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1 USER MANUAL ^2 Accessory 72E

1. Item Parameter Setting As Shipped 1 Handshake Mode No consistence uncontrolled 2 Configuration Mode By SyCon 3 Behavior after power up Automatic release of communication by the device 4 Configuration Data Standard 5 Watchdog time 1000 msec 6 DPV 1 Parameter Class 2 buffer length 0 T General Station Address 1 Activate device in actual configuration Enable Watchdog Control 8 T O Configuration 1 Length of input data 184 bytes Length of output data 184 bytes Number of modules 10 The fieldbus characteristics of the PMAC Gateway are defined in GSD files that come with the SyCon software The Profibus master is defined in HIL 7506 GSD and the Profibus slave is defined in HIL_7501 GSD The configuration diagnostic port on PMAC Gateway provides a convenient method for configuration and for monitoring the fieldbus side of the PMAC Gateway The following provides an example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gateway Profibus 23 Acc 72E User Manual Profibus Sycon Configuration To insert a new master into the configuration select the Master icon in the menu toolbar and insert a new master on the bus Once loaded the screen should be displayed on the PC Master Station address 0 DP Master COM DPM PKY20 DPM r ro See Profibus Master Settings To enter the master settings select Settings Master
2. H H H Skog connection eds exit for the device at address OL slot OG To dude these edits P the reent configuration dich the Edits Enabled dedbar Rage ects mart n tha devon or modda configuration data To nolude these edis the network configuration cick the Cats Enabiad checkbox The device ID and address specfied when launching erer ests nthe set of pending edits Pease enable edts to view the pending devices Uratie to open loghis Log formation wll not be smed So fosa test Beno et jroo Er Reech Eesen Ji In the Browse for Network box select the communication path the network is using Find the ControlNet Bridge that was selected to communicate to the PMAC Gateway ControlNet adapter and select the network below it Then click the OK button i 10 0 0 103 Unrecogreend Device H 1000 10 sepeg 1sepeIg 10 00 11 bever 108002 menena egen WM GC la ugereest oer pe I 13 epeta med Luss Op es 38 00 EE EE DEEEEEEEEER qn00000000 T z Skog connection edits eist for the dence at sien OL Sot Of Ta Wade these sats P tha network f eg 80 the aks Enabled cheddar Stage de ea n tha device or mode vie gen date To rice these ects nthe reent configu ation cick the Gifts Crabled checkbar The deven ID and adiens spectied when inureting RanietWorx exits i tha set of pening odes Messe enable odes to var the ponding devices Unable ta opan logia Log formation wll nat ba pt The Contro
3. 14 DPRAM Data Processing Acc 72E User Manual Bus Synchronous Direct Transfer Device Controlled user program oual port memory The gateway automatically starts a data exchange cycle if it is a master or it receives a data exchange cycle if it is slave Subsequently it complements the bit PdAck PdAck 0 1 PdCom 0 The PMAC can then read the new input data and write the output data in the dual port memory Then PMAC must complement the bit PdCom PdAck 1 1 PdCom 0 3 gt I The gateway starts the next data exchange cycle PdAck 1 PdCom 0 This handshake is used most commonly in a slave system that must guarantee that the data from every fieldbus cycle must be given to the PMAC DPRAM Data Processing 15 Acc 72E User Manual Buffered Device Controlled The gateway makes cyclic data exchanges on the bus After each data exchange the gateway checks if the dual port memory is available i e PdCom is equal to PdAck PdAck 1 PdCom 0 If PdCom is not equal to PdAck the user program knows that there is new data in the dual port memory PMAC can read out the input data and write the new output data PMAC must then complement PdCom PdAck 1 1 PdCom 0 3 1 If there was data exchange detected the gat
4. Appendix A Sycon Manual 79 Acc 72E User Manual Startup behavior after system initialization If Automatic release of the communication by the device is selected the slave is ready to communicate with the master when started If Controlled release of the communication by the application program is selected the user has to start the communication with the master Board Assignment SyCon is able to configure all devices in a network To run the online functions of such a device you must define how SyCon can communicate with it This is done in the menu item Board Assignment You have the choice between four boards which are installed internally in the PC and four devices which are connected with the serial port to the PC SyCon looks in the registry of the device driver and displays all boards that are available internally The externally connection can be checked with the buttons Check COM 1 to Com 4 SyCon sends a request on that serial port and asked for the firmware If there is a device connected the firmware is displayed otherwise there will be a time out error Now you can assign the configured devices to the boards and to the serial ports If the assignment for one device is done it is no longer available in the select list for a further assignment Therefore if you want to change an assignment you have to select No device instead of a device before you can get the device in the selection list for or other board or seri
5. PmacGatewat3ul 52 ControlNet Acc 72E User Manual Establish communications to the PMAC Gateway in Settings Device Assignment Select CIF Serial Driver s T 18 x osa le er CIF TCP IP Driver Choose Connect COM n depending on the COM port that is connected Ka Deel x e EH peer men fa Connect COM 1 f SyCon Unnamed1 L Configure the settings of the PMAC Gateway In the Device Configuration the MAC ID is equivalent to the Node number The Input Length and Output Length will correspond to the Input and Output settings in ControlLogix ControlNet 53 Acc 72E User Manual 16 x Ki l lSl el AdapterO E Actual MACID not available ControlNet Device Configuration nnamedi QO sam Download the configuration to the PMAC Gateway Note that downloading the configuration to the PMAC Gateway saves it automatically and resets the PMAC Gateway SyCon Unnamed1 acGateWay3U RH MAC ID not available e COM CNS 54 ControlNet Acc 72E User Manual ControlNET for ControlLogix Configuration In the RSLogix 5000 software under I O configuration module folder right click and select New Module Select the type of ControlNet bridge that is in the Allen Bradley rack along with the Major Revision Een Food Een E Ern coat tee SEE Bm D
6. 74 Appendix A Sycon Manual Acc 72E User Manual Master Settings To enter the master settings select the Settings Master Settings menu or use the right mouse button at a DP master device There is also a Master Settings button in the Master Configuration window available DP Master Settings Ea Parameter to user interface Startup behavior after system initialisation Automatic release of the communication by the device Cancel Controlled release of the communication by the application program User program monitoring Watchdog time fi O00 ms Parameter to process data interlace Addressing mode fv Byte addresses Word addresses Handshake of the process data C Bus synchronous device controlled T Buffered device controlled No consistence uncontrolled Buffered host controlled C Bus synchronous host controlled Storage format word module Big Endian M5B LSB GG Little Endian LSB MSB Hardware parameter f 2B duatpot memory 8kB dualportmemoy 16 kB dual port memory The Master settings contain parameters which defines the behavior of the PMAC GatewayDPRAM Startup behavior after system initialization If Automatic release of the communication by the device is selected the master starts with the data transfer on the bus when initialization is finished If Controlled release of the communication by the application program is selected
7. 1 CC Link slave station address 10x 3 Baud Rate selection 0 4 The first and second switch set the CC Link slave station address 10x and 1x respectively The CC Link slave station address can be set the range of to 64 The third switch sets the baud rate to operate at the CC Link network It can be set the value of 0 to 4 The available baud rate settings are given in the next discussion CC Link Fieldbus Baud Rate Settings The CC Link Fieldbus can be operated with five different baud rate settings The valid baud rates are CCLS_USR_BAUD_156K CCLS_USR_BAUD_625K CCLS_USR_BAUD_2500K CCLS_USR_BAUD_5M CCLS_USR_BAUD_10M var kee DS fee ae fe e 68 CC Link Acc 72E User Manual APPENDIX A SYCON MANUAL The Sycon2 universal system configuration software Operating Instructions from Synergetic are reprinted here as Appendix A Operating instructions SyCon 2 Universal System Configurator Software Appendix A Sycon Manual 69 Acc 72E User Manual Overview SyCon is a universal fieldbus configuration tool developed by Hilscher Corp which we are initially using to configure the PmacGate Way SyCon can configure the fieldbus systems like ProfiBus Interbus SDS DeviceNet CANopen etc with a common tool that provides consistent user interface for all protocols SyCon allows you to configure all master and slave devices using one tool SyCon checks the dependencies
8. 16 Ilen 8 RxPD04 Type QB Iaddr 24 Ilen 8 The fieldbus characteristics of the PMAC Gateway are defined in EDS files that come with the SyCon software The CANopen slave is defined in COMCOS EDS The configuration diagnostic port on PMAC Gateway provides a convenient method for configuration and for monitoring the fieldbus side of the PMAC Gateway The following section provides an example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gateway CANopen SyCon Configuration To insert a new master in the configuration select the Master item in the Insert menu or click on the icon in the toolbar menu SyCon Unnamed2 T File Edit View Insert Online Settings Window Help MT gt Dell lgl con ME Master Master COM COM For Help press F1 Astart 74 amp SI fl adobe Reader r sycon Unn CANopen Config Mode mal meox Hj BSD 9 33am E CaNopen_scre 42 CANopen Acc 72E User Manual CANopen Master Settings To enter the master settings select Settings Master Settings or use the right mouse button at the master device There is also a Master Settings button in the Master Configuration window available The Master settings contain parameters which defines the behavior of the PMAC Gateway DPRAM SyCon Unnamed2 la gt Fie Edit View Insert Onli
9. D P dom Moun sense efecto e Bnp tee L psen men GEERT AE READ om In Module Properties assign a name and description for the device Indicate what slot it is in the rack and what node is selected by the switch Ka Bree 2ezpr s L t rem r Beeatrerl sen Speers mon WEEE MT RE BSD ron Right click on the ControlNet Bridge that was just inserted and select New Module Select module type CONTOLNET MODULE with description Generic ControlNet Module This will be the PMAC Gateway ControlNet adapter In Module Properties enter a name and description for the device Select COMM Format Data INT and indicate what node was assigned during the software configuration with SyCon ControlNet 55 Acc 72E User Manual In the Connection Parameters box the Assembly Instances and Sizes must be configured The Input is Assembly Instance 1 and Size Inputs 2 The Output is Assembly Instance 2 and Size Outputs 0 The size of the inputs and outputs correspond to the Input Length and Output Length that was assigned for the Scheduled Services with SyCon and then downloaded to the PMAC Gateway ControlNet adapter So if the Input Length 215 words and Output Length 215 words with the SyCon software then the Size in RSLogix 5000 would be Input 217 and Output 215 Lastly for Configuration Assembly Instance 4 and Size 0 Then select Next Wl az bn Ae Mom en e ft pe Set the Requested Packet Interval rate RP
10. Ki Fie Edt vin trench Anna Echt Wineases Links 15 x Node Configuration xj Dik Als Node COM COS Node ID address fi ox Description Node1 Guard time msec 320 Cancel File name COMCOS EDS Life time factor E Node BootUp 7 Acti S SE i cm IV Activate node in actual configuration Emergency COBID 129 OPC Objects IV Automatic COB ID allocation in accordance with Profile 301 Nodeguard COB ID fre am d SEET m p Predefined Process Data Objects PDOs from EDS file Actual node 1 COM COS hd RR RxPDO2 parameter TxPDO1 parameter TxPDO2 parameter Add to configured PDOs Symbolic Name COB D Type I Addr Len 10 Type O Addr O Len PDO Contents Mapping PDO_1400 513 PDO_1800 395 mp 0 8 PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names For Help press F1 CANopen IConfigMode I Astart 9 SG adobe Reader J sten Funn E CANopen _scre E mal INBOX Downloading the Configuration for CANopen The download of the configuration data to the device can be started by selecting Online Download Before the download happens SyCon will check the configuration If an error message appears the configuration should be checked The configuration will be transmitted to the selected device and stored in static Flash memory so that it is available after the power i
11. M4302 gt Y 5010602 0 16 u Output Nord M4303 gt Y 5010603 0 16 u Output Word4 Appendix B Sample Pmac PLC toTransfer 16 Bit Integer Data 87 Acc 72E User Manual Programming Example for Word Oriented Data The conversion of 8 bit to 16 bit or 16 bit to 8 bit requires a program The following is an example of a PMAC compiled PLC that effectively sends or receives the application s 16 bit data to from the bytes that are transferred to from the fieldbus close open plccl clear M6000 M4300 amp S00FF M6001 M4300 amp SFF00 256 M6002 M4301 amp S00FF M6003 M4301 amp SFFO00 256 M6004 M4302 amp 00FF M6005 M4302 amp S FF00 256 M6006 M4303 amp S00FF M6007 M4303 amp SFFO00 256 M3300 M6500 256 M6501 M3301 M6502 256 M6503 M3302 M6504 256 M6505 M3303 M6506 256 M6507 Close 88 Appendix B Sample Pmac PLC toTransfer 16 Bit Integer Data Acc 72E User Manual APPENDIX C HILSCHER HYPERLINKS System Configurator Sycon PROFIBUS http www hilscher com files manuals pb oie9 pdf System Configurator Sycon CANopen http www hilscher com files manuals co oie8 pdf El S h stem Configurator Sycon DeviceNet tp www hilscher com files manuals dn oie7 pdf tg CC Link Slave Protocol Manual COMPRO configurator http www hilscher com files manuals ccs pre pdf CC Link Booklet Hardware http www hilscher
12. The bit field serves as collective display of global notifications Notified errors can either occur at the DEVICE itself or at the slaves To distinguish the different errors the variable err rem adr contains the error location bus address If more than one error is determined the error location will always show the lowest faulty bus address e Variable DPM state This variable represents the main state of the master system Following values are possible 00 state OFFLINE 40 state STOP 80 state CLEAR C0 state OPERATE e Variable Err_rem_adr Some bits in the Global Bit field could indicate errors in the network or in the DEVICE itself In this case the variable Err rem adr represents the source of the error If the source where the error was detected in the DEVICE itself then this flag contains the value 255 If the error was detected in another device the station number between 0 and 125 will be the value Profibus 29 Acc 72E User Manual Profibus Slave Diagnostics Below are the diagnostic flags that can be found in DPRAM Parameter Offset Value Description Baud rate 740h 741h 12000 Last detected baud rate in KBaud 6000 12 MBaud 3000 6 MBaud 1500 3 MBaud 500 1 5 MBaud 187 500 kBaud 93 187 5 kBaud 9 93 75 kBaud 0 9600 Baud not detected Bus Address 742h 1 126 Actual configured bus address Ident Number 743h 744h 7501 ID number of gateway m
13. 4 4 bytes 540H 065FH 540H 065FH Message Buffer 288 Fieldbus to PMAC FF8h 3F8h Res Version integer Gateway Operating System FF9h y 3F9h y ResError byte Information FF9h x 3F9h x HostWatchDog byte FFAh y 3FAh y DevWatchDog byte FFAh x 3FAh x SegmentCount byte FFBh y 3FBh y DeviceAddress byte FFBh x 3FBh x DriverType byte FFCh y 3FCh y DpmSize Byte PMAC Gateway Information byte FFCh x 3FCh x DevType byte FFDh FFEh 3FDh 3FEh DevModel 3 bytes Devldentifier 3 FFFH y 3FFH y Gateway Flags Byte CMD and Acknowledge gateway to PMAC Handshake FFFH x 3FFH x PMAC Flags Byte CMD and Acknowledge PMAC to gateway Handshake Note Message Buffers are not applicable to Master devices 12 DPRAM Memory Map Acc 72E User Manual PMAC and Gateway Flags The handshaking bits for the PMAC and gateway flags reside in the X and Y word respectively of the last address in DPRAM memory DO refers to the first bit in the address since the byte resides in the upper 8 bits of PMAC s addressing scheme DO would be equivalent to bit 16 D1 to bit 17 etc These flags give the user the ability to control the flow of data from the PMAC to the gateway PMAC Gateway Flags PMAC Reads these Bits PMAC Gateway Ready Run Com Seen Iesel Ack Eman Command bit of Host Mailbox Not used for ProfiBus DP Interface PMAC Gateway Acknowledge bit Not used for Profibus DP Proces
14. Bytes 5 Mbaud 99 Yes on standard board No on NAP version Flash Memory Yes 0 55Deg C Rockwell CNA 10 No on standard board Yes on NAP version Yes ControlNet 47 Acc 72E User Manual ControlNet Layout Diagram elo TP6 TPS TP4 Tra D OO O Diagnostic Interface Goo00000000 Channel A Channel B 9000000000 Diagnostic Led s GND GND GND 5V GDolololclcdololo OIOIOI OTI EDIT OL OI DIOIOTOTOIOIOTO OO DOE foe D P1 UBus Interface OIOIO OO ODTOI OT OIODIOIOHOIOTOIOIOIOIOTOHTOIOIOO 0 E e N VN o UD WM CO PMAC Gateway 3U ControlNet Version ControlNet LEDs Diagnostic LEDs Diagnostic LEDs are provided to give visual indications of board status The green LEDs are easy to understand If everything is okay the two inner LEDs will be ON Other states are discussed below bh SZT Green LED D1 A L Green LED D1 B IS GI Ber Green LED D1 C D E Green LED D1 D Not used
15. ERROR ecause of heavy bus error no further bus mmunication is possible E pial EVENT ERROR OR error vice has not reached the state and no process data ith The DEVICE has d ted bus shor circuits The number of detected events are fixed in the bus error ont variable The wi et wher event was detected and rogram has set ts state to operative or not If OST program ist not ready to communicate ate r device in the network which has the same MAC gt ID DUPLICATE MAC ID check is performed As long this bit is set the DEVICE is involved in handling the duplicate MAC ID check A duplicate MAC ID check will be ready if the DEVICE finds other DeviceNet dev the network against the check can be performe The bit field serves as collective display of global event indications Notified errors can either occur at the DEVICE itself or at the handled devices To distinguish the different errors the variable Err dev adr contains the error location address MAC ID If more than one error is determined the error location will contain the device with lowest MAC ID e Variable bDNM State This variable represents the main state of the DEVICE system Following values are possible DeviceNet Acc 72E User Manual 00 state OFFLINE 40 state STOP 80 state CLEAR C0 state OPERATE e Variable bErrDevAdr If either the bits CTRL ACLR or NDATA are set this variable is set to the lowest MAC
16. GW_DPmaster_to Slave pb 6 x TE File Edit View Insert Online Settings Tools Window Help lej x Djsj l p p General alele Device COM DPS Station address 2 Description Pmac_Slave E Activate device in actual configuration IV Enable watchdog control GSD file HIL 7501 G5D Parameter Data Max length of in output data 368 Byte Length of in output data 32 Byte DPV1 Settings Max lenath of input data 244 Byte Length of input data E DIS AS Max length of output data 244 Byte Length of output data 16 Byte Station address 1 Max number of modules 24 Number of modules 2 PmacGate Way DP Master Module blank space 0x00 1 byte input con 0x90 1 Byte 0x90 fi COM DPM PKV 20 DP EI m Actual slave 2 byte input con 0x91 2 Byte 0x91 Station address 2 3 byte input con 0x92 3 Byte 0432 4 byte input con 0433 4 Byte 0433 e 27 comes x 8 byte input con 0x97 12 byte input con _ 0x3B Gleich Module 1 1 16 byte input Ox1F Module1 IB 2 1 16 byte output 0x2F Module2 QB 0 16 Bemove Module Insert Module Predefined Modules Symbolic Names S For Help press F1 Config Mode IA Start GY Exploring C Program Fil r SyCon GW_DPmast L mm Downloading the Slave Configuration for Profibus Once the configuration has been completed it must be downloaded to the PMAC Gateway where it will be saved in flash memo
17. Link CC Link option the first connector is 10 pin IDC male header which provides a RS232 link for communication with the Compro software The second connector is the 5 pin Combicon male connector which is the fieldbus link The PMAC Gateway 3U supports the following protocols e ProfiBus Master Opt1 Female DB9 e ProfiBus Slave Opt2 Female DB9 e DeviceNet Master Opt3 5 pin Terminal Block e DeviceNet Slave Opt4 5 pin Terminal Block e CANopen Master Opt5 Female DB9 e CANopen Slave Opt6 Female DB9 e ControlNET Adapter Opt7 BNC e CC Link Adapter Opt1 I 5 pin Terminal Block The protocol is dependent upon the equipped COM gateway The hardware cannot be programmed for an alternate protocol including master slave However should the COM gateway be replaced with one supporting another protocol the baseboard would function properly as a communications link to UMAC although the fieldbus connector might be incorrect for the new fieldbus Most gateway cards get their power from the UBUS back plane However the DeviceNet version Options 3 amp 4 require an external 24Vdc power supply for the fieldbus Configuring the Gateway There are ten steps in applying the Gateway for ProfiBus DeviceNET CANopen and ControlNET The CC Link set up is explained in its section 1 Install the SyCon and PEWIN software on the PC 2 With the power off plug the ACC 72E into the UBUS backplane 3 Connect the diagnostic interface
18. Manual Green LED D1 A Green LED D1 B Green LED D1 C Green LED D1 D Yellow LED D2 A Yellow LED D2 B Yellow LED D2 C Yellow LED D2 D Not used in CC Link version ON Slave in cyclic data exchange with CC link Master Flashing cyclic at 5 Hz No error in the configuration found communication is stopped or ready for communication but the device has no cyclic data exchange with the CC Link Master Flashing irregular Power Up Configuration missing or faulty device needs commissioning Runtime Host watchdog timeout OFF No power or hardware system error Flashing cyclic at 1 Hz Device is in bootloader mode and is waiting for firmware download Flashing cyclic at 5 Hz Firmware download is in progress Flashing irregular Hardware or heavy runtime error detected OFF Ready Not used in CC Link version ON Connection to CC Link Master established OFF No connection to CC Link Master ON CRC error detected or station address not valid valid is 1 64 or baud rate not valid valid is 0 4 Flashing cyclic at 2 5 Hz Station address or baud rate setting was changed since the last network controller reset OFF No Error Not used in CC Link version Not used in CC Link version 66 CC Link Acc 72E User Manual CC Link Typical Interconnection Sp 1 1 DA DataA blau blue 2 2 DB Data 8 weil while 3 3 DG Data Ground gelb yellow 4 9 10 SLD Shield 5 9 10 FG Field Ground Erstes Ger t Letzt
19. Settings or use the right mouse button at the DP device The Master settings contain parameters which define the behavior of the PMAC Gateway DPRAM 24 Profibus Acc 72E User Manual Set the baud rate that the PMAC Gateway should use by selecting the master and selecting Bus Parameter under Settings The baud rate is selected from the dialog box shown below SyCon GW DPmaster to Slave pb 6 gt ta File Edit View Insert Online Settings Tools Window Help J lsl oela ee Sel ARAA PmacGate_Way_DP_Master Station address 1 OP Master COM DPM PKV20 DPM DP Baud rate 12000 kBits s zl Cancel Optimize standard g Edt gl For Help press F1 ConfigMode star QJ Exploring C Program File Je SyCon GW_DPmast J 202PM Configuring the Slave for Profibus Insert a slave onto the bus by using the Insert Slave icon in the toolbar menu Select DP Slave Settings from the dialog box The dialog box below should display It contains all the communications setting options The settings shown are the ones set at the time the PMAC Gateway was shipped and should be sufficient for most applications SyCon GW DPmaster to Slave pb e x File Edit View Insert Online Settings Tools Window Help 18 x oela Xe sje Station address 2 E Handshake of the process data Bus synchronous device controlled met Buffered device con
20. connector 2 3 Connects 1 order filter circuit to diagnostic connector OFF 1 order filter not used E4 1 2 Factory Use ONLY E5 OFF Connects DPRAM interrupt to UBUS IRQ 1 E6 OFF Connects DPRAM interrupt to UBUS IRQ 2 E7 OFF Connects DPRAM interrupt to UBUS IRQ 3 DPRAM Memory Map 9 Acc 72E User Manual CONNECTOR PINOUTS Pinouts for Revision 100 Connector TB1 CANOpen DeviceNet Options TB5 Combicon Female Pin Symbol Function Description Notes l DGND OV Return line X5 pin 9 2 CANL Input Output Data Line Low X5 pin 8 3 SLD Shield of bus cable X5 pin 10 4 CANH Input Output Data Line High X5 pin 7 5 V Input 24 external power X5 pin 3 Connector J3 amp J4 ControlNet Option BNC Channel A amp B Pin Symbol Function Description Notes 1 TXD Input Output Data Transmit Line Channel A X5 pin 3 Ch A signal X5 pin 8 Ch B 2 TXD Shield Input Output Cable shield for Data Transmit Line X5 pin 7 Ch A shield X5 pin 9 Ch B Connector P1 Profibus Options DB9 Female Pin Symbol Function Description Notes 1 PE Earth Ground X5 pin2 2 X5 pin 4 3 RXD TXD P Input Output Data line B on PROFIBUS connector 1 X5 pin 6 4 CNTR A Output Repeater Control Signal X5 pin 8 5 GND Digital Reference Potential X5 pin 10 6 VP 5V Reference from UBUS X5 pin 3 7 X5 pin 5 8 RXD TXD N Input Output Dat
21. data PMAC must then complement PdCom Gateway starts one data exchange with the output data from the dual port memory and writes the new input data in the dual port Gateway then complements PdAck after all This handshake is used most commonly in a master system with synchronous IO devices 18 DPRAM Data Processing Acc 72E User Manual Buffered Host Controlled user program dual port memory Cyclic data exchange between internal buffer and the gateway occur PdAck 0 PdCom 0 PMAC reads last input data and writes new output data Data exchange with the gateway continues to cycle PdAck 0 PdCom 0 PMAC must then complement PdCom PdAck 0 0 Gateway stops PdCom 0 1 data exchange puts the output data in its internal buffer and the latest input data in the dual port memory Gateway then complements PdAck and starts cyclic data exchange PdAck 0 1 PdCom 1 I PMAC then reads input data and writes output data This is the easiest handshake in master and slave systems with a guaranteed consistence of the complete process image DPRAM Data Processing 19 Acc 72E User Manual 20 DPRAM Data Processing Acc 72E User Manual PROFIBUS Profibus represents one of the best known industrial FieldBus protocols
22. equipped with Acc 54E Acc 54E is set to this range as default Theory of Operation Acc 72E User Manual This places fieldbus data beginning at Gateway Byte Turbo PMAC2 Location 0 Y 6C000 16 8 1 X 6C000 16 8 2 Y 6C001 16 8 3 X 6C001 16 8 4 Y 6C002 16 8 5 X 6C002 16 8 6 Y 6C003 16 8 7 X 6C003 16 8 Etc Etc 6 Theory of Operation Acc 72E User Manual HARDWARE SW1 DPRAM Address The EH settings for SW1 can be used to configure the base address of the ACC 72E EE card ox os ox ov I Ta 6C000 S6CFFF default 74000 74FFF N ox oxox 75000 75FFF ON OF ON LEE __ om ov on 576000 57 76FFF S6F000 S6FFFF omr om om ov 77000 77FEF OM ON ON ON ON CS16 Identification The UBUS Specification provides for some plug and play features Currently on power up PMAC tests the valid UBUS base addresses to see if a board is present One of the techniques used by PMAC is to write patterns to UBUS memory locations and read them back One reason we mapped the fieldbus bytes to the upper byte of PMAC s memory is that this memory is not written to during PMAC s power up test routines since DPRAM boards are assumed 16 bit not 24 bit boards Ifthe fieldbus bytes were mapped to the lower bytes fieldbus outputs could be turned on by the test patterns written to these locations Another feature of the UBUS
23. information in the GSD file support the baud rate If the System Configurator finds at least one device in the configuration that does not support the selected baud rate an error message appears because this information is missing in the device description file The user can check the actual parameter if he opens the Actual Bus Parameter window with the Edit button Some of the parameters can be changed individually Please note if you make any changes in the bus parameters the parameter for the Optimize field must be changed from by SyCon to by User Caution Changing the bus parameter can stop the communications The Highest Station Address is the highest bus address up to which the master will search for another active master station to transfer the send permission This value should not be set below the master address The field Watchdog control TTR allows the user to enter a factor to control the watchdog time of the slaves If this factor is chosen to large it is possible that the slaves could set their outputs to Zero With the Auto Clear flag it is possible to select a global error flag The Master controls the process data transfer for the slaves with a timer If the data transfer is not successful during one data control time interval with activated option Auto clear modus on then the Master leaves the user data transfer and switches the outputs of all assigned slaves to the fail safe state
24. multiple devices on a single wire with a maximum length of 1 2 km at 156 kbaud without a repeater CC Link can communicate at speeds of up to 10 Mbaud at shorter wire lengths CC Link Specifications Size Power Requirements Connector Types Dual Port Memory Size Communication Maximum Size Inputs Outputs UO Capacity Baud Rate Maximum Stations Diagnostic RS232 Port Program Storage Watchdog Timer Operating Temperature Chip Technology Lab Certified 3U x 4HP UMAC Compatible 5VDC 500 mA UBUS 96 Pin UBUS interface 10 pin IDC Male Diagnostic interface ComPro 5 Position TB Connector 8192 Bytes 8k 96 Bytes 48 Bytes 48 Bytes 1024 Bytes 1k 125 k 625k 2 5M 5M 10M 64 Yes Flash Memory Yes 0 45 Degrees Celsius EC Yes 64 CC Link Acc 72E User Manual CC Link Layout Diagram c S 0 140 0 0 0 0 218 40 39 CNO Jono 5v e In PMAC Gateway 3U CC Link Version CC Link LEDs 6 159 Diagnostic LEDs Diagnostic LEDs are provided to give visual indications of board status The green LEDs are easy to understand If the gateway card s b green LED and the daughter board green LED cyclic at the same frequency it means the hardware is working properly When the CC Link cable is connected both LED s will turn on and the fieldbus communications will be active All the LED states are discussed below CC Link Acc 72E User
25. of parsing ects Please anabi eds to view the pending Seen Mode changed to ordre The commurtiaton timeout AE wane The orire path DANSDEL AS ET 1110 0 0 1129badglsrel tA The anne active keeper 1 valt and there 1 ro ofina corfiguranon The onde active kaspar sane vl be checked weary 10 seconds ard merenge vel ba lagged when the condition has d F n Che aes mist for Ve device sten OL ot OG to wee these eds the rater deg Cech the Ets Enabled check base PLO edt pt ithe doves of madde re data To reuse these ects Mite netmork configu anon dch the Ete Enabled eben 60 ControlNet Acc 72E User Manual Monitoring Online Diagnostic Flags from PMAC Once communications are established to all devices in the fieldbus network diagnostic flags build into the gateway module can be monitored by PMAC to determine the status of the network during online communications ControlNet Slave Diagnostics Variable Size Offset Description Global_Bits 1 byte 740H Global error bits Cns State 1 byte 741H Main state of the DEVICE system Mac_ID 1 byte 742H Current configured MAC ID CNet_State 2 byte 744H Status instance attribute of the ID object e Global_Bits CONNECTION ERROR A 1 in this bit indicates that at least one established connection is lost ERROR EVENT The DEVICE has detected an internal fault The number of detected events are fixed in the Error_Count variab
26. this can be increased gradually by additional participants CANopen allows the creation of inexpensive de centralized control systems distributed input output systems and networked sensor actuator systems CANopen Specifications Size 3Ux 4HP UMAC Compatible Power Requirements 5Vdc 700ma from UBUS Connector Types 96 pin UBUS Interface 9 Pin D Male Diagnostic Interface 9 Pin D CANopen Interface Dual Port Memory Size 8192 bytes 8k Communication Maximum Size 64 bytes Inputs 32 bytes Outputs 32 bytes I O Capacity 7k bytes Baud Rate s 10k up to 1 Mbaud Maximum Nodes 125 Diagnostic RS232C Port Yes Program Storage Flash Memory Watchdog Timer Yes Operating Temperature 0 55Deg C Chip Technology SJA1000 Lab Certified Yes CANopen 39 Acc 72E User Manual CANopen Layout Diagram E Diagnostic Interface O Bi Profibus Diagnostic Led s TP6 TPS TP4 TP3 OO00 w GND GND GND 5V BE IO J1 JP7 HDD BOY 8 ojojojoj ojoo p 0 0 0 00 0 0 5 a m S HERRENE HAREE H a 8 JP16 JP17 E4 JP18 JP19 JP20 Ee JP21 JP22 JP23 JP24 123456 TB2 ID P1 UBus Interface w gooogoroov B o B O C O p o B O C O E7 Oiolololololcto ES CO DIO0OIOI
27. to the serial port on the PC 4 Launch the SyCon setup utility from the PC 5 Establish communications to the COM gateway 6 Configure the fieldbus and download it to the card The default configuration can be used for testing 7 Assign PMAC M variables to access the fieldbus bytes at the appropriate Dual Port RAM address 8 Manually test by setting byte values in PMAC verifying that they get to the appropriate fieldbus location Also check communication from the fieldbus to PMAC 9 Configure the gateway s fieldbus characteristics via the diagnostic port if required by the application Introduction 1 Acc 72E User Manual 10 Implement the assigned M variables in PLCs or motion programs as required Appendix A and B provide examples for M variable assignment and implementation Appendix C provides hyperlinks to Sycon configuration files for each fieldbus device provided by Hilscher Corp SyCon is provided with the gateway module under license from Hilscher Corp PEWin32 is a Delta Tau product and normally is purchased with the first PMAC 2 Introduction Acc 72E User Manual THEORY OF OPERATION The PMAC Gateway 3U board is organized as a motherboard daughter board system The motherboard contains the UBUS interface diagnostics and the fieldbus connections The daughter board contains the intelligence and the interface electronics required for each fieldbus There is a different daughter board for eac
28. 0 B B O O C 0 JP25 JP26 JP27 o o OFF 3 2 1 CANopen LEDs Diagnostic LEDs Diagnostic LEDs are provided to give visual indications of board status The green LEDs are easy to understand If everything is okay the two inner LEDs will be ON Other states are discussed below NI dcba D1 He EE Green LED D1 A Green LED D1 B Green LED D1 C Green LED D1 D Yellow LED D2 A Yellow LED D2 B Yellow LED D2 C Yellow LED D2 D Not used ON CANOpen Communication Active OFF CANOpen Communication Stopped Flashing CANOpen Parameter Error i e Mismatch ON Ready OFF Hardware Error or no power Flashing Cyclic Bootstrap loader active Flashing Non Cyclic System or hardware error Not used OFF Off line Flashing Cyclic Online link OK Flashing Non Cyclic Online not connected ON Critical link failure OFF Normal Flash Connection time out Not used on the CANOpen version Not used on the CANOpen version 40 CANopen Acc 72E User Manual CANopen Typical Interconnection 121 Ohm Terminating Resistor 8 CAN_H 3 Shield 4 CAN_L 121 Ohm Terminating p Resistor Connector Male CANopen Fieldbus Configuration The fieldbus side of the PMAC Gateway conforms to the CANopen fieldbus standard The characteristics of the f
29. ANOpen Slave Diagnostics Variable Size Offset Description bNmtState 1 byte 1F40H Node Management State bBusEnable 1 byte 1F41H Bus communication is enabled disabled usBusEventCnt 2 byte 1F42H Bus event counter usBusOffCnt 2 byte 1F44H Bus off event counter e bNmtState identifier _N N device is initializing Pre Operational configuration phase Prepared special operation mode Operational normal operation e bBusEnable 1 bus communication is enabled 0 bus communication is disabled e usBusEventCnt This variable holds a counter for bus events detected by the CAN chip It includes warnings bus off situations and receive queue overruns e usBusOffCnt Bus off events indicate severe communication problems on the CAN bus When the CAN chip detects such a situation it goes to disabled state and is not involved in bus operations anymore To get it operative again it must be re initialized which is done by the firmware automatically 46 CANopen Acc 72E User Manual CONTROLNET ControlNet is a real time control layer network providing high speed transport of both time critical I O data and messaging data including upload download of programming and configuration data and peer to peer messaging on a single physical media link ControlNet s high speed five Mbits sec control and data capabilities enhance I O performance and peer to peer c
30. Fault Indications Flashing Patterns cccccccsccscesscesssseesetsseeecuseescesecseesecaeeecseesceseeseesenseeseeaeeeesnaeeseeas 49 Be reel e E 50 DL SSE 50 Data SENGS minste kr St eege eene Dee need ae 50 ControlNet SyCon Configuration uimsmessiuihernininiimesindenikdeneniisasietisentiisrniisiisete 50 ControlNET for ControlLogix Configuration s aservrrnvrvrrvvnnvnrennnerannnrnrenenneverenvnrrerneenarnesnsesrenesevessenvsenesnssssensesrenne 55 Monitoring Online Diagnostic Flags from PMAC ernrernvrrnvrnnvenrrenrrsnvennrensrrnsrrnnrrnsrssnrensrenersvernnessesssrssnrensersersneennenn 61 E E 61 EE WE 64 CC Link Specifications cceceesceescessceeseeeeceecesecaecaecsaecseesaeseseeeesseseseceseceaecaaeceaecaaecaeecaeesaeseseseseseneeeesesseeeeseaees 64 ii Table of Contents Acc 72E User Manual CC Link Layout Diagram sosse soises aeeie aeetos daara Ca E E ES a eS aeea Eao aE Eaei E a Stie 65 CCH biak LE Dispora A E NA A A A E T E OE A 65 VD OR E A D N E E E dn 65 CC Link Typical Intereonnectnon 67 CC Link Fieldbus Confeuratnon estt 67 CC Link Fieldbus Switch Settings ccccccesccssesssecscessecseecseeeseeeeeeeeesesesecnseceeecaecnaecaeecaeesaeseaeeaeeseeeeeesesseeeeeseaees 67 CC Link Fieldbus Baud Rate Senge 68 APPENDIX A SYCON MANUAL essesesevevevevenesnvsnnennveneenennvenevnnsnnnnnnnennenneunnvnnsnnennsnnennennnunennnsnnsnnsnnsnnnenevnnsnnennenee 69 APPENDIX B SAMPLE PMAC PLC TO TRANSFER 16 BIT INTEGE
31. I In this example it is set at 5 ms The RPI can be set at different rates but it cannot be faster the slowest RPI This value is sometimes set by trial and error Select the Finish button me DOG oe nger Besser g Speen men EET HUSER ve 56 ControlNet Acc 72E User Manual Return to the ControlNet Bridge right click and select Properties Go to the RSNetWorx tab and create a ControlNet file Select Schedule a ControlNet Network and click Apply RS 108 Cret_te_UMAC 17S641 Fle T View Search Loge Communicators Tools Window Help alsia see ser se sjef Here da RH D E pm Se SL 2 Lo ER feed Correction R5Nefwonr Madde rie Bacholane Contotiet ile Lack Pie iar Dower J Fondin Fia ret hord Larch PSNetw onc for Corisahiet E Yon and dt the Cortrliiet netmask Steis Fa Carini reen FSM tor Dorbi cannes be launched urti pending et av riet Sal eg Moe ee ey ee sne ne FRENG ee Now select View and Edit the ControlNet Network and click the network icon button the left Kaz 5009 Get Ae UMAC 1TS6L1 Fe Uk vew Search Log Communicators Tods Window Hep ee Once RSNetworx has launched a network must be selected Select the Online icon as indicated below or select Online from the Network menu ControlNet 57 Acc 72E User Manual i H H 16 KD Commurnsnon Adapter H KS H H e H H H
32. ID location where the error subsides If the source of the error is inside the DEVICE itself the value 255 is written in For all other instances the faulty device s MAC ID is written in directly 38 DeviceNet Acc 72E User Manual CANOPEN CANopen is a network concept based on the serial bus system Controller Area Network CAN and the CAN Application Layer CAL Developed originally for passenger cars the CAN two wire bus system is already in use in over one million industrial control devices sensors and actuators Hallmarks of the internationally standardized bus system ISO 11898 are its simplicity high transmission reliability and extremely short reaction times Many major semiconductor manufacturers sell CAN chips and the fact that millions of them are used in automobiles guarantees low chip prices and long term availability CANopen permits both cyclic and event controlled communication This makes it possible to reduce the busload to a minimum and achieve high communication performance at relatively low baud rates In CANopen timing behavior can be adapted individually to the particular tasks of the stations involved This means it is not essential for the entire communication system to have higher performance if it is only required by certain participants In addition an automation task may be divided up among several CANopen participants to make optimum use of the power of control devices already in the network and
33. OFF ON ON ON OFF OFF 2 ProfiBus Slave ON OFF OFF OFF OFF OFF ON ON OFF ON ON ON OFF OFF 3 DeviceNet Master ON OFF OFF OFF OFF OFF ON ON OFF ON ON ON OFF OFF 4 DeviceNet Slave ON OFF OFF OFF OFF OFF ON ON OFF ON ON ON OFF OFF 5 CANopen Master ON OFF OFF OFF OFF OFF ON ON OFF ON ON ON OFF OFF 6 CANopen Slave ON OFF OFF OFF OFF OFF ON ON OFF ON ON ON OFF OFF 7 ControlNet Slave ON OFF OFF OFF OFF OFF ON ON OFF ON ON ON OFF OFF Revision 101 and Later Jumper Descriptions Option Jumpers Item Description Part Number JP1 JP2 JP3 JP4 JP5 JP6 JP7 JP8 JP9 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Bit 16 Bit 17 1 ProfiBus Master 3A1 603777 10x ON OFF OFF OFF OFF OFF OFF OFF OFF 2 ProfiBus Slave 3A2 603777 10x OFF ON OFF OFF OFF OFF OFF OFF OFF 3 DeviceNet Master 3A3 603777 10x ON ON OFF OFF OFF OFF OFF OFF OFF 4 DeviceNet Slave 3A4 603777 10x OFF OFF ON OFF OFF OFF OFF OFF OFF 5 CANopen Master 3A5 603777 10x ON OFF ON OFF OFF OFF OFF OFF OFF 6 CANopen Slave 3A6 603777 10x OFF ON ON OFF OFF OFF OFF OFF OFF 7 ControlNet Slave 3A7 603777 10x ON ON ON OFF OFF OFF OFF OFF OFF 8 CC Link Slave 3A11 603777 10x ON ON OFF ON OFF OFF OFF OFF OFF E Point Jumper Settings All Revisions Point Default Description El 1 2 1 2 Allows reset of DPRAM by PMAC 2 3 DPRAM reset disabled E2 ON ON Connects gateway module GND to UMAC GND OFF Separates fieldbus and UMAC GND E3 OFF 1 2 Connects 1 order filter circuit to fieldbus
34. OFF x x ON Channel B OK 6 ON x x ON Channel B Disabled Channel Fault Indications Flashing Patterns Pattern D2 D D2 C D2 B D2 A Meaning 1 x OFF ON x Channel A Bad Network Connection 2 x ON OFF x Alternates between pattern 1 and 2 Pattern D2 D D2 C D2 B D2 A Meaning 1 ON x x OFF Channel B Bad Network Connection 2 OFF x x ON _ Alternates between pattern 1 and 2 Pattern D2 D D2 C D2 B D2 A Meaning 1 x OFF ON x Channel A Cable Fault 2 x ON ON x Alternates between pattern 1 and 2 Pattern D2 D D2 C D2 B D2 A Meaning 1 ON x x OFF Channel B Cable Fault 2 ON x x ON Alternates between pattern and 2 Pattern D2 D D2 C D2 B D2 A Meaning 1 x ON OFF x Channel A Temporary Network Error 2 x ON ON x Alternates between pattern 1 and 2 Pattern D2 D D2 C D2 B D2 A Meaning 1 OFF x x ON Channel B Temporary Network Error 2 ON x x ON Alternates between pattern 1 and 2 ControlNet 49 Acc 72E User Manual ControlNet Settings The fieldbus side of the PMAC Gateway conforms to the ControlNet fieldbus standard The characteristics of the fieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC Gateway using the Sycon Configuration software shipped with the PMAC Gateway The following tables summarize the characteristics that can be configured Device Settings Data Settings Item Par
35. PMAC2 in which a User Buffer has been created to allocate this memory Refer to the PMAC On Line command section of the Software Reference manual Example M6000 gt Y S6C000 16 8 Low Byte of first output word M6001 gt X S6C000 16 8 High Byte of first output word M6002 gt Y S6C001 16 8 Low Byte of second output word M6003 gt X S6C001 16 8 High Byte of second output word M6004 gt Y S6C002 16 8 Low Byte of third output word M6005 gt X S6C002 16 8 High Byte of third output word M6006 gt Y S6C003 16 8 Low Byte of fourth output word M6007 gt X 6C003 16 8 High Byte of fourth output word M6500 gt Y 6C100 16 8 Low Byte of first input word M6501 gt X 6C100 16 8 High Byte of first input word M6502 gt Y S6C101 16 8 Low Byte of second input word M6503 gt X S6C101 16 8 High Byte of second input word M6504 gt Y S6C102 16 8 Low Byte of third input word M6505 gt X 6C102 16 8 High Byte of third input word M6506 gt Y S6C103 16 8 Low Byte of fourth input word M6507 gt X 6C103 16 8 High Byte of fourth input word Allocate M Variables for Receive Process Input Data M3300 gt Y S5010700 0 16 u Input Wordl M3301 gt Y 010701 0 16 u Input Word2 M3302 gt Y 5010702 0 16 u Input Nord M3303 gt Y 5010703 0 16 u Input Word4 Allocate M Variables for Send Process Outputs Data M4300 gt Y S010600 0 16 u Output Wordl M4301 gt Y 010601 0 16 u Output Word
36. R DAT A sesnesvvvvvevevvvevevnvnnnnsnneunenne 87 M Variables 16 bit for Use in Programs seererrnrnrrravnvnvrrevnnvreresnnerernernernennersrennnsresnesnarnesnesnsrnesnsessesvssnennssssensssrenne 87 Allocate M Variables for Receive Process Input Data 87 Allocate M Variables for Send Process Outputs Data 87 Programming Example for Word Oriented Data 88 APPENDIX C HILSCHER HYPERLINKS eeoseonvevevnvenenvsnnevnsnnvenennvnnnvnnsnnsnnsnnennennvenevnnunnennsnnsunennvnnsenennsunnvnnennenne 89 Table of Contents iii Acc 72E User Manual INTRODUCTION This manual provides the information needed to configure a fieldbus interface for the UMAC The ACC 72E is equipped with a gateway daughter card that allows the UMAC to send and receive data through the supported fieldbus protocol The gateway used is the COM series provided by the Hilscher Corporation Relevant hyperlinks are provided in Appendix C for in depth information regarding these modules There are two connectors located on the front of the ACC 72E For Profibus DeviceNET CANopen and ControlNET options a male DB9 connector is specified as the Diagnostic Connector and provides a RS232 link for the SyCon software The second connector is referred to as the fieldbus connector as it provides a means to become connected to the fieldbus link The form factor of this connection is dependent on which fieldbus protocol is being utilized For the Control amp Communication
37. RESSES P 5 UPDATED Profibus LED s page22 UPDATED CC LINK LED INFO P 66 Acc 72E User Manual Table of Contents INTRODUCTION NEE 1 Configuring the Gateway vcssecesscecesvssesatoestuaescecetengseaaxcuseetsxeaseetaveescxcvtegpeeianeeseeicnskcees insueeeaeoeateesceancedexalored Ee Egeeeer 1 THEORY OF OPERATION cisccocsssssiasssssscessesssacevanie asusiszinebsscsdess as sete sdbabssnsauteadendance bested sobe osos ESES K Ssss io Esi iross BSES 3 UBUS e ELE 3 Howat TEE 3 PMAG Mengt EES dE EEEE EE AEE ESEE EEN EEEE EE AE seconde ist 4 Cons med Process Data Flower NEES EEN EES 4 Produced Process Data low 2 sei stees 5 UBUS Addf s geed 5 HARDWARE oi sissccsssiccestssstscesbisecvecssesscsusdscchsatecaaceubsseshsesisnotoupiceduaedeieis eubseesbessssaadeatste sasuiasepsetbocadeaviseasduenisesseuissedeavissens 7 SWI DPRAM Address iiis aa a a E EEEE EPE EEEE E EE ANE EEEE E EESE ese 7 CS16 E EE H Identification TEE deg Ee ee Eder 7 Revision 100 Jumper Descriptions yi eege ENEE ENEE NEEN Eeer 8 Option EIERE Ee EES amp REVISION JUMPOTS es ege dE EES EE Eege ENEE H Product ID EE 9 Revision 101 and Later Jumper Descriptions ssssesessetseeeierssssrsrsretretstsstststtttstetsttstnttttntstnsttrstrtnstnrstetstntssrsretettt 9 Option JEE eege ANE ENEE EES H E Point Jumper Setting Sorsien EN e Ee E EE E E EEA EEE E EE EN E 9 EE 9 CONNECTOR PINOUT S visssisccscccisscctsscicsdecsessocsastatesesssssasbesdocedsabtasdsestisensenl
38. To configure the modules of the slave do the following steps If not already present select all modules from the upper table and insert them in the lower table The sequence of the modules in the lower list is important and must correspond to the real physical slave configuration Assign the addresses of the module data in the process image for each module in the lower table This is done in the columns Type and Addr for input and output separately The I O address can be entered by the user or set automatically by SyCon using the Auto Addressing flag which must be set in the Master Settings window If the flag is active SyCon will place all I O data offsets in physical order This is done during the download procedure and the assigned addresses can be checked in the Address Table If the addresses are entered manually the default address O in the field I Addr O Addr must be overwritten by the user Depending on the Addressing mode in the DP Master Settings the addresses are byte addresses or word addresses This is described in the chapter Addressing mode The DP Slaves use the Watchdog Control flag to detect communication errors of their assigned DP master If a DP slave recognizes an interrupted communication to his master during a defined watchdog timer interval when he was operational once he resets himself and sets his outputs into a safe zero state Caution If Watchdog Control is switched off it is poss
39. USER MANUAL Accessory 72E DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 A Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2008 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or causin
40. a line inverse A on PROFIBUS connector 1 X5 pin 7 9 X5 pin 9 1Note Designation A and B at the PROFIBUS connector is not equal to the designation A and B of the RS485 driver circuit of most manufacturers The RXD TXD P signal and the RXD TXD N signal have a clear meaning 10 DPRAM Memory Map Acc 72E User Manual Connector P2 Sycon Diagnostic DB9 Male Pin Symbol Function Description Notes 1 X3 pin2 2 TXD Output Transmit data X3 pin 6 3 RXD Input Receive data X3 pin 4 4 DTR Output Data terminal ready 3 3k Ohm X3 pin 8 resistor to high level 5 GND Fieldbus module Ground X3 pin 10 6 X3 pin 3 7 RTS Output Ready to Send X3 pin 5 8 CTS Input Clear to Send X3 pin 7 9 X3 pin 9 Revisions 101 and Later Pinout Descriptions Described below are the alternate pinouts found on Gateway boards with Revisions 101 or later released 1 quarter of 2006 Assy No 603777 101 and later Connector J6 Sycon Diagnostic IDC 10 pin Header Pin Symbol Function Description Notes 1 PE Earth Ground X3 pin 1 2 X3 pin2 3 X3 pin 3 4 RXD Input Receive data X3 pin 4 5 RTS Output Ready to Send X3 pin 5 6 TXD Output Transmit data X3 pin 6 7 CTS Input Clear to Send X3 pin 7 8 DTR Output Data terminal ready 3 3k Ohm X3 pin 8 resistor to high level 9 X3 pin 9 10 GND Fieldbus modu
41. ajor A 1 indicate the DEVICE detected a problem e g the task Recoverable detected an invalid MAC ID Fault Major A 1 indicate the DEVICE detected a problem e g a user Unrecoverable watchdog failure appears Fault ControlNet Acc 72E User Manual CC LINK CC Link Control amp Communication Link is a Fieldbus network that processes both cyclic I O data and acyclic parameter data at high speed CC Link was developed by Mitsubishi and today it is managed by the CC Link Partner Association CLPA CC Link is a very popular network in Asia Worldwide it is used for time critical applications based on Mitsubishi Automation technology CC Link products are certified by the CLPA guaranteeing worldwide compatibility CC Link is a Fieldbus for high speed communication between controllers and intelligent field devices like I Os sensors and actuators In networks with up to 65 stations it provides reliable communication without any need for repeaters Supported by a broad spectrum of automation equipment from many manufacturers CC Link provides communication facilities for integrated and efficient production or process facilities via a single cable CC Link includes many advanced features such as stand by master function detach and auto return Slave function as well as auto recovery from communication fault functions CC Link incorporates an RS 485 topology and runs on a 3 conductor twisted pair cable It can communicate to
42. al port Viewing Printing and Saving Your Configuration View Device Table The list of devices is displayed with the menu item View Device Table Address Table To display the list of salve addresses use the menu item View Address Table Select the master as actual master to display its address table CRL Table ProfiBus Display the Communication Reference List OD Table Profibus The Object Directory is displayed with the menu item View OD Table Print After you have selected the actual printer with the menu item Print Setup you can print out the configuration with the menu item Print If you want to have a preview of the print before printing you can use the function Print Preview Save You can save the configuration with the menu item Save if the file name is known otherwise you must use the function Save as with a new file name 80 Appendix A Sycon Manual Acc 72E User Manual Downloading the Configuration to PmacGate Way The download of the configuration data to the device can be started with the menu Online Download At first you have to select the desired device so that it is signed with a blue frame around it This is done with the function Actual Master in the window Master Configuration or with the function Select as actual master in the menu which appears if you click with the right mouse button on a master device Before the download happens SyCon will check the configuration If there appears an
43. alue field The service is activated with the button Send At the left side of the window appears the confirmation Task States Task states are online counters values parameters and states that can be displayed Several task states are available The Online Task State menu activates a list of available structures The listed structures can be displayed to show the values 84 Appendix A Sycon Manual Acc 72E User Manual Error numbers The following table lists the error numbers of the converting functions Number Desertpgen O 4000 No table existing 4001 4002 Last respectively first entry reached 4004 Not enough memory 4016 Open_file used before init_file 4034 Length of converting stream is 0 4035 Non equal data set found 4044 Old data base has to be converted 4011 4046 Unknown type in set 0 found 4047 No float function available 4048 Function not in RCS module 4049 Check failed 4050 Checksum ckeck failed 4052 SegLen in structure FILE_INFO_T is smaller then the length in the file Return of function dbm_restore_data L 2088 4045 Error while converting Function not known 4051 More segments are existing in file than in the structure FILE_INFO_T 4059 An unknown format for the parameter Valid is U H or S Appendix A Sycon Manual 85 Acc 72E User Manual Number Desegpgeon O No entry in element szSourceFile 4084 ODBC connection initialization not possible T
44. ameter Setting as Shipped 1 Handshake Mode No consistence uncontrolled 2 Behavior after power up Automatic release of communication by the device 3 Watchdog time 1000 msec 4 Addressing Mode Byte addresses 5 Storage Format Little Endian 6 General Mac ID 3 Parameter Setting as Shipped Range Number of input words 215 434 words total Number of output words 215 inputs ouputs Unscheduled Services Length of file 3 0 0 1000 words Length of file 4 0 0 1000 words Length of file 5 0 0 1000 words Length of file 6 0 0 1000 words The fieldbus characteristics of the PMAC Gateway are defined in EDS files that come with the SyCon software The ControlNet slave is defined in COMCNS EDS The configuration diagnostic port on PMAC Gateway provides a convenient method for configuration and for monitoring the fieldbus side of the PMAC Gateway The following section provides an example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gate ControlNet SyCon Configuration Start SyCon and start a new setup file 50 Control Net Acc 72E User Manual SyCon Network View File Choose Insert Device or click the icon in the left corner of the screen Add COM CNS as the selected devices and press OK ControlNet 51 Acc 72E User Manual SES id Tax Dall Jg Insert Device CIF104 CNS CIF30 CNS OM CNS
45. as set its state to operative or not If the bit is set the HOST program ist not ready to communicate TIMEOUT ERROR The DEVICE has detected an overstepped timout supervision time of at least one CAN message to be sent The transmission of this message was aborted The data is lost It s an indication that no other CAN device was connected or responsive at this time to acknowledge the sent message requests The number of detected timeouts are fixed in the Msg Time Out variable The bit will be set when the first timeout was detected and will not be deleted any more f reserved The bit field serves as collective display of global notifications Notified errors can either occur at the DEVICE itself or at the nodes To distinguish the different errors the variable err node adr contains the error location address If more than one error is determined the error location will always show the lowest faulty bus address e Variable CAN state This variable represents the main state of the master system Following values are possible 00 state OFFLINE 40 state STOP 80 state CLEAR C0 state OPERATE e Variable Err_Node_adr If either the bits Ctrl Aclr orNData are set this variable is set to the lowest node CANopen 45 Acc 72E User Manual location of the error If the source of the error is determined inside the DEVICE itself the value 255 is written in For all other instances the faulty node address is displayed C
46. between the devices checks for configuration conflicts and warns you of possible errors Some protocols support standardized files containing information about all features and limitations of the slave device SyCon uses these files for the configuration After the configuration you can switch SyCon into a diagnostic mode In diagnostic mode you can watch all status information of devices connected to the network For example you can see the node list or slave diagnostic information If a slave is not operating correctly it will be displayed in a different color normally red SyCon consists of a universal exe file and several specific protocol DLLs Most customers will use SyCon for only one bus system however SyCon can be expanded later by adding one or more DLLs for other available protocols 2 0 Installation System Requirements PC with 486 Pentium processor or higher Windows 95 Windows NT 3 51 Windows NT 4 0 Free disk space minimum 10 MB RAM minute 16 MB Graphic resolution 800 x 600 pixel or greater Floppy Disk 1 44M or CD Rom You have to install 1 The system configurator 2 The device driver 3 One of the fieldbus protocols ProfiBus SDS DeviceNet Interbus S 3 0 Installation Procedure 1 Close down all application programs on your system 2 Insert the installation disk 1 or CD of SyCon in your floppy or CD drive 3 To install SyCon select the Software install icon in the start settings control panel menu
47. com files manuals CC Link 20Booklet pdf Booklet DeviceNet Hardware http www hilscher com files manuals DeviceNet 20Booklet pdf Profibus Booklet Hardware http www 22hilscher com files manuals PROFIBUS 20Booklet pdf ai CANOpen Booklet Hardware http www hilscher com files manuals CANopen 20Booklet pdf Hilscher Manuals For In Depth Protocol Explanations and Memory Map except CC Link ftp support deltatau com DT USA Delta 20Tau 20Fieldbus MANUALS manuals pdf Appendix C Hilscher Hyperlinks 89
48. de rie gen data Ierch these dts nthe retort configuration cick the Cate fr ie dee The device ID are address soma ied wher larch E ents p the set of pending wets Pease arabe edes to vim the pending devies Uratie ta open logie Log format wll not ba urad Return to RSLogix 5000 go to the Communications menu and select Download If the communications path has not been specified to the ControlLogix controller then the path must be selected in Who Active Once the path to the controller has been specified then select Download ControlNet 59 Acc 72E User Manual E arem 10 0 9 101 Urnecogriend Device 10 0 9 102 Urnecogriend Device aam Dever S H 1000 12 vmeper armen Badrie LS 31 13299 19 Urvecogrend Device ear Pahin Pronet crores Basar ae os one pe aa oe Return to RSNetworx With Edits Enabled the ControlNet network can be saved by selecting the Save icon The network can be optimized while the Edits are enabled by changing the Network Parameters in Properties under the Network Menu These changes will take effect only after a save is issued Then the Network is now configured Return to RSLogix 5000 and save the file mp Gt yee Det lever Dyote e tsb CATEL OEE EAE USA OF CNS Deem EC el ie Opinan ard ov v te ache hr al connections rr E re tops re perry aeth able The devos ID ard m nens sonctied when launching Kean aunts tha sat
49. determine the starting points of the corresponding data in the process image Byte address The process image has a byte structure and every byte has its own address Word address The process image has a word structure and every word has its own address This has nothing to do with the physical data size of the dual ported memory which is always byte oriented The following table shows how the different data types in the process image in byte or word address mode IEC Address Offset address Data in the Output in Little Endian format in byte mode in word mode in the dual ported Process byte module memory Image module with two single bytes first 8 bytes example word module 0 00000000 0000 0000 Output QB2 QB1 QB 2 QB 2 2 1110 0010 D7 D6 D5 D4 D3 D2 D1 DO 00000000 Output QB4 QB2 QB 4 QB 4 4 1111 1000 D7 D6 D5 D4 D3 D2 D1 DO 00000000 5 0000 0111 D7 D6 D5 D4 D3 D2 D1 DO TT KSE ooo 6 fit 0100 0100 Output QW6 QW3 in Little Endian format LSB MSB D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 09 000000000000 Output QW6 QW3 in Big Endian format MSB LSB D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO OO 0 OO 00000000000 76 Appendix A Sycon Manual Acc 72E User Manual Insert Slave To insert a new slave in the configuration select the Slave item in the menu Insert Click on that position where you want to insert the new slave A d
50. e 3 Save your configuration Select the board as actual device which you want to configure and download s to all the CIF devices Connect the bus cable and test the communications using the I O Monitor for DP and the FMS Monitor for FMS 4 Finally print out the documentation of your ProfiBus system GSD Files Each ProfiBus DP manufacturer uses standard device description files to define the ProfiBus DP device on the network These definitions are called GSD files The set of device description files GSD file build the device database El SyCon E 03 Fieldbus CT CANopen a Profibus C Bmp E Gsd E Project All possible devices the configuration or GSD files must be in the GSD directory during the startup of the SyCon software If you need another GSD file during SyCon runtime you have to copy this file with the File Copy GSD menu item Note You need GSD files only for ProfiBus DP The GSD directory path is changeable To modify it from the default to an another path use the Settings Path menu All GSD files have to be present in this directory for SyCon to recognize the device 72 Appendix A Sycon Manual Acc 72E User Manual Selecting a fieldbus system and creating a new file At the beginning of a design you must create a new configuration file which is done in the File New menu item You can select between the different fieldbus systems Select ProfiBus The name for the configuration can be assigned w
51. e 3A2 603777 10x OFF ON OFF OFF OFF OFF OFF OFF OFF 3 DeviceNet Master 3A3 603777 10x ON ON OFF OFF OFF OFF OFF OFF OFF 4 DeviceNet Slave 3A4 603777 10x OFF OFF ON OFF OFF OFF OFF OFF OFF 5 CANopen Master 3A5 603777 10x ON OFF ON OFF OFF OFF OFF OFF OFF 6 CANopen Slave 3A6 603777 10x OFF ON ON OFF OFF OFF OFF OFF OFF T ControlNet Slave 3A7 603777 10x ON ON ON OFF OFF OFF OFF OFF OFF 8 DPRAM Memory Map Acc 72E User Manual Revision Jumpers Item Description Part Number JP10 JP11 JP12 JP13 Bit18 Bit19 Bit20 Bit21 1 ProfiBus Master 3A1 603777 10x ON OFF OFF OFF 2 ProfiBus Slave 3A2 603777 10x ON OFF OFF OFF 3 DeviceNet Master 3A3 603777 10x ON OFF OFF OFF 4 Device Net Slave 3A4 603777 10x ON OFF OFF OFF 5 CANopen Master 3A5 603777 10x ON OFF OFF OFF 6 CANopen Slave 3A6 603777 10x ON OFF OFF OFF 7 ControlNet Slave 3A7 603777 10x ON OFF OFF OFF Product ID Jumpers Item Description JP14 JP15 JP16 JP17 JP18 JP19 JP20 JP21 JP22 JP23 JP24 JP25 JP26 JP27 Bit22 Bit23 Bit24 Bit25 Bit26 Bit27 Bit28 Bit29 Bit30 Bit31 Bit32 Bit33 Bit34 Bit35 1 ProfiBus Master ON OFF OFF OFF OFF OFF ON ON
52. e ee el Dere el aie x DeviceNet Master Deva otvet V osm nn mn IDEC 8in Sout L mac i nor SX5D6 el wie oe rg sn DeviceNet Master Settings Setup the PMAC Gateway with SyCon using the following settings e For DeviceNet Master use the 8k DPRAM setting see below e To enter the master settings select the Settings Master Settings menu or use the right mouse button at a DP master device There is also a Master Settings button in the Master Configuration window available The Master settings contain parameters which defines the behavior of the PMAC Gateway DPRAM Lekt td Zeg Je ai y 1 La Ce RE C Zu gaeren E Ant Ate zeen UNE Aa ger reem Tat pra Coreg hae Basia ten Fa rn BP Mert Wind zez Jg me 34 DeviceNet Acc 72E User Manual DeviceNet Insert Slave To insert a new slave in the configuration select the Slave item in the menu Insert Click on the position where to insert the new slave When a dialog box appears select COM DNS In the left list box all slave devices which are presented in the EDS directory are listed If there are too many set a filter to select only a special slave family or vendor When one slave is selected see additional information about the slave in the list box below With a double click or with the Add button the slave appears in the right list box All devices in this box will be connected to the active master who is displayed in the window If selectin
53. eesaeseseseneseeeeessesseeeeeeeaees 22 Neue Ee CO E 22 DIAGNOSTIC IEEE EEE EE Seege 22 Profibus Fieldbus Configuration c ciscceseinsssesssseisssnsessenseessaroseessnestesssentnsebocessabedenssnssvehsneanctviesiouseatssepsszesgeaeres 23 Profibus Master Aetiiuge titist ttt tt tetes EAE EEEN ESEESE SESEEN EEEN EEEESEEEEE ESSEE SESE EEEn nent 23 Profibus Slave Settings ccccccccccccsscssseccsseesceseeseeecseesecuseescncecseesecceeseceveeceseeeaecsecaecaeeeecsseseseeeaeeseceeaesneseeeneeereegs 23 Profibus Sycon Ce E Te EE 24 Profibus EE 24 Configuring the Slave for Profibusy ci cc ccccciecdecceseccsccacscsnccasecsuceadcccteesdecvscsadecceevadesuaccadecesdocdeceaenadsddbesasedcaccadoedseedh 25 Downloading the Slave Configuration for Profibus sernrervvrrnvrnnvrnnrrnvrrnrrrnnrrnnrrnnrennrrnernrernnrrneessessnrensernersneennenn 26 Testing and Monitoring the PMAC Gateway for Profbus 27 Table of Contents i Acc 72E User Manual Monitoring Online Diagnostic Flags from PMAC 0 ccccccesssesssesseesceeseesecesecesecaecnaecseecaeecaeseaeseeeeeeeeeeneenseenasenaees 27 Profibus Master Diagnostics cccccceccsccesesseeeecsseescuseescesecseeeceeeecceeseescssesececseesecesecaeeseaeeseeseceeaeseveeenseerenas 28 e 30 JBI DAYA LO Dai D sssseassssecssasstedessessssdasietetostnsessseadecsssauasessosd E A E E asiesssacsessusdess dee 31 DeviceNet Specification S ege e E E E AE SE N AS S ESEE E STTS 31 DeviceNet Layout Dragera
54. es Ger t First device Last device DA m em JA 1 110 1 if 15 1 D a DB f 1 OG SLO FG Only use cable types approved for CC Link networks CC Link specifies shielded three core Twisted Pair cables It is recommended to use only one type of cable for an installation Please ensure that termination resistors are available at both ends of the cable The value of the termination resistor depends on the used type of cable and can be 100 110 and 130 ohms For more information go to the CC Link Booklet Hardware in Appendix C CC Link Fieldbus Configuration The fieldbus side of the 3U PMAC Gateway conforms to the CC Link fieldbus standard The characteristics of the fieldbus side of the 3U PMAC Gateway are hardware configurable The daughter board L0401813 by Hilscher plug into the C X1 and C X2 connectors on the 3U PMAC Gateway mother board The switch settings and the baud rate settings are shown in the following sections CC Link does not need a particular software configuration to provide communication The hardware starts communicating at power up Once the PMAC gateway card DPRAM registers are set up correctly PMAC reads or writes data from to the Fieldbus via CC Link This procedure is given in Appendix B CC Link Fieldbus Switch Settings There are three switches on the CC Link Fieldbus daughter board which are shown in the following picture CC Link 67 Acc 72E User Manual
55. eway exchanges the data between the internal buffer and the dual port memory The gateway then complements PdCom PdAck PdCom 1 gt The gateway cycles the data exchange again PdAck 1 PdCom 0 This handshake is commonly used in slave systems where the slave gets an interrupt with the next data exchange cycle 16 DPRAM Data Processing Acc 72E User Manual No Conscience Uncontrolled Direct Transfer PMAC reads and writes the process image at the same time as the gateway The gateway does cyclic data exchanges and after every exchange it makes an update of the process image This is the recommended method of data transfer for most users This is the most common data transfer for IO devices requiring no handshake Attention If two bytes belong together it is imperative that they are on the same bus cycle otherwise this mode can t be used DPRAM Data Processing 17 Acc 72E User Manual Bus Synchronous Direct Transfer Host Controlled user program dual port memory PROFIBUS No data exchange PdAck PdCom data PdAck PdCom PMAC writes new output PdAck 0 PdCom 0 gt 1 memory data is updated PdAck 0 1 PdCom 1 gt I User reads new input
56. f one master and many slaves DeviceNet Specifications Size Power Requirements Connector Types Rev 100 Dual Port Memory Size Communication Maximum Size Inputs Outputs UO Capacity Baud Rate s Maximum Nodes Diagnostic RS232C Port Program Storage Watchdog Timer Operating Temperature Chip Technology Lab Certified 3Ux 4HP UMAC compatible 5Vdc 500ma UBUS 24Vdc 50ma from external power supply 96 Pin UBUS interface 9 Pin D Male Diagnostic interface 5 Position TB connector Slave COM DNS 2048 Bytes 2K Slave COM C DNS 8192 Bytes 8K Master 8192 Bytes 8K 255 Bytes 255 Bytes 255 Bytes 1k Bytes 125K 250K 500K 64 Yes Flash Memory Yes 0 55Deg C SJA1000 Yes DeviceNet 31 Acc 72E User Manual DeviceNet Layout Diagram TP6 TPS pa TPS 0000 OND GND GND 5V Diagnostic Interface 8 nnepegggge CE E S E ZA E ELL dek DeviceNet V 24v CAN_H Shield CAN_L V 24v Ret Pl UBus Interface Diagnostic Cgeegpgegeggpoagaegngnn raseannaasepnoasannnn LE ZAALLAELILEEESLLI DeviceNet LEDs Diagnostic LEDs Diagnostic LEDs are provided to give visual indications of board status The green LEDs are easy to understand If everything is okay the two inner LEDs will be ON Other states are discussed below Green LED D1 A Not used Green LED D1 B ON DeviceNet Communication Active N OFF DeviceNet Communication Stopped Flashi
57. from Europe Profibus can be used in a very wide range of applications as a multi application communications link for industrial devices as well as cell level communication Profibus is an established standard first introduced in 1989 The Profibus protocol was originally developed by the committee founded by the German government The resulting protocol was initially adopted as DIN standard 19245 and was then adopted as a European Common Standard EC50170 Profibus connects to a wide variety of field devices including discrete and analog I O drives robots MMI products pneumatic valves barcode readers weigh scales transducers and flow measuring equipment e Profibus utilizes a non powered two wire RS485 network e It can transfer a maximum of 244 bytes data per node per cycle e Communication rates are selectable but overall end to end network distance varies as indicated below e 12Mbps with a maximum distance of 100m e 93 75Kbps at maximum distance of 1200m without repeaters Profibus Specifications Size 3Ux 4HP UMAC Compatible 5vdc 700ma from UBUS 96 Pin UBUS interface 9 Pin D sub Male Diagnostic interface 9 Pin D Profibus interface Power Requirements Connector Types Dual Port Memory Size 2048 Bytes 2K Communication Maximum Size 368 Bytes Inputs 244 Bytes Outputs 244Bytes I O Capacity Ik Bytes Baud Rate s 9 6k up to 12 Mbaud Max Nodes 126 Diagnostic RS232C Port Yes Program Storage Flash Memor
58. g electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REV DESCRIPTION DATE CHG APPVD 1 REMOVED SYCON CONFIGURATION SECTION 05 21 06 C PERRY A SOTELO 2 CORRECTED E POINT JUMPER DESCRIPTIONS 05 23 06 C PERRY A SOTELO 3 REMOVED APPENDIX A SYCON MANUAL REARRAGED APPENDIX 05 23 06 C PERRY A SOTELO ORDER CREATED APPENDIX C HILSCHER HYPERLINKS 4 UPDATED ID JUMPERS FOR REV 100 AND NEWER REVISIONS 05 26 06 C PERRY A SOTELO UPDATED PINOUTS FOR REV 100 AND NEWER REVISIONS 5 UPDATED DATA HANDSHAKING MODES SECTION 05 30 06 C PERRY A SOTELO 6 ADDED PDACK AND PDCOM STATES TO DATA HANDSHAKING MODES 06 13 06 C PERRY A SOTELO SECTION UPDATED DESCRIPTIONS IN DPRAM MEMORY MAP 7 ADDED DIAGNOSTIC FLAG DESC TO PROFIBUS amp DEVICENET 06 16 06 C PERRY A SOTELO 8 ADDED DIAGNOSTIC FLAG DESC TO CANOPEN amp CONTROLNET 06 19 06 C PERRY A SOTELO REMOVED APPENDIX A UPDATED APPENDICES NAMING CONVENTION 9 ADDED SW1 DESCRIPTION 07 06 06 C PERRY A SOTELO 10 ADDED CC LINK SECTION APPENDICES B AND C 08 05 08 C PERRY M COGUR UPDATED UBUS ADD
59. g the slaves individually give every device a name or a short description in the Description field With the addition of every slave the MAC ID is incremented but this valve can be changed manually in the MAC ID field DeviceNet Slave Configuration The slave specific configuration is set in this window Assign the modules and their data to addresses for the process data image in the master device Remember that these addresses correspond to the application in the PC bp ry aggre R I ej ai alz J DeviceNet Master wg ee Seen EJ waj Cep nen des md h stent ukers T oj Se cantgent UO ses EI nft Tei ee Ft Cong Mae er zen HM ETL erg Wot eege SO nsw Assign the addresses of the module data in the process image for each module in the lower table This is set in the columns Type and Addr for input and output separately The I O address can be entered manually or set automatically by SyCon using the Auto Addressing flag which must be set in the Master Settings window Caution If Watchdog Control is switched off it is possible that the slave will not reset slave outputs even though the communication is broken Downloading the Configuration to PMAC Gateway Use the Online Download menu to download the configuration data to the device Before the download happens SyCon will check the configuration If any error message appears the configuration should be checked Most err
60. h fieldbus A micro controller on the daughter board implements each fieldbus communications protocol Fieldbus data is transferred to from the fieldbus and placed in a dual port ram memory on the daughter board The structure of this DPRAM is given later in this manual and is common for all the field buses supported There are two different DPRAMs used a 2K byte device and an 8K byte device The PMAC side of the DPRAM is interfaced to the UBUS PMAC programs access the fieldbus data by reading or writing data to memory addresses corresponding to the location of the PMAC Gateway 3U board s DPRAM PMAC Gateway Version DPRAM Size ProfiBus Master 2k bytes ProfiBus Slave 2k bytes ControlNet Adapter 2k bytes CANopen Master 8k bytes CANopen Slave 8k bytes DeviceNet Master 8k bytes DeviceNet Slave COM DNS 2k bytes CC Link Slave COM C CCS 8k bytes UBUS Interface The UBUS is Delta Tau s bus interface for the UMAC controller The PMAC Gateway 3U maps to the UBUS as a DPRAM style board It occupies contiguous memory locations both X and Y memory of the upper byte of the 24 bit DPRAM addresses Both MEMCSO and MEMCSI chip selects are supported M variables are mapped to these locations to move data to and from the fieldbus and PMAC In addition to fieldbus data a block of memory indicates the PMAC Gateway 3U board s status Examples of M variable definitions for each fieldbus are
61. hen you leave the system configurator or using the File Save AS menu Insert Master To insert a new master in the configuration select the Master item in the menu Insert or click the following icon The mouse cursor changes to the insert master cursor Click on that position where you want to insert the new master A dialog box appears where you have to select one or more masters You can select the master types ProfiBus Combi Master ProfiBus FMS and ProfiBus DP ProfiBus FMS Master SyCon Wago3 pb Jol x BE File Edt View Inset Onine Settings MER window Help laj x ER el EI GSD Viewer StandAloneComDPM Station address 1 DP Master COM DPM PKV20 DPM Opto22 Inputs Station address 2 DP Slave PDPRS64 HALF Opto22 Outputs Station address 3 DP Slave PDPRSb64 HALF Siemens ET200B Station address 4 DP Slave B 8DI 8DO DP Config Mode ProfiBus DP Master Appendix A Sycon Manual 73 Acc 72E User Manual Settings Bus Parameter The bus parameter is normally the baud rate of the fieldbus network which is determined by the master controller Each fieldbus has a set of different baud rate options In a ProfiBus DP system the only parameter which is required is the baud rate The baud rate of the ProfiBus is common for all bus nodes Changing the baud rate causes all other parameters to be re calculated The System Configurator checks that all configured devices based on the
62. here are no valid user data If the bit Diag Prm_Req and the bit Diag Stat_Diag are set the bit Diag Prm Req has the higher priority If the slave sets this bit a new parameterization has to be performed This bit is set as long as no new parameterization has been performed This bit is set from the slave If this bit is set there are more diagnostic information as in EXT_DIAG_DATA given The DP slave set this bit for example if there are more channel information as the slave can hold in its send buffer or the master set this bit when the DP slave send more diagnostic information as the master can hold in its diagnostic buffer In this octet the address of the master is entered which has done the parameterization of the this slave If the salve is not parameterized from any master the slave put the address 255 FF into this octet The identifier of the manufacturer is reserved for every participant This identifier can be used for checks or can be used for an exact identification Appendix A Sycon Manual 83 Acc 72E User Manual I O Monitor This is a simple tool which allows displaying and entering at the first 32 bytes of the process image FMS Monitor Profibus FMS This tool allows starting a ProfiBus FMS service based on the configured objects and communication references You must select on of the service Read or Write and the parameter in the select list If it is a write the output data are entered in the V
63. his could happen when in file ODBCINST INI in section Microsoft Access Driver mdb is no valid path to ODBCJT16 32 DLL 4096 Entry in iTranslate of table CreateTab is wrong 4097 Function SQLAllocStmt reports an error 4098 OdDBC source table not found 5001 Function PackLongToByteShort Not enough space in pvD Number of elements greater than reserved memory 5003 Function StringToByte Not enough space in pvD 5004 Function IntToByte Not enough space in pvD 5005 Function LongToShort Not enough space in pvD 5006 Function PackStringDumpToByteArray Not enough space in pvD 5007 Function PackStringBumpToByteArray A character was found which is not 5002 Function PackLongToByteShort Not enough space in pvD Detected during converting of pvS convertable into a HEX value 5008 Function PackStringDumpToByteArray Number of character odd 86 Appendix A Sycon Manual Acc 72E User Manual APPENDIX B SAMPLE PMAC PLC TO TRANSFER 16 BIT INTEGER DATA The variables defined to access the PMAC Gateway hardware are all 8 bit unsigned data types because the hardware on the PMAC Gateway is byte oriented In many cases individual bits of the fieldbus data representing discrete I O may be dealt with or bytes may be combined in order to represent data as 16 bit integer or floating point values M Variables 16 bit for Use in Programs The memory address used for the following M Variables are valid only for a Turbo
64. ialog box appears where you have to select one or more slaves In the left list box there are listed all slave devices which are presented in the GSD directory If there are too many you can set a filter to select only a special slave family or vendor When one slave is selected you can see additional information about the slave in the list box below With a double click or with the Add button the slave appears in the right list box All devices in this box will be connected to the active master who is displayed in the window If you select the slaves individually you can give every device a name or a short description in the description field With the addition of every slave the station address is incremented but this valve can be changed manually in the Station address field Slave configuration The slave specific configuration is done in this window Here you have to assign the modules and their data to addresses for the process data image in the master device Remember that these addresses correspond to your application in the PC Slave Configuration x General Device WAGO 750 303 V3 5X Station addess E Description Mag 0 Block Cancel IV Activate device in actual configuration MK Enable watchdog control GSD file WAGOB751 GSD Parameter Data Max length of in output data 256 Byte Length of in output data 6 Byte Max length of input data 128 Byte Length of input data 5 Byte Max
65. ible that the slave will not reset slave outputs even though the communication is broken 78 Appendix A Sycon Manual Acc 72E User Manual DP Slave Settings Device Table x Add Device dent number Device type COM DPM PKV20 DPM 047506 DP Master Stand4loneComD PM PDPRS64 HALF 0087D DP Slave Opto22 Inputs PDPRS64 HALF 0x087D DP Slave Opto22 Outputs B 8DI 8D0 DP 20008 DP Slave Siemens ET200B WAGO 750 303 3 5 Ra DP FMS Slave Wago LO Block The DP Slave settings contain parameters which define the behavior of the PMAC interface To enter the DP slave settings select at first the slave than open the window with the menu Settings DP Slave Settings User program monitoring The watchdog time appointed how long the device will wait for a user trigger of the watchdog until it resets all outputs to zero This must be activated from the application Configuration mode If the slave device should take the parameter out of the configuration which is downloaded from SyCon then you must select for the Configuration mode the mode Configuration by SyCon If the configuration is written in the dual ported memory from the application then you must select Configuration by application Handshake of the process data With these different modes the handshake of the process data is selected for the master The selection of this mode is important for the correct data exchange between the application and the device
66. ically the chosen connection is polling so it should be changed in the Chosen Configuration Column before it is accepted Download the new configuration to the master to establish communication Usually this is the easiest way to get a network up and running SeCon DNM IDECO dn Lia D Le Sen iat Drine S Windom Hep BUE olsa gt e a alz DeviceNet Master ACD 1 DeviceNotMaster COM DNM Denceliune Pater Pulser ee Fr 3 Produced Conmumed Produced Conuumed For He pes FI Caro Made MR Stan A 5yCon ONM_IDECL BY Minsk Weed Spare K zru Monitoring Online Diagnostic Flags from PMAC Once communications are established to all devices in the fieldbus network diagnostic flags build into the gateway module can be monitored by PMAC to determine the status of the network during online communications Diagnostic flags are not available for ACC 72E Option 4 DeviceNet Slave 36 DeviceNet Acc 72E User Manual DeviceNet Master Diagnostics Below are the diagnostic flags that can be found in DPRAM Variable Size Offset Description bGlobalBits 1 byte 1F40H Global error bits bDNM_State 1 byte 1F41H Main state of the master system bErrDevAdr 1 byte 1F42H Faulty remote address e bGlobalBits GE CONTROL ERR parameterization DEVICE st unication to all d reached the aut XCHANGE ERROR ATAL
67. ieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC Gateway using the Sycon Configuration software shipped with the PMAC Gateway The PMAC Gateway slave may be configured from the fieldbus master The following tables summarize the characteristics that can be configured CANopen Master Settings Item Parameter Setting As Shipped 1 Bus Speed IM bit s 2 Handshake Mode No consistence uncontrolled 3 Behavior after power up Automatic release of communication by the device 4 Watchdog time 1000 msec 5 Addressing Mode Byte addresses 6 Storage Format Big Endian CANopen 41 Acc 72E User Manual CANopen Slave Settings Item Parameter Setting As Shipped 1 Handshake Mode No consistence uncontrolled 2 Configuration Mode By SyCon 3 Behavior after power up Automatic release of communication by the device 4 Configuration Data Standard 5 Watchdog time 1000 msec 6 DPV 1 Parameter Class 2 buffer length 0 7 General Node Address 1 Activate device in actual configuration Automatic COB 1D allocation 8 T O Configuration TxPDB1 Type IB Iaddr 0 Ilen 8 Input Length 32 TxPDB2 Type IB Iaddr 8 Ilen 8 Output Length 32 TxPDB3 Type IB Iaddr 16 Ilen 8 TxPDB4 Type IB Iaddr 24 Ilen 8 RxPDO1 Type QB Iaddr 0 Ilen 8 RxPD02 Type QB Iaddr 8 Ilen 8 RxPD03 Type QB Iaddr
68. included in this document How it Works 1 The PMAC Gateway board organizes fieldbus bytes in a dual port memory on the gateway module These fieldbus bytes are mapped into PMAC s memory space via the UBUS interface PMAC M Variables are used to move data to and from the fieldbus or to control the gateway board 3 A switch on the PMAC Gateway board sets the address of the board in PMAC s memory space The gateway board is configurable via a serial RS232 port SyCon is provided with the gateway board for this purpose 5 Diagnostic LEDs are provided for a visual indication of the board s status Theory of Operation Acc 72E User Manual PMAC Memory PMAC uses a DSP Digital Signal Processor with a 24 Bit architecture that uses two memory areas Y and X Memory Memory is accessed in PMAC programs using M variables The definition of an M variable includes its number address offset width and type Refer to the PMAC Manual for additional explanation of M variables and their specification MEMCSO Address PMAC 24 bit X PMAC 24 bit Y Offset Memory Address Memory Address M7001 gt X 06C000 16 8 U M7000 gt Y 06C000 16 8 U PMAC Memory Organization Consumed Process Data Flow Consumed data from the gateway s point of view flows into the DPRAM from the fieldbus and gets mapped to the UBUS as shown in the following diagram The 100 hex offset shown is for gateway modules with a 2k byte DPRAM PMAC Ga
69. is that memory locations selected by CS16 chip select 16 active low were reserved for board identification information Vendor ID 8 bits Options Present 10 bits Revision Number 4 bits Product ID 14 bits This information 36 bits is accessible directly with I Variables added in Firmware 1 936 or later A summary of the PMAC Gateway ID information is in the table below 139 controls the values reported 139 14942 14952 reports the following 0 36 bits Vendor ID Options present Rev Number Product ID 8 bits Vendor ID 10 bits Options Present Reported by PMAC in HEX 4 bits Revision Number 14 bits Product ID 19 bits Card Base Address Qu GI Identification Information The Vendor ID is programmed into the PMAC Gateway The Option Number Rev Level and Part Number are set by jumpers on the board The settings below are given for reference only There is no need to change these from the factory settings For jumper settings refer to each individual section DPRAM Memory Map 7 Acc 72E User Manual Revision 100 Jumper Descriptions Option Jumpers Item Description Part Number JP1 JP2 JP3 JP4 JP5 JP6 JP7 JP8 JP9 Bit9 Bit10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Bit 16 Bit 17 1 ProfiBus Master 3A1 603777 10x ON OFF OFF OFF OFF OFF OFF OFF OFF 2 ProfiBus Slav
70. lNet network will appear with the ControlNet devices along with the Allen Bradley rack 58 ControlNet Acc 72E User Manual Mode changed to online The communcabon timeout tb 3000 mee The crine path t DANSDELLIAB EN 1110 0 0 1124Badplarel HA The orde active keeper i vald and thare no offing configuration The rine active kamper stabus wil be chackad every 10 seconds and a message n l be logged when this condtion has Sto connection ets eet for the device at adess OL sot 00 To nude these edts prett corfigurabon dd the Edits Enabled dedibar Logi ects ect eth devon or modda configuration data To nekude thasa ects nthe network configuration cick the Eats Enabled gece he deve ID and adress soachad when launching Eer ents n the set of pending edis Pease enable edts to view the pending deveer Urabe bo open logfile Log formation wil not be saved Now select Edits Enabled and the Online Offline mismatch dialog box will appear Select Use offline data download and click OK Mode changed to are The cxmmurresnon timeout i 2000 sed The orire path DEE IGG ETH 110 0 0 112Vbadslare HA The orire active beeper i wal and thar i no ofina configuration The ane active leper sahar wl be checked avery 10 seconds and a mesenga mile logged hen this condition hae Skog connection ects exist for the device at seng OL et 00 To dude these ects ithe retwert configuration ich the tits Enabled check Boge eds mnt tha device or mod
71. le The bit will be set when the first event was detected and will not be deleted any more FATAL ERROR Because of heavy DEVICE error no further communication is possible HOST NOT READY NOTIFICATION Indicates that the HOST program has set its state to operative or not If the bit is set the HOST program ist not ready to communicate RESET REQUEST The DEVICE received a Reset Request from the ControlNet The application shall attempt to perform the type of reset requested Reserved 3bits ControlNet 61 Acc 72E User Manual e Variable Cns_State This variable represents the main state of the DEVICE system Following values are possible 00h state OFFLINE 40h state STOP 80h state CLEAR COh state OPERATE e Mac ID The current configured MAC ID appears here e CNet_State This variable represents the current status of the DEVICE Its value changes as the state of the DEVICE changes Minor Recoerable Fault Minor Unrecoverable Fault Major Recoverable Fault Major Unrecoverable Fault Reserved 2 bits Reserved 2 bits 62 ControlNet Acc 72E User Manual Explanation of CNet_State Configured A 1 indicate that the DEVICE has been configured This do not inculde of the communication D4 D5 Status Attribute 0000 Configuration Bad Major Fault see bit D10 and D11 for details e M Active DO not used 3 ad CH CH Minor Recoverable Fault Minor Unrecoverable Fault M
72. le Ground X3 pin 10 DPRAM Memory Map 11 Acc 72E User Manual DPRAM MEMORY MAP Below is the memory map of relevant addresses found in the DPRAM of the gateway module See page 3 of this module to determine whether the option ordered on the ACC 72E has a 8K Byte cache or a 2KByte cache In order to read and write to these registers define an M variable that points to the upper 8 bits in memory with an offset from the base address that is configured with SW1 For example if we were to look at the PMAC Flags on an ACC 72E Option 3 DeviceNet Master with a base address of 6D000 we would enter the following into the operator terminal M1 gt X 06D00 16 8 U Offset Offset Usage Number of Comments 8K DPRAM 2K DPRAM Bytes 000h 6FFH 000h OFFh Send Process Data 512 bytes 2K Send Process Data 3584 bytes 8K 700h 7FFh 100h 1FFh Received Process Data 512 bytes 2K Receive Process Data 3584 bytes 8K 400h 51Fh 400h 51Fh Message Buffer 288 PMAC to Fieldbus E90h E9 1h 290h 29 1h Date 4 4 bytes Gateway module Information E92h E93h 292h 293h DeviceNumber 4 4 bytes E94h E95h 294h 295h SerialNumber 4 4 bytes E96h E97h 296h 297h Reserved 4 4 bytes E98h E99h 298h 299h PcOsName0 4 4 bytes Gateway module Information E9Ah E9Bh 29Ah 29Bh PcOsNamel 4 4 bytes E9Ch E9Dh 29Ch 29Dh PcOsName2 4 4 bytes E9Eh E9Fh 29Eh 29Fh Oemldentifier
73. length of output data 128 Byte Length of output data 1 Byte Max number of modules H Number of modules 3 Assigned master Station address 1 ReaisterIntertace 1x16Bit 1 0 0 Stand loneComDPM eu 14408i1 0 i 1 cow DPH PKV200P z 750 452 750 488 1416Bil 1 Word i 750 452 750 488 124801 3 Byte 0x40 0482 SES 50 452 750 488 1x24Bit 1 0 i Staton adchess 5 50 452 454 456 EEN 2Word 61 750 452 454 456 242480 0 Wi K Sen 750 453 455 457 4x16Bitl 4Word 53 5 waco 750 203V35X sl a 452 454 456 Zitt 8 Bit binary inputs IB Append Module D Bit binary outputs Remove Module Insert Module Appendix A Sycon Manual 77 Acc 72E User Manual There are two types of slaves A simple slave which has a fixed data length and a modular slave which has variable date length and is configurable This type of slave can be understood as an assembly of one or more simple slaves with one bus address The upper table contains all available modules of the slave device In the case of a simple slave there is only one module which is already copied into the lower table automatically by SyCon If it is a modular slave the user must do this with a double click on the module or selected module or by clicking on the Append Module button If a module has several inputs or outputs then it gets more lines in the configuration table These additional lines will be assigned with a higher index in the Idx column
74. m 32 RTE TE RRE 32 IHASNOSHELEDS E 32 DeviceNet Typical Intereonnecton ness nernnrrnnrrnnrennrnersnernnesneeneennrensesnsessnssnnenn 33 DeviceNet Fieldbus Confeuraton 33 DeviceNet Master Setin GS nesen sjela ege deg EE Eege eege SE en 33 DeviceNet Slave Settings cccccccsccescsssesscssssecesceseceesecececcceesceseesessecaeesecaeeeeceseeseesecaessecaeeeeceaeaeeecnaeeeseaeeseeaeeaeeaes 33 DeviceNet Sycon Confgeuraton tetteste stette StSt tn StSt ES EENES ESSEEN ESSES Estent estese entesten ensest eee 34 DeviceNet Master Setin SS sirro renere EE Ee E ER EAE EEE rege eeneg TE E EEES 34 DeviceNet Insert I A 35 DeviceNet Slave Confeuranon 35 Downloading the Configuration to PMAC OGatewax 35 DeviceNet KEE 36 DeviceNet Auto Network Scan ii sccsecciscsesesnsssecsesedinctenssonevessbiqestesGansteios a aata iaaa ai a ai a E E aE pisai Siea 36 Monitoring Online Diagnostic Flags from PMAC cccccsccssssseseseesceescessceseceeeceaecsaecaeecaeecaeseneseneseeeseeseseseeeesenaees 36 CANOPEN BE 39 CANopen Specifications ccccccceescesscesecesecesecenecseecseeeseceeseecseeeseeneecaeceeceseceaeceaeceaecaaecaeecaeseaeeeseseeesereseenaeenasenaees 39 CANopen Layout Diagram ceccecceescessceescesecesecssecsaecseecaeseneesaeesecesecaecesecaeceaecaecaaecaeecaeseaeeaeeseeesesesreneeneenaees 40 CANopen LED 40 DIA BNOSIC TLE E 40 CANopen Typical Interconnecton ness ness nrrnarennrennrsnessnernvesneenresnrensesnesnneensesnsesssss
75. nd in DPRAM Variable Size Offset Description Global bits 1 byte 740H Global error bits DPM state 1 byte 741H Main state of the master system Err_rem_adr 1 byte 742H Faulty remote address e Global bits reserved EVE m pb pm Pb PM Jor P CTRL CONTROL ERROR parameterization error AUTO CLEAR ERROR DEVICE stopped the comm unication to all slaves and reached the auto clear end state NON EXCHANGE ERROR At least one slave has not reached the data exchange state and no process data are exchange with FATAL ERROR Because of heavy bus error no further bus communication is possible EVENT ERROR The DEVICE has detected bus short circuits The number of detected events are fixed in the Bus error cnt variable The bit will be set when the first event was detected and will not be deleted any more HOST NOT READY NOTIFICATION Indicates if the HOST program has set its state to operative or not If the bit is set the HOST program ist not ready to communicate TIMEOUT ERROR The DEVICE has detected an overstepped timout supervision time because of rejected PROFIBUS telegramms It s an indication for bus short circuits while the master interrupts the communication The number of detected timeouts are fixed in the Time_out_cnt variable The bit will be set when the first timeout was detected and will not be deleted any more 28 Profibus Acc 72E User Manual
76. ndor When one slave is selected see additional information about the slave in the list box below With a double click or with the Add button the slave appears in the right list box All devices in this box will be connected to the active master who is displayed in the window If selecting the slaves individually give every device a name or a short description in the Description field With the addition of every slave the Node address is incremented but this value can be changed manually in the Node ID field Configuring the Slave for CANopen Select Slave Settings from Settings or by using the right mouse button It contains all the communications setting options The settings are the ones set at the time the PMAC Gateway was shipped and should be sufficient for most applications Repeating the process but selecting Slave Configuration will result in the screen shown below The primary purpose of this screen is to define the type of data being communicated to from the master and the PMAC Gateway The table in the middle of the screen contains all the possible settings for inputs Send Process Data and outputs Receive Process Data Change the current setup by selecting the element to change and selecting either Delete new Receive PDO or Delete new Transmit PDO depending on the parameter selected Select the new configuration from the middle table and select Add to configured PDOs CANopen 43 Acc 72E User Manual eis
77. ne Settings Window Help l x Dle EI SES let CANopen Master Settings xi m Parameter to user interface r Startup behavior after system initialisation Ef Automatic release of the communication by the device Cancel Controlled release of the communication by the application programm User program monitoring Watchdog time 1000 ms Parameter to process data interface Addressing mode Handshake of the process data Byte addresses Bus synchronous device contralled C Word addresses C Buffered device controlled No consistence uncontrolled C Buffered host controlled Bus synchronous host controlled C Buffered extended host controlled Storage format word module Big Endian MSB LSB Little Endian LSB MSB m Hardware parameter ZKB dual port memory E S dualprtmemary 16kB dual portmemery For Help press F1 CANopen Config Mode I Astart Ca amp A D adobe Reader EF outen Unn Canopen s re Email INBOX ARSD 9 35 am CANopen Insert Slave To insert a new slave in the configuration select the Slave item in the Insert menu Click on the position where the new slave should be inserted When a dialog box appears select one or more slaves In the left list box all slave devices are listed which are presented in the EDS directory If there are too many set a filter to select only a special slave family or ve
78. ng DeviceNet Parameter Error i e Mismatch Green LED D1 C ON Ready OFF Hardware Error or no power Flashing Cyclic Bootstrap loader active 6 docba Flashing Non Cyclic System or hardware error p KN Green LED D1 D Not used m2 Oooo Yellow LED D2 A ON Normal no fault OFF Fault Flash Fault Yellow LED D2 B ON Critical link failure OFF Normal Flash Connection time out CD Yellow LED D2 C ON On line link OK OFF Device not powered off line Diagnostic Flash Online not connected Sg Yellow LED D2 D ON not applicable OFF Normal Flash Configuration failure 32 DeviceNet Acc 72E User Manual DeviceNet Typical Interconnection DeviceNet V 24v CAN H Shield CAN L V 24v Ret OVde 24Vde To Customers Power Supply 121 Ohm Terminating V 24v Ret 0 DeviceNet Fieldbus Configuration The fieldbus side of the PMAC Gateway conforms to the DeviceNet fieldbus standard The characteristics of the fieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC Gateway using the Sycon Configuration software shipped with the PMAC Gateway The PMAC Gateway slave may be configured from the fieldbus master The following table summarizes the characteristics that can be configured DeviceNet Master Settings Item Parameter Se
79. nnenn 41 CANopen Fieldbus Confeuratpon 41 CANO Pen Master SCUHINGS sernir ires syegde scutedesezsstdeasstezvedscdenbetstetneasasvenevssebereelss upbssssueevsasyetbensederseys 41 CANopen Slave Aerttug 42 CANopen SyCon Configuration c cccccesccssesssecssecseeeseecseeseeeseceseeaecsaeesaecaecaecaecaaecaeecaeeeseseaeseneseeeseeseaeseneeeeenaees 42 CANopen MASSA 43 CANopen ME GE 43 Configuring the Slave for CANopen 43 Downloading the Configuration for CANopen cssccssessseeseeeseeeeeeseceseceseceaeceaeceaecaeecaeesaecasecaeesaeeeneeceeseaeeeaeeaees 44 Monitoring Online Diagnostic Flags from PMAC cccccccesssssssesseesceeeceeceseceeecaecaecaeecaeecaeseaeseneseeeeeeeaeseeeesenaees 44 CANOp n Master Did enosti Gs 2 ncacacsaesasesocnveiins tesksacnacteststencnesnsesp estes E E EEEE EE EREE ENOR 44 CANOpen Slave Diagnostics sisi cistcvivesnicsateaned a aE EEE E SEEE A SEENE R NEE SES Eia 46 CONTROLNET eene dee 47 ControlNet Specifications cccccsseesssesceesceesceeecesecaecseecseecseeeseseeseeesesesecesecaeceaecaaecaeecaeesaeseaeseneseeseeseeeeseeeeesenaees 47 ConttolNet Layout RE 48 ControINet EEDS teste eebe El aces de ee ee as eee 48 IHAGNOSHOLEDS coriis e a ER T S O E eteren tebape case jesicninlenasatie ta E TEE EATE 48 Global Network Fault Judieoaiions 49 Channel Fault Indications Non Flashing Patterns cccccccsecscssessseescuseeseesetseeseceeeceuseesceseeseesecseeeeeceesneeereeas 49 Channel
80. odule COM DPS Task State 745h xxx1 bit 16 Task is initializing xx1x bit 17 If this state stays for some time the x1xx bit 18 configuration parameters may be invalid 1xxx bit 19 Task running The initialization happened without error and a task is running on the bus Static Diagnosis Slave diagnostic flags are being sent Data exchange The data exchange mode is active The user data will be transferred on the bus between the master and the slave 30 Profibus Acc 72E User Manual DEVICENET DeviceNet is a low cost communications link that connects industrial devices to a network and eliminates expensive hardwiring It is based on a broadcast oriented communications protocol called the Controller Area Network CAN The CAN protocol was originally developed by Bosch for the European automotive market for replacing expensive wiring harnesses with low cost network cable on automobiles The CAN interface and protocol has fast response and high reliability for applications such as controlling anti lock brakes and airbags DeviceNet utilizes a powered four wire network It can transfer up to eight bytes of data per node per communication cycle Communication rates are configurable as indicated below e 125 Kbps with maximum distance of 500 meters e 250 Kbps with maximum distance of 250 meters e 500 Kbps with maximum distance of 100 meters Although multiple masters are possible usually a DeviceNet network consists o
81. ommunication Active OFF Communication Stopped Flashing Parameter Error i e Mismatch Green LED D1 C ON Ready OFF Hardware Error or no power Flashing Cyclic Bootstrap loader active Flashing Non Cyclic System or hardware error Green LED D1 D Not used on Profibus version Yellow LED D2 A ON Fieldbus Data Exchange Occurring OFF No Fieldbus Data Exchange Occurring Yellow LED D2 B ON Communication Error OFF No Communication Error 22 Profibus Acc 72E User Manual Yellow LED D2 C Not used on the Profibus Version Yellow LED D2 D Not used on the Profibus Version Profibus Fieldbus Configuration The fieldbus side of the PMAC Gateway conforms to the Profibus fieldbus standard The characteristics of the fieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC Gateway using the Sycon Configuration software shipped with the PMAC Gateway The PMAC Gateway slave may be configured from the fieldbus master The following table summarizes the characteristics that can be configured Profibus Master Settings Item Parameter Setting As Shipped 1 Bus speed 1200 K bit S 2 Handshake mode No consistence uncontrolled 3 Behavior after power up Automatic release of communication by the device 4 Watchdog time 1000 msec 5 Addressing mode Byte addresses 6 Storage format Big Endian 7 General Station address 0 Profibus Slave Settings
82. ommunications The distance of a segment depends on the number of nodes respectively on the number of taps There is no minimum length requirement The maximum allowable total length of a segment is 1000 m with two taps connected Each additional tap decreases the maximum length of a segment by 16 3 m From this it follows the number of taps allowed on a segment 48 with a maximum length of 250 m Install a repeater if the system requires more than 48 taps per segment or a longer segment becomes essential For each segment of the ControlNet system 75 Ohm terminators are needed ControlNet allows multiple controllers to control I O on the same wire This provides an advantage over other networks which only allow one master controller on the wire In addition ControlNet allows multicast of both inputs and peer to peer data thus reducing traffic on the wire and increasing system performance ControlNet Specifications Size Power Requirements Connector Types Dual Port Memory Size Process Data Maximum Size Inputs Outputs UO Capacity Baud Rate s Maximum Nodes Diagnostic RS232C Port Program Storage Watchdog Timer Operating Temperature ControlNet Chip Technology Network Access Port Lab Certified 3Ux 4HP UMAC Compatible 5vdc 700ma UBUS 50 Pin JEXP Expansion Port interface 9 Pin D Male Diagnostic interface BNC ControlNET Channel A BNC ControlNET Channel B 2048 Bytes 2K 510 Bytes 510 Bytes 1020
83. on the ControlNet Version ON ControlNet Communication Active OFF ControlNet Communication Stopped Flashing ControlNet Parameter Error i e Mismatch ON Ready OFF Hardware Error or no power Flashing Cyclic Bootstrap loader active Flashing Non Cyclic System or hardware error Not used on the ControlNet Version 48 ControlNet Acc 72E User Manual The yellow LEDs operate in pairs The following pairs are used e D2 A B C D can operate together to indicate global of Network faults e D2 A and D2 D can operate in pairs to indicate conditions of Channel B e D2 B and D2 C can operate in pairs to indicate conditions of Channel B Global Network Fault Indications Pattern D2 D D2 C D2 B D2 A Meaning 1 OFF OFF ON ON Self Test alternates between pattern 1 and 2 2 ON ON OFF OFF Pattern D2 D D2 C D2 B D2 A Meaning 1 ON OFF ON ON Bad Node alternates between pattern 1 and 2 2 ON ON ON OFF Channel Fault Indications Non Flashing Patterns Pattern D2 D D2 C D2 B D2 A Meaning 1 x OFF ON x Channel A hardware Failure 2 x ON OFF x Channel A OK 3 x ON ON x Channel A Disabled 4 ON x x OFF Channel B hardware Failure 5
84. or select the command Run from the start menu of Windows 95 or Windows NT and type a setup exe a is the letter of your floppy drive and select OK 4 Follow the instructions of the installation program and answer each question with OK or Next The installation program will ask you for additional components fieldbus system and device driver to install Install all parts Without installing a fieldbus system SyCon is not able to run the configuration The device driver is necessary to access the PC interface card in your system Of course you can install these components by using their own setup programs later Depending on the selected components fieldbus device driver insert the disk and the corresponding setup program will be started automatically 70 Appendix A Sycon Manual Acc 72E User Manual 4 0 Configuration of the Device Driver The program Driver Setup program configures the DPM base address and the DPM size for the device driver DPM is dual ported memory If you have a SMS CIF30 DPM and you have not changed the jumpers of the board you can use the default value in the window Driver Setup Windows NT Otherwise this must be done according the selected start address of the CIF board and the type of the CIF If you have the SMS CIF30 DPM then the DPM size is 2 KByte have to select 8 KByte If the board is the SMS CIF30 PB then you If you have jumpered an interrupt on the board then you have to select the Interru
85. ors are overlapping addresses which can be located by looking at the Address Table This can be avoided by keeping Auto Addressing enabled The configuration will be transmitted to the selected device and stored in static Flash memory so that it is available after the power is switched off and on in this device DeviceNet 35 Acc 72E User Manual DeviceNet Debugging After an actual master has been selected start the debug mode From this time SyCon requests the status of all slaves of the actual master If there is an error on a slave the bus line to this slave is drawn in red Otherwise it is green In addition SyCon displays the Diagnostic message if the slave signals diagnostic information This information is displayed by clicking with the mouse at the corresponding device in debug mode To activate the debug mode select Online Start Debug Mode The Online Device Diagnostic menu activates the DP slave diagnostic To end the Debug Mode select Online Stop Debug Mode DeviceNet Auto Network Scan The current version of Sycon and PMAC Gateway firmware supports automatic network scan Once the Master is configured choose Automatic Network Scan from the Online pull down menu The Master PMAC Gateway will poll the slave devices from the lowest MACID to the highest Once the scan is finished it will display a list of devices that it found To accept this configuration select Automatic Configuration from the dialog box Typ
86. pt number The default interrupt is 7 After you have changed the settings you must reboot your PC to activate the parameters Device Assignment x Select devices to be accessible by dual port memory driver DPM addr Firmware DPM size IRQ Eror C Board 0 Board 1 C Board 2 Board 3 00000 not available OkB 0 10 00000 not available OkB 0 0 00000 not available OkB 0 0 00000 not available OkB m Select devices and the serial PC interface to be accessible with 0 0 Check COM 1 Firmware Error C COM1 not available 0 bk COM2 DPM COMDPM 0 C COM3 not available 20 Check COM 3 C COMA4 ni available 20 Check COM 4 x Cancel Appendix A Sycon Manual 71 Acc 72E User Manual 5 0 Configuration ProfiBus DP with SyCon SyCon helps you to configure your ProfiBus DP system quickly amp easily Follow these steps 1 First select the fieldbus system and create a new file Select the File New ProfiBus menu item SyCon will start the configuration mode and opens the window for the bus Insert all the Masters that you will have on the bus If you do not find your Master in the list choose Unknown FMS Master Unknown DP Master or Unknown Combi Master ProfiBus DP 2 First you have to insert the DP slaves and assign them to their master The next step is to configure these DP slaves with the actual I O modules and their parameter data Be sure that you have selected the right addressing mod
87. ry Downloading also saves the configuration in the PMAC Gateway With the slave selected as the actual slave select the Online Download option in the menu If communication has not been established a Driver Select window will appear Choose CIF Serial Driver and establish communication through the COM port Repeat the process for the master SyCon GW DPmaster to Slave pb elx a File Edt View Insert ff Settings Tools Window Help 18 x ole Zille d Ctrl D l iss Te Ei Start Debug Mode Device Diagnostic FMS Diagnostic KR i Firmware Download Firmware Reset Extended Device Diagnostic Ctrl T Global State Field Live List 1 0 Monitor JEE Set Slave Address Start Communication Stop Communication ate_Way_DP_Master 55 1 COM DPM PKV20 DPM Slave SS 2 COM DPS Device Info Activate Driver gl Download the configuration into selected Device Config Mode ikstar Q Exploring C Program Fie SyCon GW_DPmast L 2 07PM 26 Profibus Acc 72E User Manual Testing and Monitoring the PMAC Gateway for Profibus Once the hardware has been configured test the system to ensure that the fieldbus is working properly and that data sent by the fieldbus Master is received by PMAC and data sent by PMAC is received by the Master The diagnostic LEDs and the online menu in SyCon are useful tools to determine if the s
88. s data synchronization bit HOST Status Process data exchange active Status PMAC Gateway communication active RUN LED flashing Status PMAC Gateway is running RDY LED flashing PMAC Flags PMAC Gateway Reads these Bits ioe oe ee el EN Acknowledge bit for PMAC mailbox Not used for Profibus DP interface Command bit for PMAC Gateway Mailbox Not used for Profibus DP interface Process data synchronization bit to PMAC Gateway Status PMAC not ready for data transfer Status PMAC Gateway has been reset from parameters supplied by PMAC Status PMAC Gateway has been reset from Flash Memory DPRAM Memory Map 13 Acc 72E User Manual DPRAM DATA PROCESSING Since there are two processors attempting to access data registers in Dual Ported Memory PMAC and the gateway simultaneously several handshaking modes can be used to guarantee data consistency These modes can be selected in Sycon under device settings Not all modes are supported for every fieldbus protocol Consult the Sycon manual for each gateway module for handshaking capability Should handshaking not be necessary collision circuitry on the gateway will in the very least guarantee consistency within single byte boundaries For this reason the default configuration No Conscience Uncontrolled is recommended Any handshaking is recommended for use only by advanced users that have extensive knowledge of the underlying fieldbus communications protocol
89. s switched off and on in the device Repeat the download process for both devices to establish communications Monitoring Online Diagnostic Flags from PMAC Once communications are established to all devices in the fieldbus network diagnostic flags build into the gateway module can be monitored by PMAC to determine the status of the network during online communications CANOpen Master Diagnostics Below are the diagnostic flags that can be found in DPRAM Variable Size Offset Description Global_bits 1 byte 1F40H Global error bits CAN_ State 1 byte 1F41H Main state of the master system Err_node_adr 1 byte 1F42H Faulty node address 44 CANopen Acc 72E User Manual e Global bits Br Jo ja ps EE E PR a rour nov eve rat nex ease CONTROL ERROR parameterization error AUTO CLEAR ERROR DEVICE stopped the comm unication to all nodes and reached the auto clear end state NON EXCHANGE ERROR At least one node has not reached the data exchange state and no process data are exchange with it FATAL ERROR Because of heavy internal error no further bus communication is possible EVENT ERROR The DEVICE has detected transmission errors The number of detected events are fixed in the Bus_Error_Cnt and Bus Off Cnt variables The bit will be set when the first event was detected and will not be deleted any more HOST NOT READY NOTIFICATION Indicates if the HOST program h
90. sessbavasectstseosouevtstesssdtaseuassebtechestessacedbate 10 Pinoiits for Revision LEE 10 Connector TB1 CANOpen DeviceNet Options TB5 Combicon Female 10 Connector J3 amp J4 ControlNet Option BNC Channel A amp Bi 10 Connector P1 Profibus Options DB9 Female AAA 10 Connector P2 Sycon Diagnostic DBO Mole II Revisions 101 and Later Pinout Descrpttons esne 11 Connector J6 Sycon Diagnostic IDC 10 pin Header 11 DPRAM MEMORY MAP csccccscssstsscesasscdecesssezscsbiossosvascoicsssscesesstssabeesacteie sued sissossssaseavanse secu sdbess sbestsacesacselssaseudssadentbade 12 Ee 13 DPRAM DATA PROCESSING siscscsdcostsxcnssescsecesceasessssesuceussvssesscueieseuenesesnstsssconssansesescsaneed sonsusses coussessuasusoussicsacesnesese 14 Bus Synchronous Direct Transfer Device Conirolled 15 Buffered Device EE 16 No Conscience Uncontrolled Direct Troaneier 17 Bus Synchronous Direct Transfer Host Controlled 18 Buffered Host Controlled scnasena aa ousted vant ERD ane E E nada 19 PRO BIB US PAE ci aresiaccttestecssbedesssstcosasustensouestensecostessenustestssosvescuueaseucedusoasvonedsvasscsbestascursobesssvonss sued sacasnsuentienusesteuesice 21 Profibus Specifications cccccessesscessceesceesceeceecaecaecseecseecaeseneseeeeeeceseseseceeecsaeceaeceaecaeecaeeceseaeseeeseessesseerseeeeeeeaees 21 Profibus Layout Diagram cccccccceesseescessceescesecesecsaecsaecaeecseseseeeessesesesesecaeceaecsasnecsaecsa
91. ster when the master has received an invalid answer from the slave Not Supported This bit is set by the slave when a function is asked to be performed but does the slave does not support Ext Diag This bit is set by the slave If the bit is set then there is diagnostic information in the slave specific diagnostic area EXT DIAG DATA Cfg Fault This bit is set by the slave when the configuration data is not unequal Station_Not_Rdy This bit is set by the slave when the slave is not ready for data exchange Station_Non_Existent This bit is set by the master if this slave is not reachable on the bus If this bit is set the diagnostic bits holds the state of the last diagnostic information or the initial values 82 Appendix A Sycon Manual Acc 72E User Manual Diag Deactivated Diag Sync_Mode Diag Freeze_Mode Diag WD_ON Diag Stat_Diag Diag_Prm_Req Ext_Diag Overflow Diag Master_Add Ident Code This bit is set by the master when the slave in the slave parameter set is not marked as active and is take out of the cyclic processing This bit is set by the slave when he has received the sync control command This bit is set by the slave when he has received the freeze control command This bit is set by the slave when its watchdog control is active If the slave sets this bit the master has to collect diagnostic information as long as this bit is active The slave sets this bit for example when t
92. teway Fieldbus Data from Master ET Bata Offset PMAC 24 bit X PMAC 24 bit Y Memory Address Memory Address PMAC Gateway DPRAM Offset 100 hex 101 hex Se 101 hex Byte 2 Byte 2 Byte 3 102 hex 103 hex 104 hex 105 hex Consumed Data Flow 4 Theory of Operation Acc 72E User Manual Produced Process Data Flow Produced data from the gateway s point of view flows from PMAC to the gateway DPRAM and out to the fieldbus PMAC Gateway Fieldbus Data to Master Producad Data Offset PMAC 24 bit X PMAC 24 bit Y Memory Address Memory Address PMAC Gateway DPRAM z Offset Base 2 Produced Data Flow UBUS Address Switch SW1 on the PMAC Gateway controls the address of the PMAC Gateway 3U on the UBUS SW1 SW2 SW3 SW4 SW5 SW6 Address Range ON ON ON ON ON ON Y X 6C000 6CFFF ON OFF ON ON ON ON Y X 74000 74FFF ON ON OFF ON ON ON Y X 6D000 6DFFF ON OFF OFF ON ON ON Y X 75000 75FFF ON ON ON OFF ON ON Y X 6E000 6EFFF ON OFF ON OFF ON ON Y X 76000 75FFF ON ON OFF OFF ON ON Y X 6F000 6FFFF ON OFF OFF OFF ON ON Y X 77000 75FFF The default location is SW1 SW2 SW3 SW4 SWS SW6 Address Range ON ON ON ON ON ON Y X 6C000 6CFFF Note Do not set the PMAC Gateway to the DPR address range 6C000 6CFFF if the UMAC is
93. the user has to start the data transfer on the bus by a defined release procedure User program monitoring The watchdog time appointed how long the device will wait for a user trigger of the watchdog upon a watchdog all outputs are set This procedure must be activated by the user application software and is not started automatically Appendix A Sycon Manual 75 Acc 72E User Manual Addressing mode The addressing mode of the process data is how to interpret the addresses of the process image There are the possibilities Byte addresses or Word addresses For performance reasons the PMAC Gatewayworks internally with word structures Therefore if you have configured the Byte address mode the data for the slaves modules starts on even addresses Storage formats word module The storage format fixes the format how the data is placed and interpreted in the process images For data types the Little Endian format and Big Endian format can be selected Handshake of the process data Different modes of handshaking the process data can be selected for the master The selection of this mode is important for the correct data exchange between the application and the device Hardware parameter With this parameter you select the size of the dual ported memory of the hardware The parameter will enlarge or reduce the possible value ranges for the I O offsets Addressing mode The addresses in the configuration data of the devices
94. trolled No consistence uncontrolled C Buffered host controlled Configuration by SyCon d Watchdog time 1000 RICH SH Configuration mode va program monitoring m Startup behavior after system initialisation Automatic release of the communication by the device Controlled release of the communication by the application program Standard Class 1 Buffer Length 0 Forced by Chk Cig Telegram Class 2Buffer Length 0 p Configuration Data fa Parameter gl For Help press F1 Config Mode Star QJ Exploring C Program Fie SyCon GW DPmast A 205 PM Repeating the process but selecting Slave Configuration will result in the screen shown below The primary purpose of this screen is to define the type of data being communicated to from the master and the PMAC Gateway The table in the middle of the screen contains all the possible settings for inputs Send Process Data and outputs Receive Process Data The lower table displays the current configuration 184 bytes of input and output were configured when the PMAC Gateway was tested at the factory This is sufficient for many applications Profibus 25 Acc 72E User Manual If more or less is needed delete the current setup by selecting the element to change and selecting Remove Module Select the new configuration from the middle table and select Append Module SyCon
95. tting As Shipped 1 Bus Speed 500k bit s 2 Handshake Mode No consistence uncontrolled 3 Behavior after power up Automatic release of communication by the device 4 Watchdog time 1000 msec 5 Addressing Mode Byte addresses 6 Storage Format Big Endian 7 General Mac ID 0 DeviceNet Slave Settings Item Parameter Setting As Shipped 1 Handshake Mode No consistence uncontrolled 2 Behavior after power up Automatic release of communication by the device 3 Watchdog time 1000 msec 4 General Mac ID 1 Activate device in actual configuration 5 T O Connection Poll I O Configuration Input Data Type IB Ilen 255 IaddrO Output Data Type QB Olen 255 Oaddr 0 DeviceNet 33 Acc 72E User Manual The fieldbus characteristics of the PMAC Gateway are defined in EDS files that come with the SyCon software The DeviceNet master is defined in COMDNM EDS and the DeviceNet slave is defined in COMDNS EDS The configuration diagnostic port on PMAC Gateway provides a convenient method for configuration and for monitoring the fieldbus side of the PMAC Gateway The following provides an example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gateway DeviceNet Sycon Configuration To insert a new master in the configuration select the Master item in the Insert menu or click the icon in the left corner of the screen In the Insert Master window add COM DNM to the configuration Leen rer
96. y Watchdog Timer Yes Operating Temperature 0 55Deg C Profibus Chip Technology Master ASPC2 Slave SPC3 Lab Certified Yes Profibus 21 Acc 72E User Manual Profibus Layout Diagram Diagnostic Interface al TP6 TPS TP4 TP3 OO00 Profibus Diagnostic Led s Hao HHnnoo GND GND GND 5V Oolololcfolololo DOO Ooo oo ooo ooo oo Oooo ooo 6 OO OO IO IOC OH OH OO OCH OH OH OO OCH OH OH ojojojo RS P1 UBus Interface Profibus LEDs Diagnostic LEDs Diagnostic LEDs are provided to give visual indications of board status The green LEDs are easy to understand If everything is okay the two inner LEDs will be ON Other states are discussed below The yellow LEDs are used to indicate more states than the green ones Look for patterns as described below to decipher the meaning OMEC sl EE N Green LED D1 A Not used on Profibus version Green LED D1 B ON C
97. y error message the configuration should be checked Most errors are overlapping addresses which can be located by looking into the Address Table The configuration will be transmitted to the selected device and stored in static FLASH memory so that it is available after the power is switched off and on in this device Appendix A Sycon Manual 81 Acc 72E User Manual Debugging Debug Mode and Device Diagnostic After you have selected an actual master you can start the debug mode From this time SyCon requests the status of all slaves of the actual master If there is an error on a slave the bus line to this slave is drawn in red otherwise it is green SyCon also display the Diag message if the slave signals diagnostic information This information is displayed if you click with the mouse at the corresponding device in debug mode To activate the debug mode select the menu Online Start Debug Mode The menu Online Device Diagnostic activates the DP slave diagnostic To end the Debug Mode select the menu Online Stop Debug Mode Device Diagnostic Descriptions Master_Lock The slave has been parameterized by another master DP master class 1 sets this bit when the address is unequal to 255 and unequal to the own address Param Fault This bit is set by the slave when the last parameter telegram has an error for example wrong length wrong Ident Number invalid parameter Invalid Slave Resp This bit is set by the ma
98. ystem is working The online menu has many useful items First explore the I O monitor function Once the PMAC Gateway is configured manually change the Send Process Data and see if the master receives it and monitors the Receive Process Data from the master Next ensure that Send Process Data changed by a PMAC PLC makes it to the master If writing downloading and executing a PMAC PLC program similar to the one in Appendix C and the appropriate bytes change in the PMAC Gateway and in the Master can be seen the Send Process Data has been checked Finally change data in the Master that becomes Receive Process Data in the PMAC Gateway and verify that the appropriate M Variables in PMAC are changed to correctly reflect the values sent by the master SyCon GW DPmaster to Slave pb 16 sl File Edit View Insert Online Settings Tools Window Help 15 x Osta fle sjel DEC HEX r Input data gl For Help press F1 Config Mode stan ay Exploring C Program Fie BE SyCon GW DPmast A 210 PM Monitoring Online Diagnostic Flags from PMAC Once communications are established to all devices in the fieldbus network diagnostic flags build into the gateway module can be monitored by PMAC to determine the status of the network during online communications Profibus 27 Acc 72E User Manual Profibus Master Diagnostics Below are the diagnostic flags that can be fou

1 USER MANUAL ^2 Accessory 72E

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