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1. AS i PCI Board Double Master ASI M22310 User Manual SICK issue date 26 11 2001 AS i PCI Board Table of Contents S i C K Table of Contents 1 The Used Symbols i cessed e aaa eaa aea tice aaa drona a anik ainne Ninna aa daane taaa 5 2 E EA ETAETA TITTET ATATA 7 2 1 Intended Use 000 ek 2 2 General Safety Information veal 3 Features of the AS i PCI Board cccccccssssseeseeeeeeececeeccnsssssseneeseneneeses 9 4 Installation of the AS i PCI Board cccccccssessssseeeeceececeeccancesseeesenees 11 5 Accessing the Data aani ananena inaona aanas indara eine 13 5 1 Windows Device Drivers and DLLS 0 ccscsecceeeeeeseeeeeeeceeeseneaeeaeeeenseesseaeeeeenens 13 5 2 OPC Server cescicicctiessecectecesinentcesicanencctuevccvsensttecedsoeentebeeestcdtos eapi taaa Haaai at 13 5 3 Using the AS i PCI card without the Windows Device Driver s 1ee008 13 53A Register Map piirrin a iedee pe a e aiea araye A Cieee aE aai 13 5 3 2 IDRRAM ACCESS a aa Trta aeiae aa Sasasestansscessseescevacvessideusecaubersuectisthsusctesnstudecvectedes 13 5 3 3 interrupt Handling iacaat i a ea edt a a ariani aa 14 6 Data Exchange via the Dual Port RAM DPRAM 2 eeee 15 6 1 Detailed DPRAM Address Map ssccsscsssseseseerseeseeseeeseeseeeseeeeeeseeeseeeseseeeseanenes 15 6 2 AS i Master Execution Control Lists 0 0 0 ccceccseeee sees sees eeseeeeseeeseeeseeeseeeeneeesene
2. 11hex 17dec parameter in 0 protected mode not 0 configuration mode parameter out buffer in buffer out If the value of the first byte of parameter in is not equal to zero the AS i master chang es to the configuration mode Else the AS i master tries to change to protected mode Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 19 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM S j C K 6 4 11 Change Slave Address command 14hex 20dec parameter in old slave address new slave address parameter out buffer in buffer out In case of an error this command returns a special error message second byte of the mailbox 00h 02h 03 04 05p 06 O07 09 OK no error occured SND slave with old address not detected SDO slave with address zero detected SD2 slave with new address detected DE error with deletion of old address SE error with setting of new address AT new address could only be stored temporarily RE error with reading the extended ID code 1 6 4 12 Write Extended ID code 1 of slave 0 command 18hex 24dec parameter in extended ID code 1 parameter out buffer in buffer o
3. Il ordered seperatly Note 8 1 Windows Software AS i Control Tools 1 Start the AS i Control Tools 2 Call the command Master New 3 Choose AS i PCI as protocol 4 Do the appropriate settings 5 Call the command Master AS i configuration The AS i configuration editor will be started All detected and projected AS i slaves are displayed in this window 6 Click on a slave entry to open the dialogbox slave configuration Selected Slave Change address to e Less Store Inputs VO M1 M2 Outputs r3 Curent parameters VO 1 M2 M3 Power up parameters VO V1 2 M3 Detected 11 Device Type This dialog box is for changing a slave address setting AS i parameters or AS i configuration data Additionally you can test inputs and outputs A very easy approach to configure the AS i circuit is connecting each AS i slave to the line and setting the AS i slave address one after the other After that press the button Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 27 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Commissioning Tools and Accessories S j C K Store configuration to adopt the detected AS i circuit to the AS i master as projected data Moreover you can use the AS i Address Assistant This tool changes automatically the addres
4. Masters 32Bit DLL 5 2 OPC Server Another possibility of data access is the use of the OPC Server The OPC Server is an easy possibility to use a wide variety of SCADA systems together with the AS i PCI card 5 3 Using the AS i PCI card without the Windows Device Driver The DPRAM of the AS i PCI board is accessible both memory mapped and I O mapped The PCI host system should provide ways such as the PCI BIOS in case of an IBM AT to determine the I O and or memory base address and interrupt number 5 3 1 Register Map Offset Bits Description Value 00n subsystem reset FF asserted FE released 02 AUX pin control set to BF 03 AUX pin data initialize with 80 0 5 DPRAM window selection 6 interrupt request 7 interrupt acknowledge 04 set to 00 05h Interrupt mask set to 40 to enable interrupts else set to 00 07h AUX pin status COn DPRAM window FC 5 3 2 DPRAM Access The AS i PCI board uses a 1 kByte byte wide DPRAM The access to this DPRAM is done through a 16 byte window starting at offset CO To select the window for a certain DPRAM_address set the register AUX pin data at offset 03 according to the following formula AUX pin data DPRAM_address 16 128 In other words bits 2 to 2 of AUX pin data determine the bits 2 to 2 of the DPRAM address AUX pin data bit 2 should be set Subject to reasonable modifications due to tech
5. 2 3 4 5 64 7 slave 16B 17B 18B 19B 20B 21B 22B 23B 24B 25B 26B 27B 28B 29B 30B 31B 30 Meaning of the Lists LPS LDS LAS LCS LOS LPF List of Projected Slaves List of Detected Slaves List of Activated Slaves List of Corrupted Slaves List of those slaves that have caused a short time configuration error List of Off line Slaves List of those slaves with that in case of configuration error the AS i Master shall switch to the Off line phase List of Peripheral Faults List of those slaves that indicate a peripheral fault issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Appendix Representation of Information in the User Data Bytes SICK 9 3 Execution Control Flags ec flags BitO config_OK Bit1 LDS O Bit 2 Auto_Address_Assign Bit3 Auto _Address_Available Bit 4 Configuration_Active Bit 5 Normal_Operation_Active Bit6 APF Bit 7 Offline_Ready Bit 8 Periphery_OK 9 4 Host Interface Flags hi flags BitO data_exchange_active Bit1 Offline Bit 2 Auto_Address_Enable configuration error configuration O K slave with address 0 present automatic addressi
6. SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 31 AS i PCI Board Appendix Representation of Information in the User Data Bytes S j C K 32 Byte 3 E e The responding AS i Master is featured with the optional EMC test mode Byte 4 D d The responding AS i Master is featured with the advanced diagnos tics functionality Byte 5 C e The responding AS i Master is featured with the function Offline Phase when Configuration Error Byte 6 n n number of AS i Masters n 2 with a double master Byte 7 not used Byte 8 D d The data_exchange_active host interface flag is set erased Byte 9 0 0 The offline host interface flag is set erased Byte 10 A a The auto_address_enable host interface flag is set erased Byte 11 not used Byte 12 A Y The AS i Master is according to the AS i Specification 2 04 resp 2 1 A A Advanced AS i A Y occurs as long as loading an AS i Control program to the board while an AS i Control program runs Byte 13 S s T t The AS i Master supports 16 Bit slaves according to the analog profil 7 3 S s or 7 4 T t If there s a capital s or T the data exchange with the 16 Bit slaves is active Byte 14 W w The watchdog was activated deactivated Byte 15 not used Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG
7. in buffer out data length Reads up to 128 bytes of user memory flags There are 256 bytes of user memory available therefore the start address may range from 0 to 255 6 4 20 Read and Clear LCS Advanced AS i Diagnostics command 46hex 70dec parameter in parameter out LCS 8 buffer in buffer out Subject to reasonable modifications due to technical advances 22 Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 issue date 26 11 2001 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM S i C K 6 4 21 6 4 22 6 4 23 6 5 6 6 Read and Clear Transmission Error Counters Advanced AS i Diagnostics command 47hex 7 1dec parameter in parameter out buffer in buffer out transmission error counters 64 Set LOS Advanced AS i Diagnostics command 48hex 72dec parameter in LOS 8 parameter out buffer in buffer out Update DPRAM command 80hex 128dec parameter in parameter out buffer in buffer out The whole DPRAM except watchdog and output data image is rewritten by the AS i master in order to eliminate inconsistencies Watchdog If the contents of the byte watchdog enable is not equal to zero the watch
8. master must not exceed 5 A Attention 4 Now switch on the PC Windows 95 98 The needed device drivers are on the enclosed CD Windows NT If you have Windows NT make sure that are you logged in as administrator then just install the AS i Control Tools setup exe on disk 1 and follow the given instructions Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 11 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Installation of the AS i PCI Board S C K issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Accessing the Data S i C K 5 Accessing the Data 5 1 Windows Device Drivers and DLLs The AS i PCI card comes with Windows device drivers for Windows 95 98 NT and 2000 see chapter 3 In addition to that you can download the DLLs asidrv32 and asipci dll from the Internet These DLLs enable the user to write its own Windows application The use of these DLLs is described in the files readme txt and aasidrv h that are also contained in the driver package Windows drivers for AS i
9. 1 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM S i C K 6 Data Exchange via the Dual Port RAM DPRAM 6 1 Detailed DPRAM Address Map AS i Circuit 1 address size data access 000 8 list of active slaves LAS r 008 8 list of detected slaves LDS r 010 8 list of projected slaves LPS r 018 8 list of peripheral faults LPF r 020 32 parameter image PI r w 040 32 permanent parameter PP r 060 32 output data image ODI inverted r w 080 32 input data image D r OAOp 2 execution control flags ec flags r 0A2p 1 host interface flags hi flags r w OA8h 8 list of offline slaves LOS r Device Part 1 address size data access OC8h 8 Date Code r ODO 16 Features r OEOn 32 Master Name r Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 15 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Data Exchange via the Dual Port RAM DPRAM Device Part 2 address size data access 1B9 1 Config_ok Delay r w 1BA 1 Watchdog Enable r w 1BBh 1 Watchdog Counter r w 1BCh 2 Interrupt Enable r w 1BE 2 Interrupt Event r 1C0 16 Mailbox A r w 1D0p 16 Mailbox B rw 1E0 16 Mailbox C r w 1FO 16 Mailbox D r w 200 128 BufferA r w 280p 128 Buffer
10. 26 11 2001 AS i PCI Board a SICK 2 Safety 2 1 Intended Use Warning The protection of operating personnel and the system against possible danger is not guaranteed if the control interface unit is not operated in accordance with its intended use The device may only be operated by appropriately qualified personnel in accordance with this operating manual 2 2 General Safety Information Warning Note Safety and correct functioning of the device cannot be guaranteed if any operation other than that described in this operation manual is per formed The connecting of the equipment and any maintenance work to be car ried out with voltage applied to the equipment must only be performed by appropriately qualified electrotechnical personnel In the case that a failure cannot be repaired the device must be taken out of operation and kept from inadvertently put back into operation Repair work is to be carried out by the manufacturer only Additions or modifications to the equipment are not allowed and void the warranty The operator is responsible for the observance of local safety stan dards Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 7 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Safety S C K issue date 26 11 2001 Subject to reasonable modifica
11. 5 6 7 slave 0 1A 2 2A 3 3A byte 14 15 bit Oo 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 slave 28 28A 29 29A 30 30A 31 31A byte 30 31 bit Oo 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 slave 28B 29B 30B 31B 9 2 AS i Slave Lists The AS i Slave lists LPS LDS LAS LCS LOS and LPF list are built up as follows byte 0 1 bt o 71 2 3 4 516 7 0 1 2 3 4 5 6 7 slave O 1 2 3 4 S 6 7 8 9 10 11 7 12 13 14 15 1A 2A 3A 4A 5A 6A 7A 8A 9A 10A 11A 12A 13A 14A 15A byte 2 3 bit O 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 slave 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 16A 17A 18A 19A 20A 21A 22A 23A 24A 25A 26A 27A 28A 29A 30A 31A byte 4 5 bit Oo 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 slave 1B 2B 3B 4B 5B 6B 7B 8B 9B 10B 11B 12B 13B 14B 15B Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 29 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de Appendix Representation of Information in the User Data Bytes S j C K AS i PCI Board byte 6 7 bt O 1 2 3 4 5 6 7 0 1
12. B r w 300 128 Buffer C r w 380 128 Buffer D r w 6 2 6 3 16 SICK If an AS i Control program runs buffers C and D are occupied by the AS i Control user memory flags AS i Master Execution Control Lists All data of the AS i master may be read at any time out of the DPRAM addresses 000 to OAFp resp 100p to 1AF The only lists that are read cyclically by the AS i master are the output data image ODI the host interface flags hi flags and the parameter image PI All other lists can only be written by using the mailbox commands The AS i master writes cyclically the input data image D the execution control flags ec flags the list of active slaves LAS the list of detected slaves LDS and the con figuration data image CDI Additionally the installed software string is updated Due to the internal processing of the output data image ODI the user has to store it inverted to the DPRAM While a control program is running it generates the new ODI so the AS i master writes it to the DPRAM image Working with AS i Control Programs While an AS i Control program is running all output data that are written directly to the ouput data image ODI are overwritten instantly by the AS i Control program To write output data from the PC to the card you have to write these data to the user flags These user flags must be copied in the AS i Control program to the outputs You can copy the data e
13. CI board with several ap plications simultaneously Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 9 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Features of the AS i PCI Board S j C K issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Installation of the AS i PCI Board S C K 4 Installation of the AS i PCI Board The Plug and Play feature makes the installation of the AS i PCI Board very easy 1 Switch off the PC 2 Then just insert the board into a free PCI slot and connect the AS i circuit s 3 The following pictures shows the possibilities to connect an AS i circuit Sior Connection samples for the AS i power supply Warning AS i Master a a AS i Master i L o AS i max 5A AS i Slave __ power PELV according to EN D k Tt supply 50178 Protective extra low voltage 9 1 AS i Slave AS i Slave max 8A H ae PELV according to EN 50178 44 Z ASA SI supply Protective extra low voltage AASS In the wiring schemes above the current through the AS i
14. Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Appendix Representation of Information in the User Data Bytes SICK 9 6 AS i Control Flags Start Stop Code Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 start_flag reset_bit ignore_config_errors auto_start map_counters 9 7 Non volatile stored Data When bit 0 is set the control program is exe cuted as soon as the AS i Master s status permits the execution This flag is stored non volatile The control program is read from the EEPROM prior to the start In addition the user memory flag bytes is erased Necessary after each download not returned as AS i Control flag When bit 2 is erased the control program is stopped as soon as an AS i configuration error occurs This flag is stored non volatile When bit 3 is set AS i Control waits for a push on the set button before it restarts the control programm This flag is stored non volatile When bit 4 is set the counter registers of the 15 counters can be accessed by F 96 0 to F 125 7 This flag is stored non volatile Following datas and states are stored non volatile in the AS i Master Non volatile stored data state of delivery bit 2 Auto_Address_Enable of the host interface flags set list of the projected slaves LPS 0000p permanent configu
15. and execution control flags before this delay runs out The DPRAM byte Config_ok delay holds the maximum time for this delay in units of 10ms If the user is sure reading of D and flags does not take more than 10ms he does not need to change the default value of 2 20 ms Interrupts The AS i card is able to release interrupts on the bus of the PC Each interrupt source has to be enabled by setting the corresponding bit in the word or meomory location interrupt enable It is possible to activate several interrupt sources at one time The register interrupt event holds the source s of the pending interrupt and should be cleared by the users interrupt routine The interrupt sources are as follows Bit Interrupt Source 0 AS i circuit 1 changes on Config_OK Both 0 to 1 and 1 to 0 transition of the execution control flag Config_ok release an interrupt 1 AS i circuit 1 changes on the Input Data Image D If this bit is set the input data image is tested cyclically for changes by the PC card As soon as a change is detected an interrupt is released 2 AS i circuit 1 end of AS i cycle An interrupt is released at the end of every AS i cycle The AS i Cycle time for the AS i masters is between 300us one AS i slave only and about 5ms 31 AS i slaves 3 4 Command in mailbox A is executed 5 Command in mailbox B is executed 6 Command in mailbox C is executed 7 8 9 Command in mailbox D is ex
16. aves as permanent parameters 6 4 5 Write Permanent Configuration Data PCD command 8hex 8dec parameter in parameter out buffer in PCD 128 buffer out Subject to reasonable modifications due to technical advances issue date 26 11 2001 Copyright SICK Printed in Germany 18 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM SICK 6 4 6 Read Permanent Configuration Data PCD 6 4 7 command Qhex 9dec parameter in parameter out buffer in buffer out PCD 128 Store Actual Configuration command Ahex 10dec parameter in parameter out buffer in buffer out Stores the actual configuration as permanent configuration i e the list of detected slaves LDS is stored as list of projected slaves LPS and the configuration data im age CDI is stored as permanent configuration data PCD 6 4 8 Read Configuration Data Image CDN 6 4 9 6 4 10 command Bhex 11dec parameter in parameter out buffer in buffer out CDI 128 Write List of Projected Slaves LPS command Chex 12dec parameter in LPS 8 parameter out buffer in buffer out Set Operation Mode command
17. azil Phone 55 11 55 61 26 83 Fax 55 11 55 35 41 53 China Hong Kong Phone 8 52 27 63 69 66 Fax 8 52 27 63 63 11 Czech Republic Phone 42 02 578 10 561 Fax 42 02 578 10 559 Denmark Phone 45 45 82 64 00 Fax 45 45826401 Finland Phone 3 58 9 7 28 85 00 Fax 3 58 9 72 88 50 55 France Phone 33 1 64 62 35 00 Fax 33 1 64 62 35 77 Germany Phone 49 211 5301 0 Fax 49 2 11 53 01 1 00 Great Britain Phone 44 17 27 83 11 21 Fax 44 17 27 85 67 67 Italy Phone 39 02 92 14 20 62 Fax 39 02 92 14 20 67 Japan Phone 813 33 58 13 41 Fax 813 33 58 05 86 Netherlands Phone 31 302 29 25 44 Fax 31 3 02 29 39 94 Norway Phone 47 67 56 7500 Fax 47 67 56 6100 Poland Phone 48 22 8 37 40 50 Fax 48 22 8 37 43 88 Singapore Phone 657 44 37 32 Fax 658 41 77 47 Spain Phone 34 9 34 80 31 00 Fax 34 9 34 73 44 69 Sweden Phone 46 8 6 80 64 50 Fax 46 8 7 10 1875 Switzerland Phone 41 4 16 19 29 39 Fax 41 4 16 19 29 21 Taiwan Phone 88 62 23 65 62 92 Fax 88 62 23 68 73 97 USA Phone 1 952 9 41 67 80 Fax 1 952 9 41 92 87 Representatives and agencies in all major industrial nations SICK SICK AG Automatisierungstechnik Sebastian Kneipp StraBe 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 36 09 www sick de
18. ding the list Short time AS i power failures are represented in the LCS at the po sition of AS i slave with address 0 O With every read access the LCS will be deleted Il Note Protocol Analysis Counters of Corrupted Data Telegrams The AS i master with advanced diagnostics has a counter of telegram repetitions for each AS i slave which is increased everytime there is a corrupted data telegram This makes possible to judge the quality of the AS i network even if only a few corrupted telegrams occured and the AS i slave did not cause any configuration errors O The counter values can be read via the host interface and will be deleted with every read access The counter value is limited to 254 i 255 means counter overflow Note Off line Phase on Configuration Errors LOS The AS i master with advanced diagnostics offer the possibility to put themselves into the off line Phase when a configuration error on the AS Interface occurs In this way the security of the application can be ensured The reaction to a configuration error is very fast and the host can be relieved from this task If there are any problems on the AS i network the AS interface can be switched to a secure state There are two different ways to parameterize the AS i master for this feature Every configuration error during normal operation in protected mode releases the off line phase For each slave address can be chosen whether a configuration error on t
19. dog is en abled and the user has to write cyclically a value different to zero to the byte watchdog counter The AS i master decrements the watchdog counter every 10 ms If Zero is reached it changes to the off line phase This way the maximum watchdog time is written in units of 10 ms That allows super vising times from 10 ms up to 2 55 seconds To disable the watchdog the user has to write 00h to the byte watchdog enable Timing out may be recognized by watchdog enable 0 and watchdog counter 0 Config_ok Delay It is recommended to read the execution control flags every time the input data image IDI is read Only if the Config_ok flag is set the user can be sure that all input data is valid The PC needs a certain time to read the input data image and the execution control flags out of the DPRAM in addition the PC may be interrupted by other tasks while reading and the AS i master is able to alter the DPRAM at any time Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 23 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM S j C K 6 7 24 To guarantee the input data read by the PC is valid when it reads configuration O K the 0 to 1 transition of the Config_ok flag is delayed The user has to read both input data
20. ecuted 11 12 13 14 DPRAM watchdog timed out 15 Toggle bit only in interrupt event Each time an interrupt is acknowledged this bit is toggled Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 issue date 26 11 2001 AS i PCI Board Advanced Diagnostics for AS i Masters S Cc K 7 1 7 2 7 3 Advanced Diagnostics for AS i Masters The advanced AS i diagnostics serve to locate occasionally occurring errors and to judge the quality of data transmission on AS i without additional diagnostics tools The AS i Control Tools ASI CT210 software for the comfortable commissioning of the AS Interface and the programming of AS i Control support the operation of the advanced diagnostics LCS error counters and LOS List of Corrupted AS i Slaves LCS To locate occasionally occurring short time configuration errors the AS i masters with advanced diagnostics manage beside the list of projected slaves LPS the list of de tected slaves LDS and the list of activated slaves LAS a forth list the list of cor rupted slaves LCS This list contains entries of all AS i slaves which were responsible for at least one configuration error since powering up the AS i master or rea
21. el 0 low byte channel 0 high byte channel 1 low byte channel 1 high byte channel 2 low byte channel 2 high byte channel 3 low byte channel 3 high byte buffer in buffer out 6 4 16 Write AS i Control Flags command 32hex 50dec parameter in AS i Control flags parameter out buffer in buffer out Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 21 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM 6 4 17 Get Status AS i Control SICK command 33hex 51dec parameter in parameter out AS i Control flags last cycle time low byte last cycle time high byte maximum cycle time low byte maximum cycle time high byte cycle time in ms buffer in buffer out 6 4 18 Write User Memory AS i Control command 36hex 54dec parameter in start address 0 length parameter out buffer in data length buffer out Writes up to 128 bytes of user memory flags There are 256 bytes of user memory available therefore the start address may range from 0 to 255 6 4 19 Read User Memory AS i Control command 38hex 56dec parameter in start address 0 length parameter out buffer
22. entation of Information in the User Data Bytes 29 Input and Output Data lt ieaie anata eonenn ipanaa eee seeeaeeseeeaeeeseeeeeeeeeeeeeeaes 29 AS i Slave Lists n 129 Execution Control Flags ec flags 3 Host Interface Flags Wi flaQs cscecceseeeeeseeeeeeeeeeeeeeceeeseeeaeeseeeaeeeseeeeaeeaeeeeeeaes 31 Installed Software Flags of the Host Interface scccceseceeseeeeeeeeeeeseseeeeeneeeee 31 AS i Control Flags Start Stop Code Non volatile stored Data 00 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 issue date 26 11 2001 ci SICK u 16866 SICK EC Declaration of Conformity In Compliance with the EC Directive on Electromagnetic Compatibility 89 336 EWG We hereby declare that the devices see page 2 of the product family ASI M comply with the basic requirements of the EC Directive specified under Point 1 If an item of equipment listed overleaf is modified without our approval then this declaration loses its validity for this equipment We employ a quality system certified by the DQS German Quality Assurance Society No 462 as per ISO 9001 and have therefore observed the regulations in accordance with module H as well as the following EC directives and EN s
23. esaeeaeesaesseeeneeseceeeceeseaeceeesaeeereeateaee 6 4 16 Write AS i Control Flags oo eeseeessceecesecececeeeseeeeesaeeseesaeeeceseceaecaeeeaeseeeateeeeacenes 6 4 17 Get Status AS i Control oe 6 4 18 Write User Memory AS i Control 6 4 19 Read User Memory AS i Control 6 4 20 Read and Clear LCS Advanced AS i Diagnostics eccceeeeeeeeeeeceeeeeeteeetteeeeeee 22 6 4 21 Read and Clear Transmission Error Counters Advanced AS i Diagnostics 23 6 4 22 Set LOS Advanced AS i Diagnostics oo ceeeceeceeceeeeeeeeeeeneeesecereesecereeaeeenenaeenee 23 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 1 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Table of Contents S C K 6 4 23 Update DPRAM 6 5 6 6 6 7 7 7 1 7 2 7 3 8 9 9 1 9 2 9 3 9 4 9 5 9 6 9 7 2 Watchdog Config_ok Delay IPO RUP ts T te aceedehs T E unten E E cendeouenant cet Advanced Diagnostics for AS i Masters cccssssessseneeeeeenseeeeees 25 List of Corrupted AS i Slaves LCS 05 25 Protocol Analysis Counters of Corrupted Data Telegrams a29 protocol analysisOff line Phase on Configuration Errors LOS sesee 25 Commissioning Tools and Accessories ceeeseeeeeeeeeeeeeeeeeeeees 27 Appendix Repres
24. his ad dress will release the off line phase or not This information is stored in the List of Off line Slaves LOS Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 25 AS i PCI Board Advanced Diagnostics for AS i Masters S j C K The user himself can decide how the system reacts to a configuration error on the AS Interface The AS i master can release the off line phase in critical situations i e only with certain slave addresses while in less critical situations if one of the other AS i slaves have a configuration error only the error message configuration error is sent to the host but AS i is still running issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Commissioning Tools and Accessories S C K 8 Commissioning Tools and Accessories The AS i circuit on the AS i master can be put into operation with the comfortable Win dows software AS i Control Tools ASI CT210 O The enclosed software is an unlicensed version The software AS i Control Tools ASI CT210 art no 6022501 as to be
25. ither bit wise or with transfer commands byte or word wise to the outputs Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 issue date 26 11 2001 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM S i C K 6 4 Mailbox Commands To read and write the execution control lists that are not directly accessibly in the DPRAM the AS i PC card has four mailboxes These mailboxes have to be used as well if commands like Change Slaveaddress or Store Configuration shall be exe cuted Each mailbox consists of 16 bytes byte 0 byte 1 byte 2 15 in command AS i circuit parameter in 0 AS i circuit 1 1 AS i circuit 2 out result error message parameter out In addition to that there is a 128 byte buffer assigned to each mailbox The command is initiated by writing a valid command value to the first byte of the mail box After command execution the master overwrites the command with one of the following values 00 ACK successful command execution FF NAK an error occured during command exectution Before the AS i Master overwrites the first byte of the mailbox with NAK it writes an error message to the second byte of the mailbox 00 OK no error occured 011 NOK erro
26. ng not allowed automatic addressing allowed auto address is not possible auto address is possible AS i Master is in protected mode configuration mode active normal operation active AS i power O K AS i power failure AS i Master is in off line phase peripheral fault Periphery O K AOR AOA ARO RO ROA HAO 1 activates the data transmission between AS i Master and slaves 1 sets the AS i Master to the off line phase 1 enables the automatic addressing 9 5 Installed Software Flags of the Host Interface At address at the DPRAM a 16 bytes long character string is stored This string con tains the host interface states and the AS i Master s capabilities as upper and lower case letters The letters have the following explanations The responding AS i Master is an AS i Control The capital C means that a control program is currently being executed A lower case c means that either the start flag has not been set or that the AS i Mas Is D d displayed instead of C c the new software of AS i Control is Bus capable AS i Master The responding Master has a bus capabil Byte 0 C c D da ter s status does not permit the execution installed Byte 1 B b ity true for all PC boards Byte 2 F Subject to reasonable modifications due to technical advances The responding AS i Master is featured with the optional AS i error counter Copyright SICK Printed in Germany
27. nical advances Copyright SICK Printed in Germany 13 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Accessing the Data S j C K To access a certain cell of the DPRAM within the DPRAM window read or write at the following offset offset CO DPRAM_address mod 16 4 5 3 3 Interrupt Handling 14 Besides installing an interrupt handler on the PCI host and selecting an interrupt source in the DPRAM you have to set the Interrupt mask register at offset 05 to 40 in order to enable interrupt generation of the AS i PCI board If the AS i PCI asserts an interrupt bit 2 of AUX pin status is set to zero To ack nowledge the interrupt set bit 2 of AUX pin data to zero and wait for bit 28 of AUX pin status until it becomes 1 Afterwards read the Interrupt Event DPRAM cell to determine the interrupt source that caused the interrupt If this is done within a interrupt handler you should save and restore the contents of the AUX pin data register in order to avoid switching the DPRAM window during DPRAM access of an other task Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 issue date 26 11 200
28. r occured no more precise diagnosis available 10 Request invalid command value was written to the first byte of the mailbox 12h CtriBuff command is not allowed in this mailbox because buffers C and D are oc cupied by the AS i Control user memory 13 Notlmplemented command is valid but not implemented yet The following mailbox commands are available See chapter 9 for detailed explanation of the lists and parameters of the individual commands Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 17 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de AS i PCI Board Data Exchange via the Dual Port RAM DPRAM 6 4 1 Write Permanent Parameter PP SICK command 3hex 3dec parameter in parameter out buffer in PP 32 buffer out 6 4 2 Read Permanent Parameter PP command A4hex 4dec parameter in parameter out buffer in buffer out PP 32 6 4 3 Write Parameter PI command 5hex 5dec parameter in slave address PI parameter out slave address PI slave response buffer in buffer out 6 4 4 Store Actual Parameter P command 7hex 7dec parameter in parameter out buffer in buffer out Stores the actual parameters of the AS i sl
29. ration data PCD FFhex permanent parameter PP Fhex AS i control flags bit 0 start_flag bit 2 ignore_config_errors bit 3 auto_start and bit 4 map_counters all bits are erased operating mode configuration mode protected operating mode configuration mode Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 33 AS i PCI Board Appendix Representation of Information in the User Data Bytes S j C K issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 E SICK Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 35 Printed in Germany We reserve the right to make changes Your contact Australia Phone 61 39497 41 00 0 08 33 48 02 toll free Fax 61 3 94 97 11 87 Austria Phone 43 2 23 66 22 88 0 Fax 43 2 23 66 22 88 5 Belgium Luxembourg Phone 32 24 66 55 66 Fax 32 24 63 35 07 Br
30. s 16 6 3 Working with AS i Control Programs cccsccceesecceeeeeeeseeeaeeeeeeaeeeseeeeeeeeeeeeeeees 16 6 4 Mailbox Commands eceeceseceseceeeseecneeeeeeeeeecessceseseeeeeeauseaseeaeeseeeseeeseaeseeeanaeenenes 17 6 4 1 Write Permanent Parameter PP ccesccecceeeeeeeeeeeeceeeeeceeeaeeesesaeeesneeeeeeneeeeeeaae 18 6 4 2 Read Permanent Parameter PP cceeseeeeeeceeeeeeeeeceeeeeceeeaeeeseeaeeesneeeeeeeeeeeeenee 18 6 4 3 Write Parameter PI ccccccccsescceesececeeeeeeceeseeeeceaeceseeneeseeaeeeeeaaeeesesaeeeseaeaeeeeeeeeeaae 6 4 4 Store Actual Parameter PI 6 4 5 Write Permanent Configuration Data PCD o eeceeeeecececeecceeeceeeeeeeeeeeeesneeeseeneeenes 18 6 4 6 Read Permanent Configuration Data PCD o cceceececeeeecesceeeceeeeeeceeeeeesneeesenneetes 19 6 4 7 Store Actual Configuration ecccececcceceeeceeeeceeceeeceeeeeeeeceeaeeseeaaeeeseeaeeeseaeeeeeeeeeeenee 19 6 4 8 Read Configuration Data Image CDI oo eeeeeceeeceeececeeeceeeeeeeeeseeeeseeeeeeeeeeeenae 19 6 4 9 Write List of Projected Slaves LPS 64 10 Set Operation Mode aer saccctes ease aeie a Aa a cute Me A TAN pests R aA EAA aria ER RETEG 6 4 11 Change Slave Address airaines i ieee e aaa aa a 6 4 12 Write Extended ID code 1 of slave Q sisssssseseiseiesrieiesitiitiesisiteiutirenttttnrintesrnree 20 6 4 13 Read 16 Bit Input Data 6 4 14 Write 16 Bit Output Data 6 4 15 Read 16 Bit Output Data oe eee ceceeecerecneeee
31. s of an AS i slave to the desired address after plugging the slave to the AS i line The desired AS i configuration can be created off line before and stored to a file When you build up the plant you only have to plug the AS i slaves to the AS i line one after the other Further descriptions to all features of the software can be obtained from the integrated help issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Appendix Representation of Information in the User Data Bytes S5 i C K 9 Appendix Representation of Information in the User Data Bytes 9 1 Input and Output Data For each slave a four digit binary number can be entered as input and output data Input and output data can therefore range between 0 and 15 Byte 0 bits 0 through 3 lower nibble contains the input data of the slave with oper ating address zero the bits 4 through 7 upper nibble of the user data byte 15 contain the data of slave 31 or 31A The bytes 16 through 31 hold the data of the slaves with B addresses byte 0 1 bit Oo 1 2 3 4 5 6 7 0 1 2 3 4
32. tandards during development and production 1 EC directives EC EMC Directive 89 336 EEC as per 92 31 EEC 93 68 EEC 93 465 EEC 2 Harmonized EN 50081 2 Emitted interference industry Ed 93 08 Standards used EN 50295 Low voltage switchgear and controlgear Ed 99 03 Controller and device interface systems Actuator Sensor interface AS i EN 61000 6 2 Electromagnetic compatibility Ed 99 04 Part 6 2 Immunity industry Conformance of a type sample belonging to the above mentioned product family with the regulations from the listed EC directives has been certified by it WaldkirchvBr den ohola Z ea ppa Keglowic i V Hertweck Manager Marketing amp Sales Manager Production Division Industrial Sensors Division Industrial Sensors The declaration certifies conformance with the listed directives but does not guarantee product characteristics The safety instructions contained in the product documentation must be observed SICK AG Sebastian Kneipp StraBe 1 D 79183 Waldkirch Telefon 0 76 81 2 02 0 Telefax 0 76 81 2 02 38 63 www sick de x Aufsichtsrat Gisela Sick Ehrenvorsitzende Dr Horst Skoludek Vorsitzender 3 Vorstand Volker Reiche Vorsitzender Dr Robert Bauer Anne Kathrin Deutrich Dieter Fischer Walter Schmitz Stellvertr 3 Sitz Waldkirch i Br Handelsregister Emmendingen HRB 355 W g 3 8 8 3 Subject to reasonable modifications due to technical advances Copyright SICK Prin
33. ted in Germany 3 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de a SICK issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board The Used Symbols S C K 1 The Used Symbols This symbol warns the user of possible danger Failure to heed this warning can lead to personal injury or death and or damage to equip ment Warning This symbol warns the user of a possible failure Failure to heed this warning can lead to total failure of the equipment or any other con nected equipment Attention O This symbol gives the user important hints Note Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de 5 AS i PCI Board The Used Symbols S C K issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date
34. tions due to technical advances Copyright SICK Printed in Germany SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Features of the AS i PCI Board S i C K 3 Features of the AS i PCI Board The AS i PCI Board of the SICK AG contains two complete AS i Masters with AS i Control option PLC built as a board for the PCl bus easy installation with Plug and Play is able to execute a control program It operates without taking an affect to the performance of your PC The other way round the control program runs with a con stant cycle time independent from the PC capacity required by other applications exchanges data with the PC via Dual Port RAM DPRAM an event mechanism can notify the PC application about changes of the data on the board up to 4 AS i PCI boards can operate in one PC system is capable to generate an interrupt on the PCl bus for example if the AS i data changes is able to detect a breakdown of the PC if the built in watchdog is activated The AS i masters will change to the Off line phase if the watchdog is not triggered by a PC program e Advanced Diagnostics to detect occasionally occuring configuration errors and to judge the quality of the AS i communication the included driver makes it possible to use the AS i P
35. ut In case of an error this command returns a special error message second byte of the mailbox 00 02 06 OK no error occured SND slave with address zero not detected SE error with setting of extended ID code 1 issue date 26 11 2001 Subject to reasonable modifications due to technical advances Copyright SICK Printed in Germany 20 SICK AG Sebastian Kneipp Str 1 D 79183 Waldkirch Phone 49 76 81 2 02 0 Fax 49 76 81 2 02 38 63 Internet http www sick de issue date 26 11 2001 AS i PCI Board Data Exchange via the Dual Port RAM DPRAM S i C K 08h ET extended ID code 1 could only be stored temporarily 6 4 13 Read 16 Bit Input Data command 20hex 32dec parameter in slave address parameter out slave address channel 0 low byte channel 0 high byte channel 1 low byte channel 1 high byte channel 2 low byte channel 2 high byte channel 3 low byte channel 3 high byte buffer in buffer out 6 4 14 Write 16 Bit Output Data command 21hex 33dec parameter in AS i slave address channel 0 low byte channel 0 high byte channel 1 low byte channel 1 high byte channel 2 low byte channel 2 high byte channel 3 low byte channel 3 high byte parameter out buffer in buffer out 6 4 15 Read 16 Bit Output Data command 22hex 34dec parameter in slave address parameter out slave address chann

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