CAN - CSC595/2 DeviceNet
Contents
1. 3F addr Absolute PLC address of this entry len Data length of this entry MAC ID DeviceNet MAC ID of the module that should be accessed Master only offs Offset inside the data stream of the device COMM ID COMM ID of the data object only on devices with special COMM ID handling Command description This command installs a data mapping table between PLC and DeviceNet to perform direct data exchange The link is made between PLC peripheral input or output I O address addr with data length len and DeviceNet data from the remote module MAC ID via Master M or from the own module via Slave interface S after position offs of the data stream depending on the direction VO If it is a remote device with the special COMM_ID handling the COMM_ID in this entry is necessary to distinguish between several objects SPECIAL A special feature is made with the M T letter The PLC accesses to words in MOTOROLA notation means a high byte low byte orientation inside the PLC Because most DeviceNet data is orientated in INTEL notation low byte high byte it is possible to change this orientation with the T letter This is only possible with a even data length otherwise it is switched back automatically The table ends at a special entry written with PP nr E If no parameter is written this command shows the complete table 12 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 2 The Comm2. 3 DeviceNet 1 2 2 Set Bit Rate Display Bit Rate Input parameter syntax lt index 0 F register format Output parameter syntax gt index 0 F register format The default bit rate is set by the coding switch at the front panel Setting of coding switch Default bit rate Kbit s 125 250 500 Table 1 2 1 Setting of default bit rate This bit rate can be overwritten by the command SB with any value except FFFF The new value can be displayed by calling the command DB 4 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet The bit rate can be given as index 0 F or as the direct register format intel CAN controller 20 MHz Index Register Bit rate HEX HEX bit s 0x1600 0x1b00 0x2f00 0x1b01 0x2f01 0x2f02 0x1c04 0x2f 04 0x1b09 0x21 09 Ox2f0e 0x2f 18 0x2f 27 0x26 31 Ox If T 0x1200 oO nn M UJ 0 WO oo o oo vv pP UWV N eae Table 1 2 2 Setting bit rate by command 1 2 3 Wakeup Time Description After wakeup the module waits for the duration of the given wakeup time before is starts with any action atthe CAN Acceptable values are 0 7FFF according to 0 32767 ms If the command is called without a parameter value the actual value of the parameter is displayed at the monitor CAN CSC595 2 DeviceNet Manual Rev 1 2 5 DeviceNet 1 2 4 Module Number I O parameter syntax lt gt number 1 3F Description The MAC_ID of the module is set by this
3. e DS first table entry PP A 0 byte offset MAC ID of slave X OU xx xD length 2 data xx x x BR PLC address 0x4C decimal 76 EW 76 intel format Bo A bom w E E A K poo input view from PLC EEE EEE a ii ER P area a IE A POLE ER Eee master scanner X o tr X amp KH x KH KH KH KH KH KH KH KH KH ON 2 table entry 18 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 4 If you wish to determine the state of the pneumatic valves you have to set the PLC data mapping table to the following values PP 2 M P I M 4E 1 5 2 x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x aa x PP 3 E end of table x 4 entry in PLC data mapping table CAN CSC595 2 DeviceNet Manual Rev 1 2 0 byte offset MAC ID of slave length 1 status PLC address 0x4C decimal 78 EB 78 motorola format input view from PLC P area master scanner 3 table entry 19 DeviceNet 5 The MAC ID of the CSC595 shall be set to 17 in this example with the following command MN 11 x MAC ID of CSC595 0x11 decimal 17 x module number Important Do not miss to save all settings with the command CS and to trigger a RESET with the command RS or with the PLC at the CSC595 Additionally you must consider in w
4. 8 EW 74 for writing data outside the data mapping table CAN CSC595 2 DeviceNet Manual Rev 1 2 21 DeviceNet 4 2 Configuration Of A KUKA Robot As A DeviceNet Master The robot acts as a master The data of the robot shall be received using the PLC s peripheral data input bytes 80 to 85 Data that shall be transmitted to the robot using the PLC s peripheral data output bytes 80 to 83 PP z x X 0 byte offset A length 6 bytes x X X PLC address 0x50 decimal 80 EY 80 motorola format no data swapping input view from PLC OKO EEE EEE X X A bom X RX amp amp KK P area slave RR RR RR KH KH KH KH KH HH KH KH KH KS Ke Ke KH KH KH KH KH KH KH KH KH KH KH KF TA 1 table entry PP z x X 0 byte offset xx R length 4 bytes x X PLC address 0x50 decimal 80 AY 80 motorola format Fe I Ee IE TEN A EY X amp rt amp KK K input view from PLC P area Ke KH KH KH KH KH KH KH KH KH KE KH EE TA SIRF ES OIE E FE ESE IE ES IES I EE i slave KR RR RR RR KH KH KH KH KH KH KH HH KES 2 table entry 22 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet PP end of table x xD 3 entry of data mapping table Setting the MAC ID module number of the CSC595 MN 11 MAC ID of the CSC595 0x11 decimal 17 module numbe
5. CAN CSC595 2 CAN PLC Interface Module for S5 90U S5 95U and S5 100U DeviceNet Software Manual CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 205 D 30165 Hannover Germany Tel 49 511 372 980 Fax 49 511 633 650 Email pm esd h eunet de CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet Manual File I TEXTE DOKU MANUALS CAN CSCS595 2 SC05 12SD EN6 Date of Print 28 10 97 Described Software DeviceNet driver for CSC595 2 CSC595 2 Kernel vo vo 2b Changes in the chapters The changes in the user s manual listed below affect changes in the software as well as changes in the description of the facts only Alterations as compared to version 1 0 Version they are designed for service and programmin
6. a with the following writes Converts INTEL to MOTOROLA notation and writes only to mirror_image CAN CSC595 2 DeviceNet Manual Rev 1 2 15 DeviceNet 3 Meaning of the CAN DvN LED in Front of the Module At start up the LED indicates the wakeup procedure by changing the colour periodically During the wakeup time the module is passive on the CAN The wakeup time can be set by the command WU LED off The LED is turned off while sending the duplicate MAC ID request After wakeup and duplicate MAC ID request the LED turns to flashing LED green flashing green The communication between DeviceNet participants has not yet been established LED lights There is no error and communication has been established continuously green LED red flashin A time out has been detected in the communication between one DeviceNet participant and the CSC595 2 LED lights A fatal error has occurred Please check the settings and wiring of attached continuously red DeviceNet nodes Table 3 1 1 LED states 16 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 4 Examples 4 1 Configuration Of A FESTO Pneumatic Valves Unit As A DeviceNet Slave Set the CAN bit rate of the CSC595 to the same value as all other CAN participants at this CAN net Additionally it is necessary to define a MAC ID for each device Use the according manuals for the above required settings For the following example the MAC_ID of the FESTO pneumatic
7. and Page The easiest and quickest data access is done with the mapping table refer to 1 5 1 But it maybe possible that not all data is directly accessible due to the small peripheral address range of the PLC Therefore it is possible to perform an indirect access with a command and a data window The data window is definable with the WD command refer to 1 5 2 The command window occupies the first 4 bytes of the module input and output In input direction it holds some state information of the module In output direction the PLC program can send a command with several specifier to the module The module recognize a new command only if at least one bit of this window is changed So if nobody writes to the command window no command is executed and the old command has not to be reset 2 1 Module State The command window shows in input direction the state of the module The memory layout with n as the base address of the module is IB n state bits IB n 1 error MAC ID IB n 2 1 IB n 3 IW n 2 special information command dependent The state bits in the first input byte are In 7 can off In 6 can warn In 5 scan ok In 4 slave ok I n 3 config error I n 2 future use I n l success I n O toggle The bits can off and can warn show the actual state of the CAN chip scan ok shows if the internal scanner is connected to all slaves of the scan table The bit slave ok means that th
8. command If the command is called without a parameter value the actual value of the MAC_ID is displayed at the monitor 1 2 5 Reset Module Description This commands is an easy way to reset the module instead of a power_up 1 2 6 CAN Default Description With this command all parameter are defaulted but not actually stored in the EEPROM 6 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 1 3 Additional Common Commands 1 3 1 Help Description This command returns a list of all possible commands without following supervisor commands CAN CSC595 2 DeviceNet Manual Rev 1 2 7 DeviceNet 1 4 Configuring the DeviceNet interface 1 4 1 Scanner Parameter Name Scanner parameter I O parameter syntax lt gt scan nr MAC ID rxlen txlen rate Parameter description scan nr table index 0 1F MAC ID MAC ID of the module that should be scanned rxlen Length of the produced data of that module 0 FE txlen Length of the consumed data of that module 0 FE rate Expected package rate of the connection 0 FFFF Command description This command installs a module to the internal scanner The scan nr means the table number of this entry The scanner polls all modules written in this table up to the first not written entry If an entry should be deleted just type SC nr and the scanner stops at this point The rxlen and txlen parameters are checked against the remote modul
9. e accessed by another scanner You just have to define the Consumed_Data_Length rxlen and the Produced_Data_Length txlen with this command If the command is called without a parameter value the actual value of the parameters are displayed at the monitor CAN CSC595 2 DeviceNet Manual Rev 1 2 9 DeviceNet 1 5 Configuration of the PLC Interface The interface between the module and the PLC is located in the peripheral address range of the PLC The absolute address of the module depends on the slotnumber of the module Every slot occupies only 8 byte data of the PLC To raise the performance of this interface the module is able to simulate more than one slot Due to this simulation the addresses of the following modules on the PLC bus are shifted to slots behind the last simulated slot There are generally two ways to access the data of DeviceNet 1 Direct access through I O addresses is an easy and quick way to write and read data It is just necessary to make a mapping table between I O addresses and DeviceNet data The disadvantage is the small I O data area of the PLC and the larger PLC cycle time simulating more data 2 Indirect access through a command and a data window The command window is fixed in the first 4 bytes of the first simulated slot input and output So the module must be inserted in an analog slot i e one of the first 8 slots The data window is definable in address and range 1 5 1 Slotnumber Paramete
10. e and if a difference is recognized a configuration error is shown to the PLC The expected package rate is written to the remote module and the module is scanned by the half rate to reduce CAN access If the command is called without parameters the actual values of the parameters are displayed at the monitor 1 4 2 Installing COMM_ID with PAM scanner only Input parameter syntax lt scan nr R T COMM ID lt scan nr Output parameter syntax gt RX COMM ID TX COMM ID Parameter description can nr The entry number from the scanner table above R T R for a receiving COMM ID T for a transmitting COMM ID COMM ID COMM ID 0 FFFE 8 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet Command description This command installs a COMM_ID for a given scanner entry refer to 1 5 1 If at least one COMM_ID is given for a scanner entry the data length of this entry means the pure net data length without any COMM_ID The scanner switches automatically to a special COMM_ID handler who builds the correct transmit frames with COMM_ID rsp extract raw data from received frames COMM ID can only be added to a given scanner entry but overwriting a scanner entry clears installed COMM_ID s of the old entry 1 4 3 Slave Parameter Input command syntax VO parameter syntax Parameter description rxlen Consumed_Data_Length 0 FE txlen Produced_Data_Length 0 FE Command description The module can also b
11. e etann ta ta ead ee ae oye de eae eee ena eee 13 22 Command Interface seen kan Ne Hirten 14 3 Meaning of the CAN DvN LED in Front of the Module 16 4 Examples s rain k sad oie A RAW ek Ge db a wok oe he 17 4 1 Configuration Of A FESTO Pneumatic Valves Unit As A DeviceNet Slave 17 4 2 Configuration Of A KUKA Robot As A DeviceNet Master 22 CAN CSC595 2 DeviceNet Manual Rev 1 2 1 DeviceNet 2 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 1 Configuration Commands via RS 232 1 1 Introduction The RS 232 interface is used for configurating and debugging It can be used by a terminal or a PC with a terminal program i e Windows terminal with the following parameters Bit rate 19200 baud Data 8 bit Parity no parity Stop bit 1 stop bit Handshake no handshake All written parameters are interpreted as HEX values In this document HEX values are marked with an in front of the given value An individual help to each command is printed by pressing the command with a following 1 2 Common Commands 1 2 1 Save Configuration Input parameter syntax Description All actual configuration parameters are stored into the internal EEPROM The module answers with an ok if well done or with error if an error occurred The parameters are only valid until the next reset of the module CAN CSC595 2 DeviceNet Manual Rev 1 2
12. e internal slave interface is connected by another scanner If the data length of the slave is zero this bit is always set The bit config_error shows a configuration error like Duplicate_MACID or wrong data size in scan table CAN CSC595 2 DeviceNet Manual Rev 1 2 13 DeviceNet The bits success and toggle belongs directly to the command interface toggle toggles after each finished command success shows if this command was finished successfully The second input byte shows the MAC_ID of the module which caused the last error like timeout or configuration error The default value is 0xFF The second word of the command window is reserved for command dependent return values future use 2 2 Command Interface Via the command window the PLC can send special commands to the module A new command is only recognized by the module if at least one bit of the command window is changed So if nobody writes to the command window no command is executed and the last written command has not to be reset A recognized command is finished by set or reset the success bit and by an inverse toggle bit The memory layout with n as the base address of the module is QB n command QB n l subcmmd OB n 2 QB n 3 QW n 2 command dependent information 14 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet Following commands are implemented command subcmmd C ow
13. g only CSC595 2 V1 2 PLC address in example changed Technical details are subject to change without notice Commands DM SM and SY deleted in document because CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 1 Configuration Commands via RS 232 00 000 00 cc eee 3 1 1 troduction ne Sue tees nia b eek eS er is ru 3 1 2 Common Commands ua a aan va eee oe 3 1 2 1 Save Configuration 1 422444 42240 alas ande brain Anka kenn b i1 3 1 2 2 Set Bit Rate Display Bit Rate se cise reves ee ie Ha ie 4 253 Wakeup De aan needed 5 1 2 4 Mod le Number u se a ae a le re a et ak 6 1 2 5 Reset Module eroista eira E AAE E er 6 1 2 6 CAN Dealt zru ns ask n ka E a ghee nn ai 6 1 3 Additional Common Commands 00 0 0000 eee eens k3 t Helper A Sees eee o hese tare U ag as tara nl ee Be de oe eagle ane 7 1 4 Configuring the DeviceNet interface 2 2 ee eee eee 8 FA Scanner Parameter z ba A sees ee ate tetas u le 8 1 4 2 Installing COMM_ID with PAM scanner only 200 8 LAS SANG Parameter aaa tN ath o A aE r Er Asse 9 1 5 Configuration of the PLC Interface 51a 304 pa i re ATP era a 10 13 1 Slotnumber orae ee re Be x aoe ae N Be 10 1 5 2 Dala Wndew 2122 2 Be ae NE A use 11 1 5 3 PLC DeviceNet Mapping Table 2045 ovis te POLA Ro Oval a 12 2 The Command Page eign A OE EG SS AG 13 2 1 Module STALE orane omena
14. hich slot the CSC595 is inserted SN 0 The module is inserted in slot gt base address of this module is 64 EW und AW If more PLC modules shall be inserted in the following slots of the PLC the simulated I O data length of the CSC595 has to be considered unless if the following modules are additional CSC595 modules or standard PLC devices Does the first CSC595 simulate a maximum of 8 data bytes in the slot the slot number for a second CSC595 has to be set to SN 1 If the first CSC595 extends the data length of one slot i e if it simulates more than 8 bytes the slot number for a second CSC595 has to be set to SN 2 This is necessary because the PLC must be able to address each data byte even if it is one of a standard PLC device or if it is a simulated data byte of the CSC595 With each set of 8 simulated data bytes the slot number of the following PLC devices has to be incremented by 1 If the first CSC595 is inserted in slot one and uses the data length of 2 slots the second CSC595 must use the data bytes of the third slot 20 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet Example for direct access As an option it is possible to access data directly without using the above listed table The data bytes that are used with the direct access must be different to those which are used in the PLC data mapping table WD I 44 8 data window EW 68 EW 74 for common reading of data WD O 44 8 data window AW 6
15. m C OW n 2 Resets error The error MACID IB n 1 is reset to his default value 0xFF Reads len data bytes from device MACID after data offset off If MACID gt 0x3F data is read from the internal slave interface Converts INTEL to MOTOROLA notation refer to 1 5 3 Writes len data bytes to device MACID after data offset off and updates mirror_image to process image If MACID gt 0x3F data is written to the internal slave interface Converts INTEL to MOTOROLA notation refer to 1 5 3 Writes only to mirror_image to have consistent data with the following writes Converts INTEL to MOTOROLA notation and writes only to mirror_image MACID COMM_ID Reads data from object COMM ID from PAM device off MACID The data size is always equal to the whole data window size the 2 MSB s in MACID off determine the offset in steps of the data window size Example Is the read data window size 8 bytes and the 2 MSB s are 01 1 the command reads from offset 8 Converts INTEL to MOTOROLA notation refer to 1 5 3 MACID COMM_ID Writes data to object COMM ID from PAM device off MACID and updates mirror image to process image The data size is always equal to the whole data window size the 2 MSB s in MACID off determine the offset in steps of the data window size Converts INTEL to MOTOROLA notation refer to 1 5 3 Writes only to mirror_image to have consistent dat
16. r Setting the slave parameters of the CSC595 SL produced data length of the internal slave CSC595 gt robot EN consumed data length of the internal slave robot gt CSC595 Setting the scanner parameters of the CSC595 SC 0 no scan table no master functionality Now just save the data at the CSC595 with the command CS and trigger RESET using the command RS CAN CSC595 2 DeviceNet Manual Rev 1 2 23
17. r description slot slotnumber 0 7 Command description Calling this command stores the slotnumber of the module The module needs this number to recalculate the relative address positions from absolute addresses The absolute addresses are set by the commands described in the following chapters The slot number is necessary to communicate with the PLC 10 CAN CSC595 2 DeviceNet Manual Rev 1 2 DeviceNet 1 5 2 Data Window lt VO addr len I O parameter syntax gt I addr len O addr len Parameter description I Input Window PLC can read data from DeviceNet O Output Window PLC can write data to DeviceNet addr Absolute address of the window len Length of the window 0 2 4 8 Command description This command defines the address and the range of the data window Using this data window and additional the command window the PLC can access to the whole data area of the DeviceNet interface chapter 2 If the command is called without parameter values the actual values of the parameters are displayed at the monitor CAN CSC595 2 DeviceNet Manual Rev 1 2 11 DeviceNet 1 5 3 PLC DeviceNet Mapping Table addr len MAC ID offs addr len MAC ID offs COMM ID addr len offs VO parameter syntax 1 M I addr len MAC D offs COMM 10 MT INTEL notation Input Output Peripheral area ccess to Master Slave or table End eng S a Parameter description nr Table index 0
18. valves has to be set to 5 All numbers in the following example has to be set as HEX values All commands used in this example are described in the DeviceNet software manuals of these devices 1 Use the command SC to setup the slaves that shall be scanned by the master with the following parameters SC expected package rate is 100 ms 0x64 gt polling cycle 50 ms x xD the master shall send 2 bytes to the module WD the module shall answer with 3 bytes the MAC ID of the device has to be set to 5 xx KR EN indicates the first entry of the scan table x x x x a The number of bytes that has to be transferred is device specific The end of the table has to be defined by the same command but without any parameters SC end of table X X j 2 entry in the scan table 2 Set bit rate to 500 kbit s SB 2 bit rate index 2 500 kbit s 3 Use the command PP to create the following PLC mapping table two entries CAN CSC595 2 DeviceNet Manual Rev 1 2 17 DeviceNet PP A 0 byte offset X X OU MAC ID of slave xx xD length 2 data _ xx BR PLC address 0x4C decimal 76 AW 76 intel format BE SEIS RE IE IE ES ES X RX A K pod output view from PLC TA as KE E E aE aE E E aE aE P area E ee Pe eae re master scanner RR RR RR KH KH KH KH FF KR KH KH
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