status variables etc see list below The type of data can be either binary as in the AS axis status operand or a 32 bit unscaled integer as in PE encoder position operand The data stored in the VARSHO 1s not scaled For example unit 2 could execute VARSHO1 3PE to share the encoder position of axis 3 in shared output variable 1 Each unit will re broadcast its updated VARSHO data at a rate set with the NTRATE command RECOMMENDATION Set all devices to broadcast at the same NTRATE rate of 50 milliseconds The mplementation Process beginning on page 8 identifies how to use the VARS
35. NI TIO VAR Use the ANO operand to assign the voltage level of an OPTO22 analog output to a real variable VAR or to make a comparison against another value The voltage at the analog outputs is controlled with the ANO command 66 99 66 099 Syntax VARx n mANO i where n is the network server number of the OPTO22 unit m is the I O module number and i is the output channel number on the module e g VAR3 2 5ANO 1 assigns the voltage at analog input 1 on module 5 of OPTO22 server 2 to VAR3 The ANO operand can also be used in a condition expression such as IF 2 3ANO 1 gt 2 0 or WAIT 2 4ANO 1 lt 1 5 The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 3 Digital Digital Digital Digital Analog Input Input Output Output Input Module Module Module Module Module 2 30UT 2 2 5ANO 1 2 7ANI 2 Example Z2NTLIP2Z Li2 54 125 34 Identify network server 2 as an OPTO22 unit at IP address 172 554 125 34 2NTCONN1 Attempt a connection to network server 2 OPTO22 unit 2 4NTIO4 Server 2 OPTO22 module
36. NTID2 Set unit 2 s network ID to 2 NTRATE50 Unit 2 will broadcast at 50 millisecond intervals page 27 NTS Network Status Type Network Assignment Comparison Product Rev Syntax nINTS lt lt a gt 6K 5 3 Units n server i bit number of status register see table below Range n 1 6 i 1 8 Default n a Response n a See Also NTCONN NTIP NTPOLL TNTSF Use the NTS operand to assign the Network Status bits to a binary variable or to make a comparison against a binary or hexadecimal value Syntax VARBx nNTS where n is the network server number e g VARB16 2NTS The NTS operand can also be used in an expression such as IF 2NTS b11 1 or IF 2NTS h7F To make a comparison against a binary value place the letter b b or B in front of the value The binary value itself must only contain ones zeros or Xs 1 X x To make a comparison against a hexadecimal value place the letter h h or H in front of the value The hexadecimal value itself must only contain the letters A through F or the numbers through 9 Bit Select Operation Use the bit select operator in conjunction with the bit number to specify a specific Network Status bit Examples VARB1 2NTS 3 assigns Network Status bit 3 for network server 2 to binary variable 1 IF 2NTS 3 b1 is a conditional statement that is true if Network Status bit 3 for network server 2 is set to 1 polling is enabled Bit left to right Function 1 yes
37. RL OUNE OR ONE SRN ORONO RISES SERS SSE RONEN SOONER ONE VR SENSE SEN SRS RR RSE ROSES RNS SO SON OS ONS ONS NOS OS RON ONE ONS RS OS ON VARSHO8 1ANI 1 Shared variable 8 contains the voltage value at analog input 1 on I O brick 1 NTRATE50 Unit 2 will broadcast at 50 millisecond intervals KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKK KKK KKK KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKEK KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKKKKKKKKKKKKKKKKKKKKKK CONNECT TO 6K UNIT 3 AND SEND THE FOLLOWING SETUP COMMANDS NTRATE50 Unit 3 will broadcast at 50 millisecond intervals This third unit will receive data only Therefore it does not require a unit ID number or VARSHO data assignment KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK page 18 NTIO Type Syntax Units Range Default Network I O OPTO22 Configuration Network Product Rev lt gt lt n gt lt m gt NTIO lt i gt 6K 5 3 n network server m OPTO22 I O module i I O module type identifier n 1 6 m 0 7 i 1 digital inputs 2 digital outputs 3 analog inputs or 4 analog outputs O ONTIOO Response 2 3NTIO 2 3NTIO2 See Also ANI ANI ANO ANO IN NTCONN NTIP OUT OUT VETO n mNTIO lt i gt Network Server tL Module Type Options are Range 1 6 1 Digital Discrete Inputs 2 Digital Discrete Outputs 3 Analog Inputs Module
38. Status register conditions in a conditional expression or for a binary variable assignment use the NTS assignment comparison operand FULL TEXT STATUS REPORT AVAILABLE The TNTS status command reports a binary bit report If you would like to see a more descriptive text based report use the TNTSF command description Bit left to right Function 1 yes 0 no 1 Connection Open 2 Client Connection Error This bit is set when a connection attempt with a server times out This will also set Error Status bit 23 see ER TER TERF Polling Enabled This bit is set when polling is enabled with NTPOLL Error during polling This bit is set when an error during polling occurs This will also set Error Status bit 24 see ER TER TERF 5 8 Reserved TNTSF Transfer Network Status full text report Type Network Syntax lt gt TNTSF Units N A Range N A Default N A Response TNTSF see example below See Also NTCONN NTIP NTCLS NTPOLL NTS TNTS Product Rev 6K N N N The TNTSF command returns a text based status report of network server connections This is an alternative to the binary report TNTS Example TNTSF response TNTSFE Connection x 1 2 3 4 5 6 page 30 Connection Open Server Connection Error In Polling Mode Polling Timeout Error Reserved Reserved Reserved Reserved VARSHI Shared Input Variable for Peer to Peer Data Exchange Type Variable Netwo
39. aa r a acl ae 17 NTCONN Network COMMCCE roen N E 17 NTID Network Sharing Unit ID for Peer to Peer Communication 18 NTIO Network I O OPTO22 Configuration ccccccceceeeeeeeeeeeeees 19 NTIP Network IP Address ss cron cant avianieneastvnaemua nr ane aise 21 NTMPRB Network Map Binary Variables for Reading from PLC 22 NTMPWB Network Map Binary Variables for Writing to PLC 00 23 NTMPRI Network Map Integer Variables for Reading from PLC 24 NTMPWI Network Map Integer Variables for Writing to PLC 00 25 NTPOLL Network Polline Ratex crews ee ca eect cede eas 26 NTRATE Network Sharing Rate for Peer to Peer Communication 2d NTS Network SAUS areo rr R Geen ee aie ie ens 28 NTSELP Network Program Select Enable cccccccccccccccccccceceeceeeeeeeeeeeeees 28 NTWRIT Network Write ASCII String to DVT Camera c eee 29 TNTS Transfer Network Status sicciicc taut a E E 30 TNTSF Transfer Network Status full text report cccscsesssseseseeeeeeees 30 VARSHI Shared Input Variable for Peer to Peer Data Exchange 31 VARSHO Shared Output Variable for Peer to Peer Data Exchange 32 ANT Network Analog Input Voltage Status ccccccccccccccecceeeeeeees 34 ANO Network Annalo s Outpitrcccccscsctec2cc cern E 35 ANO Network Analog Output Status cccccccccceeeeeeeeeeeeeeeeeeeeeeeees 36 IN Network Dig
40. address to the IP address of the Ethernet card in your PC The static mapping eliminates the PC s need to ARP the controller which reduces communication overhead Step 3 connects the PC to the 6K via the Ethernet Connect the 6K controller to your network refer to Networking Guidelines on page 3 Establish an RS 232 communication link between the 6K and your computer connect to the 6K s RS 232 connector according to the instructions in the 6K Installation Guide Install Motion Planner on your computer and launch Motion Planner Click on the Terminal tab to view the terminal emulator In the Terminal window click on the El button to view the Communications Settings dialog Select the Port tab and select the COM port that is connected to the 6K s RS 232 connector see Step 2 above Click OK In the Terminal window enable Ethernet communication a Ifyou are using the 6K as a server or client type the NTFEN2 command and press ENTER then type the RESET command and press ENTER b Ifyou are using the 6K in a peer to peer connection with another 6K or Gem6K type the NTFEN1 command and press ENTER then type the RESET command and press ENTER Connect the 6K controller to your network refer to Networking Guidelines on page 3 Install your Ethernet card and configure it for TCP IP protocol Refer to your Ethernet card s user documentation for instructions If you need to change the 6K s IP address or subn
41. an 10000 encoder counts WRITE AXIS 20 OUT OF POSITION NIF VARB1 3VARSHI1 Get unit 3 s VARSHO1 information 3AS IF VARB1 B1 If axis 3 on unit 3 axis 19 is in motion WRITE AXIS 19 IN MOTION NIF E EERE he Ge Peete Bee ERER Re Be he te Re De KERERE Be EREEREER Res Be a Re Bes Ae Be Re ee Be ERER EREE ERER ead ete es te Re Be Behe Be Ae te Re ee IER K page 33 ANI Network Analog Input Voltage Status Type Network Assignment or Comparison Product Rev Syntax n mANI i see example below 6K 5 3 Units n network server m module i analog input on module m Range n 1 6 m 0 7 j 1 2 Default n a Response n a See Also NTIO TANI TIO VAR Use the ANI operand to assign the voltage level of an OPTO22 analog input to a real variable VAR or to make a comparison against another value 66 99 66 099 Syntax VARx n mANI i where n is the network server number of the OPTO22 unit m is the I O module number and i is the input channel number on the module e g VAR3 2 1ANI 1 assigns the voltage at analog input 1 on module 1 of OPTO22 server 2 to VAR3 The ANI operand can also be used in a condition expression such as IF 2 3ANI 1 gt 2 0 or WAIT 2 4ANI 1 lt 1 5 The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital
42. an IP address Add Rer IPAddress 192 168 10 31 T SubnetMasi 255 255 255 0 Primary Network Logon Client for Microsoft Networks File and Print Sharing Make sure this number is different p Description from the one in the 6K s IP address If the 6K s default IP address is TCP IP is the protocol you us wide area networks unchanged 192 168 10 30 then select a number other than 30 OK Cancel Programs LA Documents FR Settings gt J Control Panel N Find gt a Printers N OTE wee aint If you are using a computer Ethernet card that is 2 Run Cy Shut Down Stari 32 Control Panel 4 Establish an RS 232 communication link between the 6K and your computer connect to the 6K s RS 232 connector according to the instructions in the 6K Installation Guide normally connected to a network you should write down the existing IP Address and Subnet Mask values so that you may restore them later 5 Install Motion Planner on your computer and launch Motion Planner Click on the Terminal tab to view the terminal emulator 6 Inthe Terminal window click on the button to view the Communications Settings dialog Select the Port tab and select the COM port that is connected to the 6K s RS 232 connector see Step 4 above Click OK 7 Inthe Terminal window enable Ethernet communication with the appropriate NTFEN com
43. ata to the broadcast variables up to eight with the VARSHO command 6 Repeat steps 2 5 for each unit in the peer to peer network Example KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK CONNECT TO 6K UNIT 1 AND SEND THE FOLLOWING SETUP COMMANDS NTID1 Assign this unit a peer to peer unit 1 VARSHO1 1A Shared variable 1 contains axis 1 s acceleration VARSHO2 1PE Shared variable 2 contains axis 1 s encoder position NON NON NON NON NON ONON NON ONO NN ON NON NON ON ON ON ON ONO NON NN ON N NNN NON NON ON NON NON NNN ON ON NON NON NON N ON NON ON e NON e NON e ae e NNN NNN NON ON NON ON ON ON ON ON ON ON NON ON NON NON NNN NON NNN NNN NNN NON NON NON NNN NON NON NON N NON NON NON NNN NNN NNN VARSHO8 VARI1 Shared variable 8 contains the value of VARI1 NTRATE50 Unit 1 will broadcast at 50 millisecond intervals KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK KKKKKKKKKKKKKKKKKKKKKKKEK CONNECT TO 6K UNIT 2 AND SEND THE FOLLOWING SETUP COMMANDS NTID2 Assign this unit a peer to peer unit 2 VARSHO1 1D Shared variable 1 contains axis 1 s programmed distance VARSHO2 3PE Shared variable 2 contains axis 3 s encoder position NON NNN ON NON NON NON NON NON ON ON ON N NON ON ONO NNN NON NNN ON NON NNN NON NON NNN NN NON NON NNN NON NON NON NNN NNN ON e n Me ONE ONE O
44. binary data To perform a binary write to the PLC l 2 3 Assign the AB PLC a server number according to its IP address NTIP command Connect to the AB PLC according to its server number NTCONN command Map a range of binary elements in the AB PLC to a range of binary VARB variables in the 6K NTMPWB command Start polling the AB device at a specific polling interval NTPOLL command This updates binary data elements in the AB PLC with the data from the mapped VARB variables in the 6K Saved in Non Volatile Memory This command is saved in the controller s non volatile memory and is remembered on power up and RESET Potential Error Conditions page 23 You are not allowed to map the same 6K VARB variables for read and write functions Nor are you allowed to map the same 6K VARB variables to another PLC If you attempt either of these conditions the 6K will not accept the NTMPWB command and will transmit the error message VARIABLE MAPPING CONFLICT If you attempt to write to an AB data file of the wrong type or to a non existent data element the 6K will not accept the NTMPWB command it will transmit the error message ERROR INVALID FILE TYPE NUMBER OR SIZE and it will automatically stop polling all mapped binary and integer variables equivalent to executing the NTMPRBi i 0 i NTMPWBi i 0 i NTMPRIi i 0 i and NIMPWIi i 0 1i commands Control over Polling If you want to stop the 6K from writing
45. binary data to the PLC but continue to exchange NTMPRI NTMPWI and NTMPRB data use the NTMPWBi i 0 i command If you need to stop polling all mapped variables use the nNTPOLLO command Example 2NTIP131727547125734 Identify network server 2 as an Allen Bradley PLC at IP address 172 54 125 34 2NTCONN1 Attempt connection to network server 2 2NTMPWB3 0 15 20 File 3 elements 0 14 in the AB PLC are mapped to the 6K s binary variables VARB20 VARB34 2ZNTPOLL50 Start polling network server 2 set interval to 50 ms VARB25 b1111000011110000 The value of AB file 3 element 5 will be set to 111000111000 because it is mapped to VARB25 NTMPRI Network Map Integer Variables for Reading from PLC Type Network Product Rev Syntax lt gt lt nO NEMPRI lt ty Sy ey 6K 53 Units n network server i aS Allen Bradley data file OS 4 of the 1 element in data file beginning of range 3 i of the elements to include in range 4 i of the 1 integer VARI variable in the 6K to map to Range n 1 6 1 i O n n depends on sive of file gr 4 p f n depends on size of file Be 7 0 Or 1250 0 disables polling for this mapping only AS i 1 225 Default 1NTMPRIO 0 0 0 no mapping Response 1NTMPRI 1NTMPRI1 5 15 23 See Also NTCONN NTIP NTMPRB NTMPWB NTMPWI NTPOLL NTS NTSELP TNTS TNTSF VARI lt n gt NTMPRI lt i gt lt i gt lt i gt lt i gt A EXAMPLE Network Se
46. bnet address is 192 168 10 then all devices including the 6K must have an address starting with 192 168 10 where the number is unique to the device Fieldbus DeviceNet or Profibus versions of the 6K part numbers 6Kn DN or 6Kn PB cannot also communicate as an Ethernet Client at the same time If you have a Fieldbus unit and need to use Ethernet instead execute the OPTEN command then the RESET command this disables the Fieldbus features and then the NTFEN1 or NTFEN2 command To re enable Fieldbus communication execute the NTFEN command then the RESET command this disables Ethernet communication and then the OPTEN1 command You cannot communicate to the 6K with simultaneous transmissions over both the ETHERNET and RS 232 PORT1 connections Follow the manufacturer s setup procedure for each Allen Bradley PLC DVT camera and OPTO22 Ethernet I O rack You should be able to ping every 6K DVT camera PLC and OPTO22 I O rack from the PC Use the ping command at the DOS prompt ping 192 168 10 30 If your PC responds with Request Timed Out ee a check your Ethernet wiring and IP address setting oa Device s IP Address 4 7 7 The following Ethernet setup commands need only be sent once to the 6K because they are saved in non volatile memory and are remembered on power up and RESET NTID NTIO NTIP NTMPRB NTMPRI NTMPWB and NTMPWI Space If a PC 1s connected to the 6K Device Ethernet networ
47. d with the NTIO command to be different I O type Tried an OPTO22 related command TANI TANO TIN TOUT TIO IN OUT ANTI ANO etc for a non OPTO22 connection Tried to assign the status of OPTO22 I O to a VARSHO variable Tried to execute an NTIP command while the connection is open Tried to connect nNTCONN1 to a server that has not yet been established with the NTIP command or tried to connect to a server in an incompatible subnet Peer to peer connection only Tried to execute an NTRATE command while NTFEN is set to a value other than NTFEN1 Peer to peer connection only Tried to execute an NTFEN command while NTRATE is set to a non zero value Error Handling page 16 Error Response NTSELP ALREADY ENABLED ON THIS TASK OPTION CARD CAN NOT BE USED WITH ETHERNET SEE NTFEN VARB USED BY OPTION CARD VARIABLE MAPPING CONFLICT SEE NTMPRB NTMPRI NTMPWI NTMPWB MAPPINGS Possible Cause NTSELP which enables program selection via OPTO22 inputs has already been enabled if multitasking it has been enabled for this specific Task Tried to enable the internal Fieldbus Option card for PROFIBUS or DeviceNet communication 6Kn PB and 6Kn DN products only with the OPTEN1 command You must disable Ethernet communications with the NTFEN command before enabling the Option card The 6K cannot communicate over a Fieldbus connection and Ethernet connection simultaneously Tried to map a bina
48. e WinNt Profiles AllUsers StartMenu Programs StartUp directory allowing all users to statically map the IP and Mac addresses whenever the PC is booted Step 3 1 Connect the 6K Controller to your computer using a cross over 10Base T cable 5 foot cable Connecting the 6K provided in ship kit to the PC through 2 In Motion Planner s Terminal window click the bmc b comset bmp button to view the Ethernet Communications Settings dialog Select the Port tab select Network and type the IP address 192 168 10 30 in the text field Click OK You may now communicate to the controller over the Ethernet interface Reminder You cannot communicate to the 6K with simultaneous transmissions over both the ETHERNET and RS 232 PORT 1 connections Ethernet Connection Status LEDs located on the RJ 45 ETHERNET connector e Green LED turns on to indicate the Ethernet physical connection is OK e Yellow LED flashes to indicate the 6K is transmitting over the Ethernet interface page 7 Networking with Other 6K or Gem6K Products Peer to Peer page 8 Setup You can communicate information between 6Ks and Gem6Ks over Ethernet This feature uses UDP broadcasting over the subnet to transfer data so no client server connection is needed Up to 8 different 6K or Gem6K devices can share information with each device having access to shared data from the 7 other devices Each device can broadcast 8 pieces of information
49. e the text DVT commands to camera END Networking with an Allen Bradley SLC 5 05 PLC The Allen Bradley SLC 5 05 exchanges integer and binary data with the 6K The data exchange is accomplished by mapping integer variables VARI and binary variables VARB in the 6K with data elements in the PLC s integer and binary data files The 6K limits the amount of variable mapping to 100 binary variables 50 write 50 read and 100 integer variables 50 write 50 read Setup 1 Follow the manufacturer s setup procedure for each Allen Bradley PLC DVT camera and OPTO22 Ethernet I O rack 2 Connect the 6K and Allen Bradley PLC in a network and configure the 6K for Ethernet communication according to the procedures on page 4 3 Choose a connection number for this device The 6K can support up to 6 simultaneous client connections Pick a number 1 6 that has not been used already for another client connection The number is used to reference the device from now on 4 Enter the IP address of the PLC and specify a 1 for connection type with the NTIP command For example if the PLC is Server 5 and its IP address is 172 20 34 124 then the command would be 3NTIP1 172 20 34 124 5 Attempt a connection to the device with NTCONN For example if the server number is 5 the command would be 5NTCONN1 If the connection is successful Network Status bit 1 is set see NTS TNTS TNTSF If the connection is unsuccessful Error Status bit 23 is set
50. ection is successful Network Status bit 1 is set see NTS TNTS TNTSF If the connection is unsuccessful Error Status bit 23 is set See ER TER TERF 6 Inform the 6K of the configuration of the OPTO22 For each module position use the NTIO command to specify the type of module in that position For example if there is a digital input module in slot 0 then the command would be 3 ONTIO1 If there is an Analog Input module in slot 7 then the command would be 3 7NTIO3 7 Set the polling rate with the NTPOLL command 50 milliseconds is recommended For example to set the polling rate to 50 ms on server 3 use the 3NTPOLL50 command If there is an error during polling then Error Status bit 24 will be set Example 2NTIP2 172 54 125 34 Identify network server 2 as an OPTO22 device at IP address E 19534 2NTCONN1 Attempt connection to network server 2 2 ONTIO1 Server 2 OPTO22 module 0 is a digital input module 2 1NTIO2 Server 2 OPTO22 module 1 is a digital output module 2 2NTIO3 Server 2 OPTO22 module 2 is an analog input module 2NTPOLL50 Start polling the OPTO22 start reading and writing I O page 19 After this point you can read and write to the inputs with the OPTO22 I O handling commands ANI MANI ANO ANO NIN OUT OUT ATANI TANO TIN TIO TOUT page 20 NTIP Type Syntax Units Range Default Response See Also Network IP Address Network lt
51. ee page 11 for setup procedures Setup Wizard Available The Motion Planner Wizard Editor provides a setup wizard called Network to help you establish 6K Client Server communication up to six servers EXAMPLE Closed Network Ethernet Switch Ethernet Switch 255 255 255 0 out 255 255 0 0 Connection to company network Ethernet Ethernet Card Card Client Server to PC IP 192 168 10 30 Server IP 192 168 10 80 Server IP 192 168 10 120 Client IP 192 168 10 31 IP 172 20 44 180 EXAMPLE Direct Connect to One Server Crossover Cable provided in 6K ship kit p n 71 017635 01 Serial Cable page 1 e 6K as a server The 6K waits for a PC to establish a connection with it and then provides information on a continual or requested basis The PC communicates with the 6K using the COM6SRVR Communications Server which is also what Motion Planner uses to communicate with the 6K for details refer to the COM6SRVR Communications Server Programmer s Reference The 6K does not support simultaneous connections with multiple clients PCs EXAMPLE Closed Network Switch or Hub Switch or Hub 255 255 255 0 255 255 0 0 Connection to company network Ethernet Ethernet Card Card Server IP 192 168 10 30 Client IP 192 168 10 31 IP 172 20 44 180 EXAMPLE Direct Connect to PC Crossover Cable Switch or Hub provided
52. et mask refer to the note on the left see illustration below Configure your Ethernet card s TCP IP properties so that your computer can communicate with the 6K controller a Access the Control Panels directory b Open the Network control panel c In the Network control dialog select the Configuration tab 95 98 or the Protocols tab NT and double click the TCP IP network item to view the TCP IP Properties dialog d In the TCP IP Properties dialog select the IP Address tab select Specify an IP Address type in 192 168 10 31 in the IP Address field and type in 255 255 255 0 in the Subnet Mask field e Click the OK buttons in both dialogs to finish setting up your computer s IP address 9 Control Panel File Edit View Help If you are using TCP IP Properties 25 x Bindings Advanced DNS Configuration Configuration P identification ee Gateway WINS Configuration IP Address n P address can be automatically assigned to this computer The following network componer m Client for Microsoft Network 3Com EtherLink III ISA 3 Windows NT select a Control Panel i 32bit ODBC amp Accessibility Options sj Add New Hardware If your network does not automatically assign IP addresses ask your network administrator for an address and then type it in the space below the Protocols tab Obtain an IP address automatically Specify
53. f the mapped Element into the associated 6K integer variable VARI 4 Use the NTSELP command to enable the Network Program Select mode and identify the 6K integer variable VART to supply the program selection number Once enabled the 6K will poll the PLC at the NTPOLL rate read the integer data from the PLC into the mapped VARI variable and execute the program by number according to the value of the mapped VARI variable After executing and completing the selected program the controller will resume polling the inputs again To disable the Network Program Select mode place the NTSELP command in a program that can be selected 5 Program the PLC to set the Element value to select the program by its number in the 6K For example suppose Element 4 of File 2 is mapped to the 6K s integer variable 9 If the value of Element 4 is 8 when it is polled the 6K will execute program 8 WHAT IS THE PROGRAM NUMBER A program s number is determined by the order in which the program was downloaded to the controller The first program downloaded is program 1 the second downloaded is program 2 etc The number of each program stored in the controller s memory can be obtained through the TDIR report refer to the number reported in front of each program name When selecting programs with an integer variable mapped to an Element in the PLC data file the 6K will execute the program number that matches the value of the variable at the time
54. formation e Allen Bradley PLC Devices NTPOLL sets the rate at which the 6K reads and writes the VARI and VARB variables that are mapped to the Allen Bradley PLC Variables are mapped with the NTMPRB NTMPRI NTMPWB and NTMPWI commands e OPTO22 NTPOLL sets the rate for polling or changing the states of the input and output modules on the OPTO22 OPTO22 outputs are controlled with the OUT and ANO commands and the inputs are monitored with the IN ANI TANI TANO TIN TIO TOUT commands The polling rate affects the 6K overall command execution speed slowing the polling rate will speed up the 6K s command processing page 26 The NTPOLL command is not saved in the 6K s non volatile memory If you wish the 6K to re establish the NTPOLL polling rate when you cycle power or issue a RESET command put the NTPOLL command in the startup program assigned with the STARTP command Example 2NTIP1 172 54 125 34 Identify network server 2 as an Allen Bradley PLC at IP address 172 54 125 34 2NTCONN1 Attempt connection to network server 2 2NTMPRI20 5 2 128 File 20 variables 5 and 6 in the AB PLC are mapped to VARI128 and VARI129 respectively 2ZNTPOLL50 Start polling network server 2 set interval to 50 milliseconds NTRATE Network Sharing Rate for Peer to Peer Communication Type Network Product Rev Syntax lt gt NTRATE lt i gt 6K 5 3 Units i milliseconds Range O off to 1000 50 milliseconds is recommend
55. ital Input Status 2 0 0 ccccccccccccceeeeeeeeeeeeeeeeeeeees 37 OUT Network Diora Output lt i ca canada eee cael ees alate ere tenet nari ine 38 OUT Network Digital Output Status ccccccccccccccccceeeeeeeeeeeeeeeees 39 TANI Transfer Network Analog Input Status ccccccsessssseeeeeeeees 40 TANO Transfer Network Analog Output Status cccceseessseeeeeeeeeeees 41 TIN Transfer Network Digital Input Status cccccceesesseseeeeeeeens 42 TIO Transfer Ethernet O Status a vsscreccdssncsecanteeiatevincckdraveiatewateecnians 42 TOUT Transfer Network Digital Output Status 2 0 0 0 eeeceeeeessseeeeeeeeees 43 Ethernet Networking Overview The 6K is equipped for Ethernet communication It includes 10Base T 10Mbps twisted pair TCP IP protocol RJ 45 connector Default IP address is 192 168 10 30 You have these options for networking the 6K over Ethernet e 6K as a client You can connect the 6K via Ethernet to multiple devices creating a client server network The 6K is the client and has the ability to open or close a connection with another device server and request information from that device The 6K supports up to 6 simultaneous server connections Devices servers that may be connected to the 6K include Allen Bradley SLCS5 05 PLC see page 12 for setup procedures OPTO22 SNAP I O using Modbus TCP protocol see page 9 for setup procedures DVT vision system cameras s
56. k then the PC should include all devices in a static mapping table The static mapping procedure for the 6K s address is found on page 6 If the 6K is in a peer to peer network enable Ethernet communication with the NTFEN1 command NTFEN2 mode is not compatible with peer to peer communication Configuring the 6K for Ethernet Communication Step 1 Preparing the Controller over RS 232 Step 2 Setting TCP IP Properties and Static Mapping Changing the 6K s IP Address or Subnet Mask The factory default 6K IP address is 192 168 10 30 the default mask is 255 255 255 0 If the default address and mask are not compatible with your network you may change them with the NTADDR and NTMASK commands respectively see 6K Series Command Reference for details on the NTADDR and NTMASK commands To ascertain the 6K s Mac address use the TNTMAC command The NTADDR NTMASK and TNTMAC commands may be sent to the 6K controller over an RS 232 interface see Steps 4 6 NOTE If you change the 6K s IP address or mask the changes will not take affect until you cycle power or issue a RESET command page 5 There are three major steps in setting up Ethernet communication between a PC and controller Step 1 prepares the 6K for Ethernet communication and must be performed using RS 232 communication Step 2 sets the TCP IP properties on your PC to allow Ethernet communication and statically maps the 6K s MAC
57. l value place the letter h h or H in front of the value The hexadecimal value itself must only contain the letters A F or the numbers G 9 Bit Select Operation To address only one input value instead of all the inputs use the bit select operator For example VARB1 2 31IN 3 assigns the binary state of input 3 on module 3 of OPTO22 server 2 to binary variable 1 In another example WAIT 2 3IN 1 b1 tells the 6K to wait until input 1 on module 3 of OPTO22 server 2 is active The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 3 Digital Digital Digital Digital Output Output Module Module 2 30UT 2 2 5ANO 1 2 7ANI 2 Example ANTIP2Z 112 54 125 34 Identify network server 2 as an OPTO22 unit at IP address 172 54 125 34 2NTCONN1 Attempt a connection to network server 2 OPTO22 unit 2 ONTIO1 Server 2 OPTO22 module 0 is a digital input module 2 1NTIO1 Server 2 OPTO22 module 1 is a digital input module WAIT 2 1IN 2 b1 Wait until input 2 of module 1 on Server 2 OPTO22 is active IF 2 0IN bxx1 If i
58. lement 6 in file 20 of the AB PLC will be equal to VARI129 VARI121 17 Element 4 in file 20 of the AB PLC will be equal to VARI121 Error Conditions Error Messages page 15 The 6K will transmit error message to alert you of certain error conditions Following are the error messages related to Ethernet networking Error Response CONNECTION COULD NOT BE CLOSED OR ALREADY CLOSED CONNECTION COULD NOT BE OPENED CONNECTION ERROR CONNECTION IS NOW BEING CLOSED CONNECTION IS NOT OPEN CONNECT LON IS OPEN MUST CLOSE FIRST ERROR INVALID FILE TYPE NUMBER OR SIZE SETTING NTMP COMMANDS TO 0 ELEMENTS CHECK MAPPING ERROR INVALID STRING ETHERNET CAN NOT BE USED WITH OPTION CARD SEE OPTEN ETHERNET COMMUNICATION MUST BE ENABLED BEFORE MAKING CONNECTION SEE NTFEN INVALID CONNECTION NUMBER INVALID I O POINT INVALID POINT TYPE OR NUMBER SEE NTIO INVALID SERVER TYPE NETWORK INPUTS AND OUTPUTS CANNOT BE ASSIGNED TO A VARSHO NETWORK IP ADDRESS CANNOT BE CHANGED WHILE CONNECTION IS OPEN SEE NTCONN NO NETWORK IP ADDRESS SPECIFIED FOR CONNECTION SEE NIIP NTFEN MUST BE 1 TO USE THIS COMMAND NTRATE MUST BE 0 TO CHANGE NTFEN Possible Cause Tried to close the network server connection nNTCONN when the connection was already closed Tried NTCONN1 and failed Problem could be invalid IP address or it refused a connection Connection error or timeout with server When polling and get time
59. llen Bradley PLC located at IP address 172 54 125 34 2NTCONN1 Attempt connection to network server 2 2NTCONNO Close the connection to network server 2 page 17 NTID Network Sharing Unit ID for Peer to Peer Communication Type Network Product Rev Syntax UN TED lt i gt 6K 5 3 Units n a Range i 058 Default i 0 receive variable data only do not send variable data Response NTID NTID2 See Also NTRATE VARSHI VARSHO The NTID command establishes the Network Unit ID for a 6K unit involved in a peer to peer Ethernet connection with other 6K or Gem6K products Up to eight 6K or Gem6K products may be connected in the peer to peer network Saved in Non Volatile Memory This command is saved in the controller s non volatile memory and is remembered on power up and RESET Implementation process for peer to peer communication further details are provided in the Programmer s Guide 1 Connect the 6K Gem6K products to the network and configure each 6K Gem6K for Ethernet communication according to the Ethernet Networking configuration procedures in the Programmer s Guide 2 Set the broadcasting rate with NTRATE command preferably the same rate 50 milliseconds is recommended for each unit 3 Ifthe unit is to receive data only not send you are finished with the setup for that unit If the unit is to also send complete steps 4 and 5 4 Assign a unique unit number 1 8 with the NTID command Assign d
60. mand a Ifyou are using the 6K as a server or client type the NTFEN2 command and press ENTER then type the RESET command and press ENTER b If you are using the 6K in a peer to peer connection with another 6K or Gem6K type the NTFEN1 command and press ENTER then type the RESET command and press ENTER 8 Use the following sub procedure to statically map the 6K s Ethernet MAC address to IP address of the Ethernet card in your PC Static mapping eliminates the need for the PC to ARP the 6K controller thereby reducing communication overhead a In Motion Planner s Terminal window type TNT and press ENTER The response includes the 6K IP address and the 6K Ethernet address value in hex this is also known as the MAC address Write down the IP address and the Ethernet address hex value for later use in the procedure below b Start a DOS window The typical method to start a DOS window is to select MS DOS Prompt from the Start Programs menu see illustration below A Programs 2 MS DOS Prompt amp Documents Settings 2 Eind amp Help 3 Bun ap Shut Down page 6 c At the DOS prompt type the arp s command see example below and press ENTER arp s 192 168 10 30 0 90 55 0 0 1 192 168 10 31 ress ihe space bar C E o 6K s IP Address 6K s Ethernet Address IP Address of Ethernet Card from TNT report from TNT report d To verify the mapped addresses type the arp a command and press
61. nput 3 of module 0 on Server 2 OPTO22 is active page 37 OUT Network Digital Output Type Network Syntax lt gt n mOUT lt b gt lt b gt lt b gt lt b gt lt gt n mOUT i b Units n network server m module b enable bit i digital output on module m Range n 1 6 m 0 7 b 1 turn on O turn off or X i 1 4 Default n mOUT0000 Response n a See Also L XOUT l NTIO ATIO TOUT Controlling Multiple Outputs Output 1 Output 2 r Output 4 Eoo utpu n mOUTbbbb Network Server t Options for b are Range 1 6 1 Turn on O Turn off a Module on Server n Range 0 7 x Don t Change Controlling One Output Network Server f Range 1 6 Module on Server n Range 0 7 Rev 5 3 Product 6K don t change Output Number Range 1 4 n mOUT i b t Options for b are 1 Turn on 0 Turn off x Don t Change 13 3 Use the OUT command to control the state of each digital output on the OPTO22 unit The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPL
62. nsfer Product Rev Syntax llon mTOUT lt 1 gt 6K 5 3 Units n network server m module i digital output on module m for bit select operation Range n 1 6 m 0 7 i 1 4 Default n a Response 1 1TOUT 1100 1 1TOUT 2 I See Also L OUT Je NTIO WTO The TOUT command returns the current status active on or inactive off of the OPTO22 digital outputs the outputs are turned on and off with the OUT command Each module of digital outputs has its own unique TOUT response The network server number and module number must precede the TOUT command e g 2 3TOUT reports the status of all digital outputs on module 3 of network server 2 If the status of a specific output is required use the bit select operator For example 1 3TOUT 2 reports the status of output 2 on module 3 of network server 1 The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 3 Digital Digital Digital Digital Analog Input Input Output Output Input Module Module Module Module 2 0TIN 2 2 3TOUT lt 2 2 5TANO lt 1 2 7 TANL 2 page 43
63. ording to the procedures on page 4 3 Choose a Server Connection Number for this device The 6K can support up to 6 simultaneous server connections Pick a number 1 6 that has not been used already for another connection This will be used to reference the OPTO22 unit from now on 4 Enter the IP address of the OPTO22 and specify a 2 for connection type with the NTIP command For example if the OPTO22 is Server 3 and its IP address is 172 20 34 170 then the command would be 3NTIP2 172 20 34 170 5 Attempt a connection to the device with NTCONN For example if the server number is 3 the command would be 3NTCONN1 If the connection is successful Network Status bit 1 is set see NTS TNTS TNTSF If the connection is unsuccessful Error Status bit 23 is set see ER TER TERF 6 Inform the 6K of the configuration of the OPTO22 For each module position use the page 9 NTIO command to specify the type of module in that position n mNTIO lt i gt Network Server _ t Module Type Options are Range 1 6 1 Digital Discrete Inputs 2 Digital Discrete Outputs 3 Analog Inputs Module on Server n 4 Analog Outputs Range 0 7 For example if there is a digital input module in slot 0 then the command would be 3 ONTIO1 If there is an Analog Input module in slot 7 then the command would be 3 NTTOS 7 Set the polling rate with the NTPOLL command 50 milliseconds is recommended For example to set the polling
64. out or message aborted This condition also sets Error Status bit 23 see ER TER TERF Tried a NIWRIT when connection is not open or tried a TANI or TANO or TIN or TOUT or TIO when connection is not open Tried to open a network server connection nNTCONN1 when the connection was already open Tried to read the wrong Allen Bradley PLC file type there are not enough elements in the file or the file doesn t exist The 6K automatically stop polling all mapped binary and integer variables equivalent to executing the NTMPRBi i 0 i NIMPWBi i 0 i NIMPRIi i 0 i and NTMPWIi i 0 i commands The DVT camera sent an invalid string response Tried to enable Ethernet communication NTFEN ona Fieldbus version of the 6K part number is 6Kn PB for PROFIBUS units 6Kn DN for DeviceNet units You must disable the internal option card with OPTEN before enabling Ethernet communication The 6K cannot communicate over a Fieldbus connection and Ethernet connection simultaneously Tried to connect to an Ethernet server nNTCONN1 before you enabled Ethernet communication in the 6K with the NTFEN command Tried to make an NTS assignment or comparison using an invalid server number e g VARB1 7NTS Tried to read or write an OPTO22 I O point that is not configured according to the NTIO command Tried to set or read an I O point with an IN OUT ANT ANO TANI TANO TIN or TOUT command but that I O point was configure
65. p the same 6K VARB variables to another PLC If you attempt either of these conditions the 6K will not accept the NTMPRB command and will transmit the error message VARIABLE MAPPING CONFLICT If you attempt to read from an AB data file of the wrong type or read from a non existent data element the 6K will not accept the NTMPRB command it will transmit the error message ERROR INVALID FILE TYPE NUMBER OR SIZE and it will automatically stop polling all mapped binary and integer variables equivalent to executing the NTIMPRBi i 0 i NTMPWBi i 0 i NTMPRIi i 0 i and NTMPWIi i 0 1i commands Control over Polling If you want to stop the 6K from reading binary data from the PLC but continue to exchange NTMPRI NTMPWI and NTMPWB data use the NTMPRBi i 0 1 command If you need to stop polling all mapped variables use the nNTPOLLO command Example 2NTIP1 172 54 125 34 Identify network server 2 as an Allen Bradley PLC at page 22 IP address 172 54 125 34 2NTCONN1 Attempt connection to network server 2 2NTMPRB3 15 15 35 File 3 elements 15 29 in the AB PLC are mapped to the 6K s binary variables VARB35 VARB49 2ZNTPOLL50 Start polling network server 2 set interval to 50 ms WAIT VARB40 b1111111100000000 Wait until the value of VARB40 mapped to file 3 element 20 in the PLC is 1111111100000000 NTMPWB Network Map Binary Variables for Writing to PLC Type Syntax Units Range Defaul
66. ritten to the controller s VARs This data can represent anything such as an x y coordinate Setup 1 Follow the manufacturer s setup procedure for the DVT camera 2 Connect the 6K and DVT camera in a network and configure the 6K for Ethernet communication according to the procedures on page 4 3 Choose a Server Connection Number for this device The 6K can support up to 6 simultaneous client connections Pick a number 1 6 that has not been used already for another server connection This will be used to reference the device from now on 4 Enter the IP address of the camera and specify a 3 for connection type with the NTIP command For example if the DVT camera is Server 6 and its IP address is 172 20 34 150 then the command would be 6NTIP3 172 20 34 150 5 Attempt a connection to the device with NTCONN For example if the server number is 6 the command would be 6NTCONN1 If the connection is successful Network Status bit 1 is set See NTS TNTS TNTSF If the connection is unsuccessful Error Status bit 23 is set See ER TER TERF page 11 Example 6NTIP3 172 34 54 150 Identify a DVT camera as Server 6 located at IP address 172 34 54 150 6NTCONN1 Attempt the connection to Server 6 Program Once a connection has been established you can write trigger commands to the camera using Interaction the NIWRIT command Example DEL DVT DEF DVT 6NTCONN1 Attempt connection to DVT camera 6NTWRIT DVT commands Writ
67. rk Product Rev Syntax lt gt lt n gt VARSHI lt i gt 6K 5 3 see diagram below for assignment syntax Units n unit number in the peer to peer network 1 VARSHO number from unit n Range n 1 8 i 1 8 Default n a Response 1VARSHI1 1VARSHI1 0 0 See Also IN VAR VARB VARI VARSHO The VARSHI command helps you use shared data over a peer to peer Ethernet connection with other 6K or Gem6K products VARSHI can be used to assign the integer or binary VARSHO data to a VAR numeric VARI integer or VARB binary variable or to a virtual input brick IN You can also use VARSHI in a conditional statement such as IF WAIT WHILE or UNTIL The diagram below shows the syntax requirements for assigning VARSHT data to a variable lt assignment gt lt n gt VARSHI lt i gt Assignment options _ tL Number of the VARSHO lt variable gt n variable from unit lt n gt t Variable number Number of the source unit VAR numeric variable use this units VARSHO VARI integer variable data VARB binary variable n IN virtual input assignment I O brick number e Range 1 8 e Must be an unused I O brick The Jmplementation Process beginning on page 8 identifies how to use the VARSHI command in context with the process of setting up the peer to peer Ethernet data sharing Example This example uses peer to peer communication with three 6K8 products putes THIS Code iS executed on Peer unit Fle Sessa
68. rst element in AB data file 15 elements total for binary data beginning of range that is to be shared with the 6K e Use the 6K s binary variables 35 49 of elements in range 15 variables total to store the data from the PLC The required mapping command is 2NTMPRB3 15 15 35 of first binary variable VARB in 6K beginning of range max value is 125 The NTMPRB command maps a range of binary data elements from the AB PLC to a range of binary VARB variables in the 6K There are 125 VARB variables available in the 6K for storing binary data To perform a binary read from the PLC l 2 3 Assign the AB PLC a server number according to its IP address NTIP command Connect to the AB PLC according to its server number NTCONN command Map a range of binary elements in the AB PLC to a range of binary VARB variables in the 6K NTMPRB command Start polling the AB device at a specific polling interval NTPOLL command This updates the 6K binary VARB variables with the binary element data from the AB PLC You can then use the PLC binary data via the VARB variables in conditional expressions command value substitutions and variable assignments Saved in Non Volatile Memory This command is saved in the controller s non volatile memory and is remembered on power up and RESET Potential Error Conditions You are not allowed to map the same 6K VARB variables for read and write functions Nor are you allowed to ma
69. rver IF Range 1 6 e Allen Bradley PLC is server 2 e The PLC s integer data file 9 has 30 of Allen Bradley data file elements Use data elements 15 29 of first element in AB data file 15 elements total for integer data beginning of range that is to be shared with the 6K e Use the 6K s integer variables 35 49 of elements in range 15 variables total to store the data of first integer variable VARI in 6K from the PLC beginning of range max value is 225 The required mapping command is 2NTMPRI9 15 15 35 The NTMPRI command maps a range of integer data elements from the AB PLC to a range of integer VARI variables in the 6K There are 225 VARI variables available in the 6K for storing integer data To perform an integer data read from the PLC 1 Assign the AB PLC a server number according to its IP address NTIP command Connect to the AB PLC according to its server number NTCONN command 3 Map a range of integer elements in the AB PLC to a range of integer VARI variables in the 6K NTMPRI command 4 Start polling the AB device at a specific polling interval NTPOLL command This updates the 6K integer VARI variables with the integer element data from the AB PLC You can then use the PLC integer data via the VARI variables in conditional expressions command value substitutions and variable assignments page 24 Saved in Non Volatile Memory This command is saved in the controller s non vola
70. ry variable to read from or write to an Allen Bradley data file but the variable is already used for Fieldbus PROFIBUS or DeviceNet data transfer functions Tried to map the same 6K VARB or VARI variables for read and write functions Or tried to map the same 6K VARB or VARI variables to another PLC The 6K has a Error Status register for logging certain error conditions If you enable checking for an error condition See ERROR command the 6K will branch to the designated error program see ERRORP command when it detects the error condition The Ethernet networking related Error Status register bits are noted below ERROR Bit Cause of the Error Branch Type How to Remedy the Error to ERRORP 23 Ethernet Client Gosub Clear the error bit ERROR 23 0 re establish Connection Error the Ethernet connection nNTCONN1 and Can t connect then issue ERROR 23 1 24 Ethernet Client Polling Error Gosub Clear the error bit ERROR 24 0 re establish After connect and polling device for data polling timeout occurred Cause could be disconnect client lost power etc the Ethernet connection nNTCONN1 and then issue ERROR 24 1 Command Descriptions NTCONN Network Connect Type Network Product Rev Syntax lt gt lt n gt NTCONN lt b gt 6K 5 3 Units n network server b Enable bit Range n 1 6 b 0 disconnect or 1 connect Default Hes i B 0 Response 1NTCONN 1NTCONNO See Also ER NTIP
71. s a range of integer data elements from the AB PLC to a range of integer VART variables in the 6K There are 225 VARI variables available in the 6K for exchanging integer data To perform a integer write to the PLEC 1 Assign the AB PLC a server number according to its IP address NTIP command 2 Connect to the AB PLC according to its server number NTCONN command page 25 3 Map arange of integer elements in the AB PLC to a range of integer VART variables in the 6K NTMPWI command 4 Start polling the AB device at a specific polling interval NTPOLL command This updates integer data elements in the AB PLC with the data from the mapped VARI variables in the 6K NOTE The VARI variables in the 6K are 32 bit values but the integers in the AB PLC are 16 bit values Therefore the range for the VARI variables must be kept in the range 32767 to 32767 Saved in Non Volatile Memory This command is saved in the controller s non volatile memory and is remembered on power up and RESET Potential Error Conditions e You are not allowed to map the same 6K VARI variables for read and write functions Nor are you allowed to map the same 6K VARI variables to another PLC If you attempt either of these conditions the 6K will not accept the NTMPWI command and will transmit the error message VARIABLE MAPPING CONFLICT e Ifyou attempt to write to an AB data file of the wrong type or to a non existent data element the 6K will
72. s in error e The subnet address must be the same for the 6K and any server it connects to or a connection error ER 23 will occur For example if the subnet mask is 255 255 255 0 class C and the 6K s address is 172 20 34 246 then every server it connects to must have an address of 172 20 34 x Example QNTIP1 172 54 125 34 page 21 Server Type 1 Identify network server 2 as an Allen Bradley PLC at IP address 172 54 125 34 NTMPRB Network Map Binary Variables for Reading from PLC Type Syntax Units Range Default Network Product Rev lt gt lt n gt NTMPRB lt i gt lt i gt lt i gt lt i gt 6K 5 3 n network server 1 i Allen Bradley data file Oo F H Of the 1 element in data file beginning of range 3 4 Of the elements to include in range i i of the 1 binary VARB variable in the 6K to map to n 1 6 15 i 0 n n depends on size of file ont i 0 n n depends on size of file gma Gror 1 50 Odisables polling for this mapping only 4 i 1 125 INTMPRB0 0 0 0 no mapping Response 1NTMPRB 1NTMPRB1 5 15 23 See Also NTCONN NTIP NTMPWB NTMPWI NTMPRI NTPOLL NTS TNTS TNTSF VARB lt n gt NTMPRB lt i gt lt i gt lt i gt lt i gt EXAMPLE Network Server EE IF Range 1 6 e Allen Bradley PLC is server 2 e The PLC s binary data file 3 has 30 of Allen Bradley data file elements Use data elements 15 29 of fi
73. s total to store the data from the PLC The required mapping command is S5NTMPRI9 15 15 35 of first integer variable VARI in 6K beginning of range max value is 225 e Use the NTMPWB command to write up to 50 binary values from VARB variables in the 6K to binary elements in a PLC s binary file n NTMPWB i i i i l EXAMPLE Network Server IF Range 1 6 e Allen Bradley PLC is server 5 e Inthe PLC s binary data file 3 use of Allen Bradley data file data elements 0 14 15 elements of first element in AB data file total for binary data that is to be beginning of range transmitted from the 6K e Use the 6K s binary variables 20 34 of elements in range 15 variables total to store the data to be transmitted to the PLC The required mapping command is 5NTMPWB3 0 15 20 of first binary variable VARB in 6K beginning of range max value is 125 e Use the NTMPWI command to write up to 50 integer values from VARI variables in the 6K to a integer elements in a PLC s integer file nNTMPWIi i i i EXAMPLE Network Server IF Range 1 6 e Allen Bradley PLC is server 5 e The PLC s integer data file 9 has 30 of Allen Bradley data file elements Use data elements 0 14 of first element in AB data file 15 elements total for integer data beginning of range to be transmitted from the 6K e Use the 6K s integer variables 20 34 of elements in range 15 variables total to store the data
74. sition operand The data stored in the VARSHO is not scaled The NTRATE command sets the rate at which each controller broadcasts its updated VARSHO data RECOMMENDATION Set all devices to broadcast at the same NTRATE rate of 50 milliseconds For 6K or Gem6K sending and or receiving information via the Peer to Peer feature 1 Connect the 6K Gem6K products to the network and configure each 6K Gem6K for Ethernet communication according to the procedures on page 4 2 Set the broadcasting rate with NTRATE command preferably the same for each unit If the unit is to receive data only not send you are finished with the setup for that unit If the unit is to send also complete steps 4 and 5 4 Assign a unique unit number 1 8 with the NTID command Assign data to the eight broadcast variables with the VARSHO command Repeat steps 2 5 for each unit in the peer to peer network Example First 6K or Gem6K NTID1 VARSHO1 1A VARSHO2 1PE d r d Assign this unit a pee Shared variable 1 con Shared variable 2 con r to peer unit number of 1 q4 tains axis 1 s acceleration a tains axis 1 s encoder position KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK Use this space to define shared outpu KKEKKKKKKK KKK KKK K KKK KKK KKK KKKK KK KKK KKK KKKKKKKK KK KKK KKKKK KKK KK KKKKKKKKKEKK VARSHO8 VARII NTRATE50 Second 6K or Gem6K NTID2 VARSHO1 1D VARSHO2 3PE r
75. t Network Product Rev lt gt lt n gt NTMPWB lt i gt lt i gt lt i gt lt i gt 6K 5 3 n network server 18 i Allen Bradley data file oof 4 e Of the T element an data file beginning of range 37 i of the elements to include in range Aig A or the 1 binary VARB Variable am the 6k to map to n 1 6 i a n G depends on Size of file 2 4 O n i depends onr size of file 3 i 0 or 1 50 0 disables polling for this mapping only 4 i 1 125 INTMPWBO 0 0 0 no mapping Response 1NTMPWB 1NTMPWB1 5 15 23 See Also NICONN NTIP NTMPRB NIMPWI NTMPRI NTPOLL NTS TNTS TNTSFE VARB lt n gt NTMPWB lt i gt lt i gt lt i gt lt i gt EXAMPLE Network Server ae IF Range 1 6 e Allen Bradley PLC is server 2 e Inthe PLC s binary data file 3 use of Allen Bradley data file data elements 0 14 15 elements of first element in AB data file total for binary data that is to be beginning of range transmitted from the 6K e Use the 6K s binary variables 20 34 of elements in range 15 variables total to store the data to be transmitted to the PLC The required mapping command is 2NTMPWB3 0 15 20 of first binary variable VARB in 6K beginning of range max value is 125 The NTMPWB command maps a range of binary data elements from the AB PLC to a range of binary VARB variables in the 6K There are 125 VARB variables available in the 6K for exchanging
76. the associated Element was polled from the PLC Multi Tasking If you are using multi tasking be aware that each Task has its own Network Program Select Mode If you wish to enable variable initiated program selection in an external task a task other than the task that is executing the NTSELP command then you must prefix the NTSELP command to address the targeted task For example 3 NTSELP1 40 enables Network Program Select Mode in Task 3 and uses the value of VARI 40 to program the number of the program to execute What conditions can disable the Network Program Select Mode e Executing the Kill Kx command e Executing the Stop S command or activating an input defined as a stop input see INFNC or LIMFNC This disables Program Select Mode only if the Task is operating in the COMEXS2 mode Example 2NTIP1 172 54 125 34 Network server 2 is an Allen Bradley PLC at IP address 1725412 5 34 Attempt connection to network server 2 VARI128 and VARI129 in the 6K are mapped to File 20 Elements 5 and 6 in the AB PLC The values of VARI128 and VARI129 will be derived from the values of File 20 elements 5 and 6 in the PLC Start polling the AB PLC set polling interval to 50 ms VARI128 is the network program select variable which is mapped with File 20 Element 5 in the AB PLC When the 6K polls Element 5 it will execute the program according to the value of Element 5 The program will be executed in Task 3 2NTCONN1 2NTMPRI2
77. tile memory and is remembered on power up and RESET Potential Error Conditions e You are not allowed to map the same 6K VARI variables for read and write functions Nor are you allowed to map the same 6K VARI variables to another PLC If you attempt either of these conditions the 6K will not accept the NTMPRI command and will transmit the error message VARIABLE MAPPING CONFLICT e Ifyou attempt to read from an AB data file of the wrong type or read from a non existent data element the 6K will not accept the NTMPRI command it will transmit the error message ERROR INVALID FILE TYPE NUMBER OR SIZE and it will automatically stop polling all mapped binary and integer variables equivalent to executing the NIMPRBi i 0 i NTMPWBi i 0 i NTMPRIi i 0 i and NTMPWIi i 0 i commands Control over Polling If you want to stop the 6K from reading integer data from the PLC but continue to exchange NTMPWI NTMPRB and NTMPWB data use the NTMPRIi i 0 1 command If you need to stop polling all mapped variables use the nNTPOLLO command Example 2NTIP1 172 54 125 34 Identify network server 2 as an Allen Bradley PLC at IP address 172 54 125 34 2NTCONN1 Attempt connection to network server 2 2NTMPRI9 15 15 35 File 9 elements 15 29 in the AB PLC are mapped to the 6K s integer variables VARI35 VARI49 2ZNTPOLL50 Start polling network server 2 set interval to 50 ms WAIT VARI 40 22 Wait until the value of
78. ver 1 The controller addresses the OPTO22 I O locations as follows Each I O bit is addressed by its location on a specific module NOTE I O points are not addressed by an absolute 32 bit location on the OPTO22 Digital input and output modules have four I O points or channels and are numbered 1 4 Analog input and output modules have two I O points or channels and are numbered 1 2 EXAMPLE OPTO22 is Network Server 2 0 3 a_i Digital Digital Digital Digital Analog Analog Analog Analog Input Input Output Output Output Output Input Input Module Module Module Module Module Module Module Module Output Input 1 1 1 Output Input 2 2 TIO Transfer Ethernet I O status Type Network Transfer Product Rev Syntax lt tom TO 6K 5 3 Units n network server Range n 1 6 Default n a Response see example below See Also NTIO TANI TANO TIN TOUT The TIO command displays the status of the current I O configuration for the specified OPTO22 network server If a module is not configured with the NTIO command it will not be included in the report A digital I O module has 4 points and an analog I O module has 2 Example Response gt 1 TIO SERVER 1 Module Type Status X 0 DIGITAL INPUTS 1011 page 42 DIGITAL OUTPUTS 0001 ANALOG OUTPUTS 10 000 4 456 DIGITAL INPUTS 1110 ANALOG INPUTS 6 753 0 000 TOUT Transfer Network Digital Output Status Type Network Tra
79. y center ATC or distributor or North America and Asia Europe non German speaking Germany A ustria Switzerland Compumotor Division of Parker Hannifin Parker Digiplan HAUSER Elektronik GmbH 5500 Business Park Drive 21 Balena Close Postfach 77607 1720 Rohnert Park CA 94928 Poole Dorset Robert Bosch Str 22 Telephone 800 358 9070 or 707 584 7558 England BH17 7DX D 77656 Offenburg Fax 707 584 3793 Telephone 44 0 1202 69 9000 Telephone 49 0 781 509 0 FaxBack 800 936 6939 or 707 586 8586 Fax 44 0 1202 69 5750 Fax 49 0 781 509 176 e mail tech_help cmotor com Internet http www compumotor com Darker Tech nical Support Automation E mail Tech_Help cmotor com Ethernet Networking User Instruction Material Contents Ethernet NEIWoOrk 0 ene mea PE RP Peon T ene RP rn ee mr Perel ney ae One l OVON A E E a neacan tee ae eeat eee l Networkin Guidelines iugo irrar ana a ta a aa e a Ua 3 Configuring the 6K for Ethernet Communication ccccccccccscecccscececcceeeeeeeeeees 5 Networking with Other 6K or Gem6K Products Peer to Peer cccceeeeeeeees 8 Networkine with OPTO22 SNAP VO eraco tionen etiam ean eadeeaaes 9 Networking with a DVT Vision System ccccccccccccccccccccccceeeeeceeeeeeeeeeeeeeeeeeeeeeees 11 Networking with an Allen Bradley SLC 5 05 PLC sssooooeoooennnnensennnnnenrrrrrerreeenn 12 Eor C ON GIONS ienne A E E an vase ese eanes 15 Command Descrip o iSnaaakg an a

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