ABX DEVM addendum
X-gateway Interface Addendum
DeviceNet Scanner
Doc: HMSI-27-247, Rev: 2.00
Connecting DevicesTM
HALMSTAD • CHICAGO • KARLSRUHE • TOKYO • BEIJING • MILANO • MULHOUSE • COVENTRY • PUNE • COPENHAGEN
HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
E-mail: [email protected]
www.hms-networks.com
Important User Information
This document is intended to provide a good understanding of the functionality offered by the Interface described
here.
The reader is expected to be familiar with high level software design, and communication systems in general. The
use of advanced interface-specific functionality may require in-depth knowledge of networking internals and/or
information from the network specifications. In such cases, the persons responsible for the implementation of this
product should either obtain the necessary specifications to gain sufficient knowledge, or alternatively limit the
implementation in such a way that this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product described in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their
respective holders.
!
WARNING: This is a class A product. in a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the
product. Failure to observe this may cause damage to the product.
DeviceNet Scanner X-Gateway Interface Addendum
Copyright© HMS Industrial Networks AB
Doc: HMSI-27-247, Rev: 2.00
May 2014
Table of Contents
Table of Contents
Important User Information
Liability .......................................................................................................................................2-2
Intellectual Property Rights............................................................................................................2-2
Trademark Acknowledgements .....................................................................................................2-2
Preface
About This Document
How To Use This Document ............................................................................................................ P-5
Related Documents.............................................................................................................................. P-5
Document History ............................................................................................................................... P-5
Conventions & Terminology.............................................................................................................. P-5
Sales and Support ................................................................................................................................. P-6
Chapter 1
About the DeviceNet Scanner Interface
General Information.............................................................................................................................1-7
Features...................................................................................................................................................1-7
DeviceNet Status LEDs.......................................................................................................................1-8
Connectors & Switches .................................................................................................................1-8
Chapter 2
Installation and Configuration
Configuration Switches ........................................................................................................................2-9
Baud Rate Configuration ..............................................................................................................2-9
Mac ID Configuration ..................................................................................................................2-9
Gateway Config Interface ..................................................................................................................2-10
DeviceNet Scanlist Configuration ....................................................................................................2-11
Anybus NetTool DN.................................................................................................................2-11
Configuration Example ..............................................................................................................2-12
Chapter 3
Data Exchange
General Information...........................................................................................................................3-13
Control & Status Word Details.........................................................................................................3-14
Control Word .............................................................................................................................3-14
Status Word ...............................................................................................................................3-14
Live List Interpretation ......................................................................................................................3-15
Chapter 4
CIP Object Implementation
General Information...........................................................................................................................4-16
Identity Object, Class 01h..................................................................................................................4-17
General Information....................................................................................................................4-17
Class Attributes .........................................................................................................................4-17
Instance Attributes......................................................................................................................4-17
Message Router, Class 02h.................................................................................................................4-18
General Information....................................................................................................................4-18
Class Attributes .........................................................................................................................4-18
Instance Attributes......................................................................................................................4-18
DeviceNet Object, Class 03h ............................................................................................................4-19
General Information....................................................................................................................4-19
Class Attributes .........................................................................................................................4-19
Instance #1 Attributes ...............................................................................................................4-20
Assembly Object, Class 04h ..............................................................................................................4-21
General Information....................................................................................................................4-21
Class Attributes .........................................................................................................................4-21
Instance #100 Attributes ...........................................................................................................4-21
Instance #101 Attributes ...........................................................................................................4-21
Connection Object, Class 05h...........................................................................................................4-22
General Information....................................................................................................................4-22
Class Attributes .........................................................................................................................4-22
Instance #1 Attributes (Explicit Messaging Connection) ............................................................4-23
Instance #2 Attributes (Polled or COS/Cyclic Consuming Connection)......................................4-24
Instance #3 Attributes (Bit-strobe Connection) ...........................................................................4-25
Instance #4 Attributes (COS/Cyclic Connection) ......................................................................4-26
Instance #10... #14 Attributes (Explicit Connection, UCMM Allocated) ................................4-27
Acknowledge Handler Object, Class 2Bh .......................................................................................4-28
General Information....................................................................................................................4-28
Class Attributes .........................................................................................................................4-28
Instance Attributes......................................................................................................................4-28
Device Keeper Object, Class 8Fh.....................................................................................................4-29
General Information....................................................................................................................4-29
Class Attributes .........................................................................................................................4-29
Instance Attributes......................................................................................................................4-29
Scanner Configuration Object, Class 90h........................................................................................4-30
General Information....................................................................................................................4-30
Class Attributes .........................................................................................................................4-30
Instance Attributes......................................................................................................................4-30
Scanlist Object, Class 91h ..................................................................................................................4-31
General Information....................................................................................................................4-31
Class Attributes .........................................................................................................................4-31
Instance Attributes......................................................................................................................4-32
Appendix A Technical Specification
Preface
P. About This Document
P.1 How To Use This Document
This document describes network specific features and procedures needed when operating the DeviceNet Scanner Interface for the Anybus X-gateway. For general information and operating instructions
for the Anybus X-gateway, consult the Anybus X-gateway User Manual.
The reader of this document is expected to be familiar with DeviceNet networking technology, and
communication systems in general.
For further information, documentation etc., please visit the HMS web site, ‘www.anybus.com’.
P.2 Related Documents
Document
Anybus X-gateway User Manual
Anybus-M DeviceNet Fieldbus Appendix
Common Industrial Protocol (CIP) specification
DeviceNet Adaptation of CIP
Author
HMS
HMS
ODVA
ODVA
P.3 Document History
Revision List
Revision
1.00
1.01
1.10
1.11
1.12
2.00
Date
2005-04-05
2005-09-01
2008-05-14
2011-08-02
2012-01-23
May 2014
Author
PeP
Pal
PeP
KeL
KeL
SDa
Chapter
2
P, 2, 3
2,3
Several
Description
1st official release
Minor update
Major rewrite
Minor updates
Minor updates
New hardware & Anybus Configuration Manager
P.4 Conventions & Terminology
The following conventions are used throughout this document:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘X-gateway’ refers to the Anybus X-gateway
•
The term ‘Interface’ refers to the DeviceNet Scanner interface for the Anybus X-gateway.
•
The term ‘user manual’ refers to the Anybus X-gateway User Manual.
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
•
16/32 bit values are generally stored in Motorola (big endian) format unless otherwise stated.
X-Gateway Interface Addendum: DeviceNet Scanner
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About This Document P-6
P.5 Sales and Support
For general contact information and support, please refer to the contact and support pages at
www.anybus.com
X-Gateway Interface Addendum: DeviceNet Scanner
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Chapter 1
1. About the DeviceNet Scanner Interface
1.1 General Information
The DeviceNet Scanner Interface for the Anybus X-gateway implements a DeviceNet scanner, and exchanges data with up to 63 DeviceNet nodes.
Data is exchanged through two buffers as follows:
Input Buffer
This buffer holds data forwarded
from the other network, i.e. data
which can shall be sent to other
DeviceNet nodes.
•
Output Buffer
This buffer is forwarded to the
other network, i.e. data which is
retrieved from other DeviceNet
nodes.
Input
Buffer
DeviceNet
•
(from Gateway)
DeviceNet Scanner Interface
Output
Buffer
(to Gateway)
1.2 Features
•
Galvanically isolated bus electronics
•
125kbit, 250kbit and 500kbit operation
•
On-board configuration switches
•
Up to 512 byte of I/O in each direction
•
Explicit Messaging (up to 512 bytes in each direction)
•
Polled I/O
•
Bit-strobed I/O
•
Change-of-state / Cyclic I/O
X-Gateway Interface Addendum: DeviceNet Scanner
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About the DeviceNet Scanner Interface 1-8
1.3 DeviceNet Status LEDs
LED
Gateway
Status
NS
MS
RUN
Front View
Top-mounted DeviceNet interface
State
Indication
Consult the Gateway user manual for further details.
Off
Green
No connections established
On-line, one or more connections
established
Green, flashing On-line, no connections established
Red
Critical link failure
Red, flashing
One or more connections timed
out
Off
No power
Green
Status OK
Green, flashing Auto baud in progress
Red
Major fault
Red, flashing
Minor fault
Off
No power
Green
Run mode
Green, flashing Idle mode
Gateway
status
USB Gateway Config
Connector.
Top View
1.3.1 Connectors & Switches
DeviceNet connector
Not used
NS
MS
RUN
DeviceNet
Connector
Configuration
switches
Gateway Power
Connector
See A-34 “DeviceNet Connector Pinout”.
Configuration Switches
See 2-9 “Configuration Switches”.
Gateway Config connector
Consult the X-Gateway User Manual for further details.
Gateway Power connector
Consult the X-Gateway User Manual for further details.
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Chapter 2
2. Installation and Configuration
2.1 Configuration Switches
2.1.1 Baud Rate Configuration
Switches 1 and 2 are used to set the baud rate of the Scanner interface.
Switch 1
OFF
OFF
ON
ON
Switch 2
OFF
ON
OFF
ON
Switch 3
-
Switch 4
-
Switch 5
-
Switch 6
-
Switch 7
-
Baud Rate
125 k
250 k
500 k
(reserved)
OFF
ON
Example:
Switch 8
-
In this example, the baud rate will be 250 kbit/s.
2.1.2 Mac ID Configuration
Switches 3...8 are used to set the MacID of the Scanner interface in binary format.
Switch 2
...
-
Switch 3
OFF
OFF
OFF
OFF
...
ON
Switch 4
OFF
OFF
OFF
OFF
...
ON
Switch 5
OFF
OFF
OFF
OFF
...
ON
Switch 6
OFF
OFF
OFF
OFF
...
ON
Switch 7
OFF
OFF
ON
ON
...
ON
Example:
Switch 8
OFF
ON
OFF
ON
...
ON
Mac ID
0
1
2
3
...
63
ON
OFF
ON
OFF
ON
OFF
Switch 1
...
-
In this example, the Scanner interface is set MacID 42.
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Installation and Configuration 2-10
2.2 Gateway Config Interface
The X-gateway and the DeviceNet interface may be configured by using the software tool Anybus Configuration Manager (ACM), which is available from www.anybus.com/support
When ACM is connected to the gateway via the USB configuration connector, the following settings are
available:
See also...
•
The Anybus X-gateway User Manual, for full details on using ACM.
•
The online help in ACM, for further help on the available settings.
•
3-14 “Control & Status Word Details”
•
3-15 “Live List Interpretation”
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Installation and Configuration 2-11
2.3 DeviceNet Scanlist Configuration
2.3.1 Anybus NetTool DN
Anybus NetTool DN is an easy to use configuration tool suitable for the Anybus-X DeviceNet Scanner
interface. A fast learning curve and visual user interface allows complete network configurations to be
built without spending precious time learning a new program.
Anybus NetTool DN is ordered separately, however a free trial version (limited to 2 nodes) can be
downloaded from the HMS website www.anybus.com
For a configuration example, see 2-12 “Configuration Example”.
For more information, consult the Anybus-NetTool DN documentation (online help).
Configuration Drivers
To be able to configure the Scanner interface, a compatible configuration driver must be used. In the
case of Anybus NetTool, the following adapters are supported:
•
Anybus NetTool DeviceNet RS232 Interface (dongle)
(Dongle ordered separately)
•
Anybus X-gateway Ethernet via Transport Provider
(Supported if the other network connected to the X-gateway is Ethernet/IP, Modbus TCP or
Profinet IO. Configuration is downloaded via the other network.)
•
Anybus X-gateway (RS232) via Transport Provider
(Configuration is downloaded via the configuration port of the gateway.)
For further information, consult the application note “How to Configure DeviceNet with Anybus NetTool for DeviceNet”, available at www.anybus.com, or contact HMS.
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Installation and Configuration 2-12
2.3.2 Configuration Example
In this example, a network consisting of 5 nodes has been created using Anybus NetTool DN.
•
Node 0 (Anybus-M)
This is the Scanner interface itself.
•
Node 1 (Anybus-C)
10 words input
5 words output
•
Node 2 (AB32)
1 word input
1 word output
•
Node 3 (AB64)
2 words input
2 words output
•
Node 4 (Anybus NetTool Configuration Adapter)
(This node carries no data).
Nodes 1 - 3 are mapped to the Scanner interface as illustrated below. (Note: Although DeviceNet allows
data to be mapped on a per-bit basis, this has been avoided in the example for simplicity reasons).
Offset
Node (Input)
Word Bit
1
0
0
Offset
(Output)
Word Bit
0
0
2
10
0
5
0
3
11
0
6
0
The I/O map is reflected in the Input- and Output buffers as follows:
Input Structure
Output Structure
10 bytes (node 1)
20 bytes (node 1)
2 bytes (node 2)
4 bytes (node 3)
2 bytes (node 2)
4 bytes (node 3)
(unused)
(unused)
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Chapter 3
3. Data Exchange
3.1 General Information
The Scanner Interface exchanges data with up to 63 nodes (the scanner itself occupies one node). This
data (from now on referred to as DeviceNet Network I/O) is exchanged with another network as depicted below.
Status Word
Live List
DeviceNet Network
DeviceNet
Network
Image
(Output)
Slave Interface
DeviceNet
Network
Image
(Input)
Control Word
DeviceNet
Network
Image
(Input)
DeviceNet
Network
Image
(Output)
Other Network
DeviceNet Scanner
The structure of the DeviceNet Network I/O is determined by the configuration created in the DeviceNet configuration tool.
Note: The input/output data sizes of the Scanner Interface is determined by the size of the actual configuration created using the DeviceNet configuration tool and cannot be set via the Gateway Config interface.
See also...
•
2-10 “Gateway Config Interface”
•
2-11 “DeviceNet Scanlist Configuration”
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Data Exchange 3-14
3.2 Control & Status Word Details
3.2.1 Control Word
The Control Word, if enabled, controls the communication towards the other nodes on the DeviceNet
network.
Control Word Contents:
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
Reset
b2
b1
b0
Master Mode
(MSB)
(LSB)
Master Mode (bits b3 and b2):
Mode
00b
Meaning
Idle
These settings are also available from the Gateway Config interface.
01b
10b
Comments
Run
See also...
- 2-11 “DeviceNet Scanlist Configuration”
11b
Reset (bit b7):
Reset
0b
Meaning
Normal operation
Comments
-
1b
Reset gateway
Setting this bit causes the gateway to perform a self-reset.
3.2.2 Status Word
The Status Word holds general status information as described in the generic user manual. Bit 2 and 3
indicates the Master Mode, similar to the corresponding two bits in the Control Word, see above.
(Consult the generic user manual for further information about the remainding bits in the Status Word).
IMPORTANT: The Control- and Status Words can be disabled through the Gateway Configuration Interface. In
such case, the master interface will enter ‘Run’ mode automatically after having completed the start up initialisation sequence. If enabled, the scanner will start up in ‘Idle’ mode, and will not exchange data until the mode has been changed to
‘Run’.
Depending on fieldbus, it may be necessary to swap the bytes in the Control/Status word and in the Live list.
X-Gateway Interface Addendum: DeviceNet Scanner
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Data Exchange 3-15
3.3 Live List Interpretation
The Live List occupies the first 8 bytes of the input data, after the Status Word if this is enabled. It holds
bit coded status information the nodes on the DeviceNet network. Each bit in the list corresponds to a
Mac ID on the network, representing its status as follows:
•
Bit Set (1)
Node configured, not faulted.
•
Bit Cleared (0)
Node faulted (or not configured)
The highest bit in the first byte of the live list holds the status of the slave with MACID 63. The lowest
bit in the eighth byte of the live list holds the status of the slave with the MACID 0. Please note that this
module is itself not present in the live list.
For more information regarding the Live List, consult the generic user manual.
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Chapter 4
4. CIP Object Implementation
4.1 General Information
The DeviceNet Scanner implements the following standard objects:
•
Identity Object, Class 01h
•
Message Router, Class 02h
•
DeviceNet Object, Class 03h
•
Assembly Object, Class 04h
•
Connection Object, Class 05h
•
Acknowledge Handler Object, Class 2Bh
In addition, the following vendor specific objects are implemented:
•
Device Keeper Object, Class 8Fh
•
Scanner Configuration Object, Class 90h
•
Scanlist Object, Class 91h
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CIP Object Implementation 4-17
4.2 Identity Object, Class 01h
4.2.1 General Information
Object Description
Implemented Services
Class services:
Get Attribute Single
Instance services:
Get Attribute All
Get Attribute Single
Set Attribute Single
Reset
4.2.2 Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max. Instance
Type
UINT
UINT
Value
0001h
0001h
Type
UINT
Value
005Ah (HMS Industrial Networks AB)
4.2.3 Instance Attributes
#
1
Access
Get
NV Name
No Vendor ID
2
Geta
No
Device Type
UINT
000Ch (Communications Adapter)
3
Geta
No
Product Code
UINT
0026h (Anybus-M DeviceNet)
4
Geta
No
Revision
5
6
7
Get
Get
Geta
8
9
10
Get
Get
Set
14
Set
a
103 Set
Struct of:
USINT,
USINT
No Status
WORD
No Serial Number UDINT
No Product Name SHORT_STRIN
G
No State
USINT
No CCV
UINT
Yes Heartbeat Inter- ISOMT
val
No Semaphore
Struct of:
UINT,
UDINT,
ITIME
No Scanner Mode USINT
-
Device status flags
‘Anybus-M DeviceNet’
(default = 0)
Client Vendor Number(default = 0)
Client Serial Number(default = 0)
Millisecond Timer(range: 100... 32767, default = 0)
Value:Meaning:
0: Run Mode
1: Idle Mode
a. Can be customized.
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CIP Object Implementation 4-18
4.3 Message Router, Class 02h
4.3.1 General Information
Object Description
Supported Services
Class services:
-
Instance services:
-
4.3.2 Class Attributes
-
4.3.3 Instance Attributes
-
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CIP Object Implementation 4-19
4.4 DeviceNet Object, Class 03h
4.4.1 General Information
Object Description
Supported Services
Class
Get Attribute Single
Instance:
Get Attribute Single
Set Attribute Single
Allocate Master/Slave Connection Set (4Bh)
Release Group 2 Identifier Set (4Ch)
4.4.2 Class Attributes
#
1
Access
Get
Name
Revision
X-Gateway Interface Addendum: DeviceNet Scanner
Type
UINT
Value
0002h
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CIP Object Implementation 4-20
4.4.3 Instance #1 Attributes
#
1
2
Access
Get
Get
NV Name
No MAC ID
No Baud Rate
Type
Value
USINT (actual MAC ID)
USINT Value:Meaning:
0 Operating at 125 kbps
1 Operating at 250 kbps
2 Operating at 500 kbps
3 Get
No BOI
BOOL False
4 Get/Set No Bus off Counter
USINT 00h
5 Get
No Allocation Information Struct
of:
Allocation choice byte
BYTE, MAC ID of master
USINT
6 Get
No MAC ID Switch
BOOL Value:Meaning
True MAC ID switches has changed since startup
changed
False MAC ID switches has not changed since startup
7 Get
No Baud rate Switch
BOOL Value:Meaning
True Baudrate switches has changed since startup
changed
False Baudrate switches has not changed since startup
8 Get
No MAC ID Switch Value USINT (actual value of node address switches)
9 Get
No Baud Rate Switch Value USINT (actual value of baud rate switches)
10 Get, Set Yes Quick Connect
BOOL Value:Meaning
False Disable Quick Connect (default)
True Enable Quick Connect
Note: This setting is stored in non-volatile memory.
10 Get,
No Diagnostic Counters
Struct
Clear
of:
Diagnostic Counter Descriptor
WOR
D
UINT, Arbitrary Loss Count(range: 0... 65535)
UINT, Overload Count(not supported)
UINT, Bit Error Count(range: 0... 65535)
UINT, Stuff Error Count(range: 0... 65535)
UINT, Ack Error Count(range: 0... 65535)
UINT, Form Error Count(range: 0... 65535)
UINT, CRC Error Count(range: 0... 65535)
UINT, Rx Msg. Loss Count(not supported)
UINT Warning Error Count(range: 0... 65535)
Note: These counters are cleared during startup.
UINT, Rx Error Counter(range: 0... 256)
UINT, Tx Error Counter(range: 0... 256)
USINT (reserved)
[5]
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CIP Object Implementation 4-21
4.5 Assembly Object, Class 04h
4.5.1 General Information
Object Description
Supported Services
Class
-
Instance:
Get Attribute Single
Set Attribute Single
Get Member
Set Member
4.5.2 Class Attributes
-
4.5.3 Instance #100 Attributes
#
3
Access
Get
NV Name
No Assembly Data
Type
BYTE[ ]
Value
-
4.5.4 Instance #101 Attributes
#
3
Access
Get
(Set)
NV Name
No Assembly Data
Type
BYTE[ ]
Value
-
Note: This instance is only settable when no active Class 0 I/O connections are in use.
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CIP Object Implementation 4-22
4.6 Connection Object, Class 05h
4.6.1 General Information
Object Description
Implemented Services
Class services:
-
Instance services:
Get Attribute Single
Set Attribute Single
Reset
4.6.2 Class Attributes
-
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CIP Object Implementation 4-23
4.6.3 Instance #1 Attributes (Explicit Messaging Connection)
#
1
Access
Get
Name
State
2
3
4
5
6
7
8
9
12
Get
Get
Get
Get
Get
Get
Get
Get, Set
Get, Set
Instance type
Transport Class trigger
Produced Connection ID
Consumed Connection ID
Initial Comm Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
13 Get
Value
Value:Meaning:
0 Non existent
1 Configuring
3 Established
4 Timeout
5 Deferred delete
USINT 0000h (Explicit messaging connection)
BYTE 83h (Server/Transport Class 3)
UINT
(CAN ID for transmission)
UINT
(CAN ID for reception)
BYTE 21h
UINT
261 bytes
UINT
261 bytes
UINT
09C4h
USINT Value:Meaning:
1 Auto Delete (Default)
3 Deferred Delete
UINT
0000h
14
15
EPATH UINT
0000h
16
17
18
Produced Connection path
length
Get
Produced Connection Path
Get
Consumed Connection path
length
Get
Consumed Connection Path
Get
Production Inhibit Time
Get, Set Connection Timeout Multiplier
X-Gateway Interface Addendum: DeviceNet Scanner
Type
USINT
EPATH UINT
0000h
USINT Value:Meaning:
0 x4 (default)
1 x8
3 x16
4 x32
5 x64
6 x128
7 x256
8 x512
(other) (reserved)
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CIP Object Implementation 4-24
4.6.4 Instance #2 Attributes (Polled or COS/Cyclic Consuming Connection)
#
1
Access
Get
Name
State
Value
Value:Meaning:
0 Non existent
1 Configuring
3 Established
4 Timeout
2 Get
Instance type
USINT 1 (I/O Connection)
3 Get
Transport Class trigger
BYTE Value:Meaning:Type:
80h Server/Transp. Class 0 COS/Cyclic, w.o. Ack
83h Server/Transp. Class 3 Polled or COS/Cyclic w.
Ack.
4 Get
Produced Connection ID UINT
(CAN ID for transmission)
5 Get
Consumed Connection ID UINT
(CAN ID for reception)
6 Get
Initial Comm Characteris- BYTE Value:Meaning:
01h Polled or COS/Cyclic with Ack.
tics
Produces over Message Group 1
Consumes over Message Group 2
F1h COS/Cyclic w.o. Ack.
Does not produce
Consumes over Message Group 2
7 Get
Produced Connection Size UINT
(size of produced data in bytes)
8 Get
Consumed Connection
UINT
(size of consumed data in bytes)
Size
9 Get, Set Expected Packet Rate
UINT
0
12 Get
Watchdog timeout action USINT 0 (Transition to the timed out state)
13 Get
Produced Conn. Path
UINT
Type:Value:
COS/Cyclic w.o. Ack. 0
length
Polled or COS/Cyclic with Ack. 7
14 Get
Produced Connection Path EPATH Type:Value:
COS/Cyclic w.o. Ack. Polled or COS/Cyclic with Ack. 20 04 25 64 00 30 03h
15 Get
Consumed Conn. Path
UINT
7
length
16 Get
Consumed Connection
EPATH 20 04 25 65 00 30 03h
Path
17 Get
Production Inhibit Time
UINT
0
18 Get, Set Connection Timeout Mul- USINT Value:Meaning:
0 x4 (default)
tiplier
1 x8
3 x16
4 x32
5 x64
6 x128
7 x256
8 x512
(other) (reserved)
X-Gateway Interface Addendum: DeviceNet Scanner
Type
USINT
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-25
4.6.5 Instance #3 Attributes (Bit-strobe Connection)
#
1
Access
Get
2
3
4
5
6
7
8
9
12
13
Get
Get
Get
Get
Get
Get
Get
Get, Set
Get
Get
14
15
16
17
18
Name
State
Instance type
Transport Class trigger
Produced Connection ID
Consumed Connection ID
Initial Comm Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Produced Connection path
length
Get
Produced Connection Path
Get
Consumed Connection path
length
Get
Consumed Connection Path
Get
Production Inhibit Time
Get, Set Connection Timeout Multiplier
X-Gateway Interface Addendum: DeviceNet Scanner
Type
USINT
Value
Value:Meaning:
0 Non existent
1 Configuring
3 Established
4 Timeout
USINT 1 (I/O Connection)
BYTE 82h (Server/Transport Class 2)
UINT
(CAN ID for transmission)
UINT
(CAN ID for reception)
BYTE 02h
UINT
(size of produced data in bytes, max. 8 bytes)
UINT
8
UINT
0
USINT 0 (Transition to the timed out state)
UINT
7
EPATH 20 04 25 64 00 30 03h
UINT
7
EPATH 20 04 25 65 00 30 03h
UINT
0
USINT Value:Meaning:
0 x4 (default)
1 x8
3 x16
4 x32
5 x64
6 x128
7 x256
8 x512
(other) (reserved)
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-26
4.6.6 Instance #4 Attributes (COS/Cyclic Connection)
#
1
Access
Get
Name
State
2
3
Get
Get
Instance type
Transport Class trigger
4
5
6
Get
Get
Get
Produced Connection ID
Consumed Connection ID
Initial Comm Characteristics
7
8
9
12
13
Get
Get
Get, Set
Get
Get
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Produced Connection path
length
Produced Connection Path
Consumed Connection path
length
14 Get
15 Get
Type
USINT
Value
Value:Meaning:
0 Non existent
1 Configuring
3 Established
4 Timeout
USINT 1 (I/O Connection)
BYTE Value:Meaning:Type:
00h Client, Cyclic, Class 0 Non-acknowledged
02h Client, Cyclic, Class 2 Acknowledged
10h Client, COS, Class 0 Non-acknowledged
12h Client, COS, Class 2 Acknowledged
UINT
(CAN ID for transmission)
UINT
(CAN ID for reception)
BYTE Value:Meaning:
0Fh Non-acknowledged
Produces over Message Group 1
Does not consume
01h Acknowledged
Produces over Message Group 1
Consumes over Message Group 2
UINT
(size of produced data in bytes)
UINT
(size of consumed data in bytes)
UINT
0
USINT 0 (Transition to the timed out state)
UINT
7
EPATH 20 04 25 64 00 30 03h
UINT
Type:Value:
Non-acknowledged 0
Acknowledged 5
16 Get
Consumed Connection Path
EPATH Type:Value:
Non-acknowledged Acknowledged 20 2B 25 01 00h
17 Get
Production Inhibit Time
UINT
0
18 Get, Set Connection Timeout Multiplier USINT Value:Meaning:
0 x4 (default)
1 x8
3 x16
4 x32
5 x64
6 x128
7 x256
8 x512
(other) (reserved)
X-Gateway Interface Addendum: DeviceNet Scanner
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-27
4.6.7 Instance #10... #14 Attributes (Explicit Connection, UCMM Allocated)
#
1
Access
Get
2
3
4
5
6
7
8
9
12
13
Get
Get
Get
Get
Get
Get
Get
Get, Set
Get
Get
14
15
16
17
18
Name
State
Instance type
Transport Class trigger
Produced Connection ID
Consumed Connection ID
Initial Comm Characteristics
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Produced Connection path
length
Get
Produced Connection Path
Get
Consumed Connection path
length
Get
Consumed Connection Path
Get
Production Inhibit Time
Get, Set Connection Timeout Multiplier
X-Gateway Interface Addendum: DeviceNet Scanner
Type
USINT
Value
Value:Meaning:
0 Non existent
1 Configuring
3 Established
4 Timeout
5 Deferred delete
USINT 0000h (Explicit messaging connection)
BYTE 83h (Server/Transport Class 3)
UINT
(CAN ID for transmission)
UINT
(CAN ID for reception)
BYTE 33h
UINT
261 bytes
UINT
261 bytes
UINT
09C4h
USINT 1 (Auto Delete)
UINT
0000h
EPATH UINT
0000h
EPATH UINT
0000h
USINT Value:Meaning:
0 x4 (default)
1 x8
3 x16
4 x32
5 x64
6 x128
7 x256
8 x512
(other) (reserved)
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-28
4.7 Acknowledge Handler Object, Class 2Bh
4.7.1 General Information
Object Description
Implemented Services
Class services:
-
Instance services:
Get Attribute Single
Set Attribute Single
4.7.2 Class Attributes
-
4.7.3 Instance Attributes
Instance numbers correlate to the Mac ID of the connected device + 1 (i.e. instance 10 = MAC ID 9).
#
1
2
3
Access
Get/Set
Get/Set
Get/Set
Name
Acknowledge Timer
Retry Limit
Producing Connection Instance
Type
UINT
USINT
UINT
Value
16
1
4
Note: Instances are created when using COS/Cyclic connections.
X-Gateway Interface Addendum: DeviceNet Scanner
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-29
4.8 Device Keeper Object, Class 8Fh
4.8.1 General Information
Object Description
Supported Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Get Member
Set Member
4.8.2 Class Attributes
#
8
9
Access
Get
Get
Name
Max. Keeper Space
Used Keeper Space
Type
UDINT
UDINT
Value
65533
-
4.8.3 Instance Attributes
Instance numbers correlate to the Mac ID of the connected device + 1 (i.e. instance 10 = MAC ID 9).
#
1
2
3
4
Access
Get
Get, Set
Get
Get, Set
Name
Destination Node
Trigger
Node CCV
Message Block
X-Gateway Interface Addendum: DeviceNet Scanner
Type
UINT
USINT
UINT
Struct of:
USINT,
UINT,
USINT[]
UINT,
USINT[]
Value
(Service request)
(Size of Path)
(Path to which the services will be sent)
(Length of the Message Data Array)
(Service Data)
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-30
4.9 Scanner Configuration Object, Class 90h
4.9.1 General Information
Object Description
This object groups information about the configuration in the scanner, and can be changed using a DeviceNet configuration tool or through the mailbox interface. Note that alterations in this object is only
permitted in Idle Mode.
Supported Services
Class services:
Commit
Instance services:
Get Attribute All
Set Attribute All
Get Attribute List
Get Attribute Single
Set Attribute Single
4.9.2 Class Attributes
-
4.9.3 Instance Attributes
#
1
2
3
4
5
9
10
Access
Get, Set
Get, Set
Get, Set
Get, Set
Get, Set
Get, Set
Get, Set
NV
Yes
Yes
N/A
Yes
Yes
N/A
No
Name
Global EPR
Interscan Delay
NET Stat
Background Poll Rate
ADR Enable
Net Tx Retry
Faulted Node Table
11
Get, Set No
Idle Node Table
12
Get, Set No
Node Status Table
13
Get, Set No
Run/Idle
14
15
Get, Set No Scan Counter
Get, Set Yes CCV
16
Get, Set Yes AutoScan Enable
17
Get, Set Yes AutoScan Fixed Mapping
Size
21
Get, Set No
Active Node Table
X-Gateway Interface Addendum: DeviceNet Scanner
Type
UINT
UINT
USINT
UINT
BOOL
USINT
BOOL[
]
BOOL[
]
USINT[
]
BOOL
Value
Default: 75ms
Default: 10ms
Default: 1
Default: 0
-
Value:Meaning:
0 Scanner in Idle Mode
1 Scanner in Run Mode
UINT
USINT[ Default: 0
]
BOOL Value:Meaning:
0 AutoScan Disabled (default)
1 AutoScan Enabled
USINT Value:Meaning:
0 Default to a Fixed Mapping Size of 4 bytes
1... 32 Fixed Mapping Size in bytes.
BOOL[ ]
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-31
4.10 Scanlist Object, Class 91h
4.10.1 General Information
Object Description
Each instance within this object represents a node on the network. An instance groups all information
associated with the node, i.e. I/O sizes, Vendor ID, Product Code, Product Type etc.
The scanner keeps two copies of this information - a volatile working copy, and another copy stored in
non-volatile memory. All changes are carried out in the working copy, which can then be stored in nonvolatile memory by means of the ‘Commit’-service.
Supported Services
Class services:
Commit
Reset
(Saves the scanlist to non-volatile memory)
(Clears the entire scanlist)
Instance services:
Get Attribute All
Set Attribute All
Get Attribute Single
Set Attribute Single
Reset
(Clears the corresponding node in the scanlist)
4.10.2 Class Attributes
-
X-Gateway Interface Addendum: DeviceNet Scanner
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-32
4.10.3 Instance Attributes
Instance numbers correlate to the Mac ID of the connected device + 1 (i.e. instance 10 = MAC ID 9).
#
1
Access
Name
Set All,
Configuration Valid
Set Single
Type
BOOL
2
3
4
5
6
7
8
Set All
Set All
Set All
Set All
Set All
Set All
Set All
DeviceNet port
MAC ID
Slave Vendor
Slave Product Type
Slave Product Code
Scan Type
Poll Hz
USINT
USINT
UINT
UINT
UINT
BYTE
BOOL
9
Set All
Strobe In Length
USINT
10
11
12
13
14
Set All
Set All
Set All
Set All
Set All
Poll In Length
COS/Cyclic In Length
Poll Out Length
COS/Cyclic Out Length
Input Mapping Segment
In_DNet_Msg_Type_1
In_DNet_Map_Type_1
In_Dnet_Byte_Off_1
In_DNet_Bit_Off_1
In_MapTable_Length_1
In_MapTable_Off_1
USINT
USINT
USINT
USINT
Array of
Struct:
USINT,
USINT,
UINT,
USINT,
UINT,
UINT
15 Set All
16 Set All
17
18
19
20
21
22
23
Set All
Set All
Set All
Set All
Set All
Set All
Set All
Input Mapping Segment Array of
Out_DNet_Msg_Type_1 Struct:
Out_DNet_Map_Type_1 USINT,
Out_Dnet_Byte_Off_1
USINT,
Out_DNet_Bit_Off_1
UINT,
Out_MapTable_Length_ USINT,
1
UINT,
Out_MapTable_Off_1
UINT
Slave Revision
Major Revision
Minor Revision
EPR/Heartbeat
ACK timer
Inhibit Timer
Option bits
Multicast Command
Multicast Response
Device Status
X-Gateway Interface Addendum: DeviceNet Scanner
Struct of:
USINT,
USINT
UINT
UINT
UINT
USINT
USINT
USINT
USINT
Value
Value:Meaning:
0: Not valid
1: Valid
0
0... 63
Value:Meaning:
0: Every scan
1: Background Poll
(no. of bytes received from the device after
strobe)
(no. of bytes received from the device after poll)
(no. of bytes received from the device after COS)
(no. of bytes sent to the device at poll)
(no. of bytes sent to the device at COS)
1: Map to data table, 0: do not map, other:
reserved
1: Map to data table, 0: do not map, other:
reserved
No. of bytes offset in the DeviceNet message
No. of bits offset in the DeviceNet message
No. of bytes mapped to the data table
No. of bytes offset in the data table message
1: Map to data table, 0: do not map, other:
reserved
1: Map to data table, 0: do not map, other:
reserved
No. of bytes offset in the DeviceNet message
No. of bits offset in the DeviceNet message
No. of bytes mapped to the data table
No. of bytes offset in the data table message
(Major revision)
(Minor revision)
(COS/Cyclic heartbeat expected packet rate)
(ACK timer value used for COS/Cyclic)
(Inhibit timer)
(Option bits)
Note: This attribute is treated differently if
addressed using Get/Set Single (below)
Doc: HMSI-27-247, Rev: 2.00
CIP Object Implementation 4-33
The following attributes are treated differently if addressed using Set/Get Single.
# Access
Name
23 Set Single ADR Active
24 Set Single Quick Connect Active
Type
USINT
USINT
27 Set Single Multicast ID
USINT
X-Gateway Interface Addendum: DeviceNet Scanner
Value
1: ADR active, 0: ADR not active
1: Quick Connect active, 0: Quick Connect not
active
Multicast ID
Doc: HMSI-27-247, Rev: 2.00
Appendix A
A. Technical Specification
Interface Details
•
Galvanically isolated DeviceNet interface
•
Supports all standard baudrates (up to 500kbit/s)
•
Exchanges data with up to 63 DeviceNet nodes
•
Supports Slave Mode
•
Data size: Up to 256 words in, 256 words out
•
Compatible with Anybus-NetTool DN (HMS)
•
Compatible with RSNetWorx for DeviceNet (Rockwell)
•
Configuration via Ethernet (Ethernet gateway configurations only)
DeviceNet Connector Pinout
Pin
1
2
3
4
5
Signal
VCAN_L
SHIELD
CAN_H
V+
Signal
Negative bus power supply
CAN low
Cable shielding
CAN high
Positive bus power supply
1
5
Note: The DeviceNet interface requires 24V bus power according to the DeviceNet standard in order
to function properly.
X-Gateway Interface Addendum: DeviceNet Scanner
Doc: HMSI-27-247, , Rev: 2.00
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