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Network Interface Appendix
Anybus CompactCom 30 DeviceNet
®
Doc.Id. HMSI-168-51
Rev. 2.40
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.anybus.com
Table of Contents
Table of Contents
Chapter 1
About the Anybus CompactCom 30 DeviceNet
General....................................................................................................................................................... 8
Features ...................................................................................................................................................... 8
Chapter 2
Tutorial
Introduction .............................................................................................................................................. 9
Fieldbus Conformance Notes ................................................................................................................ 9
Conformance Test Guide........................................................................................................................ 9
Reidentifying Your Product............................................................................................................. 10
Factory Default Reset..................................................................................................................... 10
Chapter 3
Basic Operation
General Information .............................................................................................................................. 11
Software Requirements ................................................................................................................... 11
Electronic Data Sheet (EDS) ........................................................................................................ 11
Device Customization............................................................................................................................ 12
Communication Settings ....................................................................................................................... 12
Setting MAC ID .......................................................................................................................... 13
Diagnostics .............................................................................................................................................. 13
Data Exchange........................................................................................................................................ 14
Application Data (ADIs) ............................................................................................................. 14
Process Data .................................................................................................................................. 14
Translation of Data Types ............................................................................................................. 14
4
Chapter 4
CIP Objects
General Information .............................................................................................................................. 15
Identity Object (01h).............................................................................................................................. 16
Message Router (02h) ............................................................................................................................ 18
DeviceNet Object (03h) ........................................................................................................................ 19
Assembly Object (04h) .......................................................................................................................... 21
Connection Object (05h)....................................................................................................................... 23
Parameter Object (0Fh)......................................................................................................................... 28
Acknowledge Handler Object (2Bh) ................................................................................................... 30
ADI Object (A2h) .................................................................................................................................. 31
Chapter 5
Anybus Module Objects
General Information .............................................................................................................................. 33
Anybus Object (01h).............................................................................................................................. 34
Diagnostic Object (02h) ........................................................................................................................ 36
Network Object (03h)............................................................................................................................ 37
Network Configuration Object (04h).................................................................................................. 38
Chapter 6
Host Application Objects
General Information .............................................................................................................................. 41
DeviceNet Host Object (FCh) ............................................................................................................. 42
Command Details: Process_CIP_Message_Request ....................................................................... 45
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5
Appendix A Categorization of Functionality
Basic.......................................................................................................................................................... 46
Extended.................................................................................................................................................. 46
Advanced ................................................................................................................................................. 46
Appendix B Implementation Details
DeviceNet Implementation .................................................................................................................. 47
SUP-Bit Definition................................................................................................................................. 48
Anybus State Machine ........................................................................................................................... 48
Appendix C CIP Request Forwarding
Appendix D Technical Specification
Front View............................................................................................................................................... 51
Network Connector, Brick Version..................................................................................................... 53
Protective Earth (PE) Requirements................................................................................................... 54
Power Supply .......................................................................................................................................... 54
DeviceNet Power Supply ...................................................................................................................... 54
Environmental Specification ................................................................................................................ 54
EMC Compliance ................................................................................................................................... 54
Appendix E Timing & Performance
General Information .............................................................................................................................. 56
Process Data............................................................................................................................................ 57
Overview ........................................................................................................................................ 57
Anybus Read Process Data Delay (Anybus Delay)........................................................................ 57
Anybus Write Process Data Delay (Anybus Delay)....................................................................... 57
Network System Read Process Data Delay (Network System Delay)............................................. 58
Network System Write Process Data Delay (Network System Delay)............................................ 58
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Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
P.1 Related Documents
Document
Anybus CompactCom 30 Software Design Guide
Anybus CompactCom 30 Hardware Design Guide
Anybus CompactCom Software Driver User Guide
DeviceNet Specification
Common Industrial Protocol (CIP) specification
Author
HMS
HMS
HMS
ODVA
ODVA
P.2 Document History
Summary of Recent Changes (2.30... 2.40)
Change
Moved front view info to Technical Specification
Added clarification to Product Name attribute in DeviceNet Host Object
Added information to Instance #1, attribute #5 of Network Configuration Object
Added section on setting MAC ID
Changed device address to node address
Page(s)
51
43
39
13
Revision List
Revision
1.00
1.01
1.05
1.06
2.00
2.01
2.02
2.03
2.10
2.20
2.21
2.30
2.40
Date
2005-09-15
2005-10-19
2006-05-03
2007-04-26
2010-04-14
2010-11-12
2011-12-05
2012-04-13
2012-10-19
2013-02-18
2013-05-17
2014-04-24
2015-06-24
Author(s)
PeP
PeP
PeP
PeP
KeL
KeL
KeL
KeL
KeL, KaD
KeL
KeL
KeL
KeL
Anybus CompactCom 30 DeviceNet
Doc.Rev. 2.40
Chapter(s)
All
P, 6
2
2
1, 6
1, 3
1
1, 4, 6, C
3, 5, 6, D
Description
First official release
Misc. minor corrections
Misc. visual and structural updates
Minor update
Change to new concept
Minor updates
Minor update
Minor update
M12 connectors added and minor update
Updates for brick version, minor update
MInor update
Misc. updates
Clarifications
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About This Document 7
P.3 Conventions & Terminology
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The terms ‘Anybus’ or ‘module’ refers to the Anybus CompactCom module.
•
The terms ‘host’ or ‘host application’ refers to the device that hosts the Anybus module.
•
Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hexadecimal value.
•
A byte always consists of 8 bits.
P.4 Support
For general contact information and support, please refer to the contact and support pages at
www.anybus.com.
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Chapter 1
1. About the Anybus CompactCom 30 DeviceNet
1.1 General
The Anybus CompactCom 30 DeviceNet communication module provides instant DeviceNet connectivity via the patented Anybus CompactCom host interface. Any device that supports this standard can
take advantage of the features offered by the module, allowing seamless network integration regardless
of network type.
The modular approach of the Anybus CompactCom platform allows the CIP-object implementation to
be extended to fit specific application requirements. Furthermore, the Identity Object can be customized, allowing the end product to appear as a vendor-specific implementation rather than a generic Anybus module.
This product conforms to all aspects of the host interface for Active modules defined in the Anybus
CompactCom 30 Hardware- and Software Design Guides, making it fully interchangeable with any other device following that specification. Generally, no additional network related software support is needed, however in order to be able to take full advantage of advanced network specific functionality, a
certain degree of dedicated software support may be necessary.
1.2 Features
•
DeviceNet connector or M12 connectors
•
Brick version
•
CIP Parameter Object Support
•
Explicit messaging
•
UCMM Capable
•
Bit-strobed I/O
•
Change-of-state / Cyclic I/O
•
Polled I/O
•
Expansion possibilities via CIP forwarding
•
Customizable Identity object
•
Automatic Baudrate Detection
•
Quick Connect supported
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Chapter 2
2. Tutorial
2.1 Introduction
This chapter is a complement to the Anybus CompactCom Implementation Tutorial. The ABCC tutorial describes and explains a simple example of an implementation with Anybus CompactCom. This
chapter includes network specific settings that are needed for a host application to be up and running
and possible to certify for use on DeviceNet networks.
2.2 Fieldbus Conformance Notes
•
The Anybus CompactCom 30 DeviceNet has been pre-compliance tested by ODVA’s authorized Independent Test Lab and found to comply with the ODVA Conformance Test Software.
However, in accordance with ODVA’s conformance test policy, the final product must still be
compliance tested to ensure fieldbus conformance. In order to be able to do this, the vendor information in the DeviceNet Host Object must be customized.
•
It is strongly recommended to customize the information in the Identity Object (CIP), to enable
the product to appear as a vendor specific implementation rather than a generic Anybus module.
ODVA requires that all manufacturers use their own Vendor ID. A Vendor ID can be applied
for from ODVA.
For further information, please contact HMS or ODVA.
2.3 Conformance Test Guide
When using the default settings of all parameters, the Anybus CompactCom 30 DeviceNet module is
precertified for network compliance. This precertification is done to ensure that your product can be certified, but it does not mean that your product will not require certification.
Any change in the parameters in the EDS file, supplied by HMS, will require a certification. A Vendor
ID can be obtained from ODVA and is compulsory for certification. This section provides a guide for
successful conformance testing your product, containing the Anybus CompactCom 30 DeviceNet module, to comply with the demands for network certification set by the ODVA.
Independent of selected operation mode, the actions described in this section have to be accounted for
in the certification process. The identity of the product needs to be changed to match your company and
device.
IMPORTANT: This section provides guidelines and examples of what is needed for certification. Depending on the
functionality of your application, there may be additional steps to take. Please contact HMS Industrial Networks at
www.anybus.com for more information.
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Tutorial 10
2.3.1 Reidentifying Your Product.
After successful setting of the “Setup Complete” attribute in the Anybus Object (01h), the Anybus module asks for identification data from the DeviceNet Host Object (FCh). Therefore, the attributes listed
below shall be implemented and proper values returned.
Object/Instance
Customer sample
Comment
DeviceNet Object (FCh), #1, Vendor ID
Instance 1
Attribute
Explanation
With this attribute you 005Ah (HMS)
set the Vendor ID of
the device.
Default
1111h
This information must match the
keyword values of the “Device”
section in the EDS file.
DeviceNet Object (FCh), #2, Device Typea
Instance 1
With this attribute you 0000h
set the Device Type of
the device.
002Bha (Generic
Device (keyable))
DeviceNet Object (FCh), #3, Product Code
Instance 1
With this attribute you 0064h
set the Product Code
of the device
2222h
DeviceNet Object (FCh), #4, Revision
Instance 1
With this attribute you
set the Revision of the
device.
1.1
DeviceNet Object (FCh), #5, Serial Number
Instance 1
With this attribute you
set the SERIAL NUMber of the device.
12345678h
Unique number for all CIP devices
produced with the same ‘Vendor
ID.
DeviceNet Object (FCh), #6, Product Name
Instance 1
With this attribute you Anybus-CC Deviset the Product Name ceNet
of the device.
“Widget”
This information must match the
keyword values of the “Device”
section in the EDS file.
a. The Device Type default value 0000h must be changed for the module to pass a conformance test. If no other
specific profile is implemented, use the value 002Bh (Generic Device (keyable)).
2.3.2 Factory Default Reset
Reset command to Application Object (FFh) must be supported
When Anybus CompactCom 30 DeviceNet modules are delivered, they are required to be in their “Factory Default” state. When a Factory Default Reset command is received from the network, the Anybus
module will erase all non-volatile information and inform the host application that a reset of the Anybus
module is required. This is done by sending a Reset command to the Application Object (FFh) of the
host (Power-on + Factory Default). For more details, please consult the Anybus CompactCom 30 Software Design Guide.
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Chapter 3
3. Basic Operation
3.1 General Information
3.1.1 Software Requirements
Generally, no additional network support code needs to be written in order to support the Anybus CompactCom DeviceNet. However, due to the nature of the DeviceNet networking system, certain restrictions must be taken into account:
•
Certain functionality in the module requires that the command ‘Get_Instance_Number_By_Order’ (Application Data Object, FEh) is implemented in the host application.
•
Up to 5 diagnostic instances (See “Diagnostic Object (02h)” on page 36) can be created by the
host application during normal conditions. An additional 6th instance may be created in event of
a major fault.
For in-depth information regarding the Anybus CompactCom software interface, consult the general
Anybus CompactCom Software Design Guide.
See also...
•
“Diagnostic Object (02h)” on page 36 (Anybus Module Object)
•
Anybus CompactCom Software Design Guide, ‘Application Data Object (FEh)’
3.1.2 Electronic Data Sheet (EDS)
Since the module implements the Parameter Object, it is possible for configuration tools such as RSNetWorx to automatically generate a suitable EDS-file.
Note that this functionality requires that the command ‘Get_Instance_Number_By_Order’ (Application Data Object, FEh) has been implemented in the host application.
See also...
•
“Device Customization” on page 12
•
“Parameter Object (0Fh)” on page 28 (CIP-object)
•
Anybus CompactCom Software Design Guide, ‘Application Data Object (FEh)’
IMPORTANT: To comply with CIP-specification requirements, custom EDS-implementations require a new Vendor
ID and/or Product Code.
To obtain a Product Code which complies to the default Vendor ID, please contact HMS.
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Basic Operation 12
3.2 Device Customization
By default, the module supports the generic CIP-profile with the following identity settings:
•
Vendor ID:
005Ah (HMS Industrial Networks)
•
Device Type:
0000h (Generic Device)
•
Product Code:
0062h (Anybus CompactCom DeviceNet)
•
Product Name:
‘Anybus-CC DeviceNet’
It is possible to customize the identity of the module by implementing the DeviceNet Host Object. Furthermore, it is possible to re-route requests to unimplemented CIP-objects to the host application, thus
enabling support for other profiles etc.
To support a specific profile, perform the following steps:
•
Set up the identity settings in the DeviceNet Host Object according to profile requirements.
•
Set up the Assembly Instance Numbers according to profile requirements.
•
Enable routing of CIP-messages to the host application in the DeviceNet Host Object.
•
Implement the required CIP-objects in the host application.
See also...
•
“Identity Object (01h)” on page 16 (CIP-object)
•
“DeviceNet Host Object (FCh)” on page 42 (Host Application Object)
•
“CIP Request Forwarding” on page 49
IMPORTANT: The default identity information is valid only when using the standard EDS-file supplied by HMS.
To comply with CIP-specification requirements, custom EDS-implementations require a new Vendor ID and/or Product
Code.
To obtain a Product Code which complies to the default Vendor ID, please contact HMS.
3.3 Communication Settings
As with other Anybus CompactCom products, network related communication settings are grouped in
the Network Configuration Object (04h).
In this case, this includes...
•
Baud rate
See “Instance Attributes (Instance #2, ‘Baud rate’)” on page 39
•
MAC ID
See also... “Setting MAC ID” on page 13
The parameters in the Network Configuration Object (04h) are available from the network through the
Identity Object (CIP-object).
See also...
•
“Identity Object (01h)” on page 16 (CIP-object)
•
“Network Configuration Object (04h)” on page 38 (Anybus Module Object)
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Basic Operation 13
3.3.1 Setting MAC ID
There are three different methods to set the MAC ID (the node address) of the module.
Actions Required to be Performed by Host
Application
Node address set only • Set attribute #5 in the Network Configurafrom network
tion Object (04h), Instance #1 to any value
between 64 - 255.
• Set attribute #9 in the DeviceNet Object
(FCh) to TRUE.
Method
Node address set only
from application
Node address set from
network or from application
• Set attribute #9 in the DeviceNet Object
(FCh) to FALSE.
• Set attribute #5 in the Network Configuration Object (04h), Instance #1 to any value
between 0 - 63.
• Each time the host application changes the
value, the new value shall be written to attribute #5 in the Network Configuration Object
(04h), Instance #1.
• Set attribute #5 in the Network Configuration Object (04h), Instance #1.
• Each time the host application changes the
value, the new value shall be written to attribute #5 in the Network Configuration Object
(04h), Instance #1.
• Set attribute #9 in the DeviceNet Object
(FCh) to TRUE.
Comments
An invalid device (node) address (64 - 255) is
set in the application. The network will write a
valid node address to the Network Configuration object. The module deletes all Connection
objects and restarts the network access process.
If an invalid value is set by the application (64 255), the module will enter the “Communication
faulted state” at network initialization.
If an invalid value is set by the application, the
module will return to the last used .
When a device adress is set from the network,
the address will be set in attribute #5 in the Network Configuration Object (04h), Instance #1.
The module deletes all Connection objects and
restarts the network access process.
See also ...
•
“DeviceNet Host Object (FCh)” on page 42 (Host Application Object)
•
“Network Configuration Object (04h)” on page 38 (Anybus Module Object)
3.4 Diagnostics
The severity value of all pending events are combined (using logical OR) and copied to the corresponding bits in the ‘Status’-attribute of the CIP Identity Object.
See also...
•
“Identity Object (01h)” on page 16 (CIP-object)
•
“Diagnostic Object (02h)” on page 36 (Anybus Module Object)
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Basic Operation 14
3.5 Data Exchange
3.5.1 Application Data (ADIs)
ADIs are represented on DeviceNet through the ADI Object (CIP-object). Each instance within this
objects corresponds directly to an instance in the Application Data Object on the host application side.
See also...
•
“Parameter Object (0Fh)” on page 28 (CIP-object)
•
“ADI Object (A2h)” on page 31 (CIP-object)
3.5.2 Process Data
Process Data is represented on DeviceNet through dedicated instances in the Assembly Object. Note
that each ADI element is mapped on a byte-boundary, i.e. each BOOL occupies one byte.
See also...
•
“Assembly Object (04h)” on page 21 (CIP-object)
•
“Connection Object (05h)” on page 23 (CIP-object)
3.5.3 Translation of Data Types
The Anybus data types are translated to CIP-standard and vice versa according to the table below.
Anybus Data Type
BOOL
ENUM
SINT8
UINT8
SINT16
UINT16
SINT32
UINT32
FLOAT
CHAR
CIP Data Type
BOOL
USINT
SINT
USINT
INT
UINT
DINT
UDINT
REAL
SHORT_STRING
SINT64
UINT64
LINT
ULINT
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Comments
Each ADI element of this type occupies one byte.
Each ADI element of this type occupies two bytes.
Each ADI element of this type occupies four bytes.
SHORT_STRING consists of a single-byte length field (which in this case
represents the number of ADI elements) followed by the actual character data
(in this case the actual ADI elements). This means that a 10-character string
occupies 11 bytes.
Each ADI element of this type occupies eight bytes.
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Chapter 4
4. CIP Objects
4.1 General Information
This chapter specifies the CIP-objects implementation in the module. The objects described herein can
be accessed from the network, but not by the host application.
Mandatory Objects:
•
“Identity Object (01h)” on page 16
•
“Message Router (02h)” on page 18
•
“DeviceNet Object (03h)” on page 19
•
“Assembly Object (04h)” on page 21
•
“Connection Object (05h)” on page 23
•
“Parameter Object (0Fh)” on page 28
•
“Acknowledge Handler Object (2Bh)” on page 30
Vendor Specific Objects:
•
“ADI Object (A2h)” on page 31
It is possible to implement additional CIP-objects in the host application using the CIP forwarding functionality, see “DeviceNet Host Object (FCh)” on page 42 and “CIP Request Forwarding” on page 49.
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CIP Objects 16
4.2 Identity Object (01h)
Category
Extended
Object Description
-
Supported Services
Class
Get Attribute Single
Instance:
Get Attribute Single
Set Attribute Single
Reset
Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Comments
0001h
Instance #1 Attributes
Extended
#
1
Access
Get
Name
Vendor ID
Type
UINT
005Ah (HMS Industrial Networks ABa)
2
Get
Device Type
UINT
0000h (Generic Devicea)
3
Get
Product Code
UINT
0062h (Anybus CompactCom DeviceNeta)
4
Get
Revision
Major and minor firmware revisiona
5
6
Get
Get
Status
Serial Number
Struct of:
{USINT, USINT}
WORD
UDINT
7
Get
Product Name
11 Set
12 Get
Comments
See “Device Status” on page 17
Assigned by HMSa
SHORT_STRING “Anybus-CC DeviceNet” (Name of producta)
Active language Struct of:
Requests sent to this instance are forwarded to the Application
{USINT,
Object. The host application is then responsible for updating the lanUSINT,
guage settings accordingly.
USINT}
Supported
Array of struct of: List of languages supported by the host application. This list is read
Language List {USINT,
from the Application Object during the NW_INIT state, and translated
USINT,
to CIP standard.
USINT}
a. Can be customized by implementing the DeviceNet Host Object, see “DeviceNet Host Object (FCh)” on page 42
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CIP Objects 17
Device Status
bit(s)
0
1
2
3
4... 7
Name
Module Owned
(reserved)
Configureda
(reserved)
Extended Device Status:
Value:Meaning:
0000b Unknown
0010b Faulted I/O Connection
0011b No I/O connection established
0100b Non-volatile configuration bad
0110b Connection in Run mode
0111b Connection in Idle mode
(other) (reserved)
8
Set for minor recoverable faultsb
9
Set for minor unrecoverable faultsb
10
Set for major recoverable faultsb
11
Set for major unrecoverable faultsb
(reserved)
12... 15
a. This bit shows if the product has other settings than “out-of-box”. The value is set to true if the configured attribute
in the Application Object is set and/or the module’s NV storage is changed from default.
b. See “Diagnostic Object (02h)” on page 36.
Service Details: Reset Service
The module forwards reset requests from the network to the host application. For more information
about network reset handling, consult the general Anybus CompactCom Design Guide.
There are two types of network reset requests on DeviceNet:
•
Type 0: ‘Power Cycling Reset’
This service emulates a power cycling of the module, and corresponds to Anybus reset type 0
(Power cycling). For further information, consult the general Anybus CompactCom Software
Design Guide.
•
Type 1: ‘Out of box reset’
This service sets a “out of box” configuration and performs a reset, and corresponds to Anybus
reset type 2 (Power cycling + factory default). For further information, consult the general Anybus CompactCom Software Design Guide.
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CIP Objects 18
4.3 Message Router (02h)
Category
Extended
Object Description
This object provides access to CIP addressable objects within the device.
Supported Services
Class
-
Instance:
-
Class Attributes
-
Instance Attributes
-
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CIP Objects 19
4.4 DeviceNet Object (03h)
Category
Extended
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)
Class Attributes
#
1
Name
Revision
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Access
Get
Type
UINT
Comments
0002h
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CIP Objects 20
Instance #1 Attributes
Extended
#
1
Name
MAC ID
Access
Get/Set
Type
USINT
Comments
Currently used MacID
2
Baud Rateab
Get/Set
USINT
BOI
Bus off Counter
Allocation Information
Get/Set
Get/Set
Get
Value:Baud rate:
0 125 kbps
1 250 kbps
2 500 kbps
False
00h
3
4
5
a
6
MAC ID Switch changeda
Get
BOOL
USINT
Struct of:
BYTE
USINT
BOOL
7
Baud rate Switch changeda
Get
BOOL
8
MAC ID Switch valuea
Get
USINT
Allocation choice byte
MAC ID of master
Indicates if the MacID has changed since startup
Value:Meaning
True Changed
False No change
Indicates if the baudrate has changed since startup
Value:Meaning
True Changed
False No change
Actual value of node address switches
9
Baud rate Switch valuea
Get
USINT
Actual value of baud rate switches
10
Quick Connectc
Get/Set
Bool
Set
BOOL
Enables/Disables the Quick Connect feature. Disabled by
default
Value:Meaning
True Enable
False Disable
Value:Meaning
True Disable auto baud
False Enable auto baud
This setting is stored in NV memory.
100 Disable auto baud
a. Implementation of attributes 6 to 9 are conditional as well as access right for attributes 1 and 2. For further information, see “Communication Settings” on page 12.
b. Setting this attribute will also affect attribute #100 (Disable auto baud).
c. Enabled if attribute #13 (‘Enable Quick Connect”) in the DeviceNet Host Object (FCh) is set to true, see “DeviceNet Host Object (FCh)” on page 42.
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CIP Objects 21
4.5 Assembly Object (04h)
Category
Extended
Object Description
The Assembly object uses static assemblies and holds the Process Data sent/received by the host application. The default assembly instance IDs used are in the vendor specific range.
See also...
•
“Process Data” on page 14
•
“DeviceNet Host Object (FCh)” on page 42
Supported Services
Class
-
Instance:
Get Attribute Single
Set Attribute Single
Class Attributes
-
Instance 64h Attributes (Producing Instance)
Extended
The instance number for this instance can be changed by implementing the corresponding attribute in
the DeviceNet Host Object.
#
3
Name
Produced Data
Access
Get
Type
Array of BYTE
Comments
This data corresponds to the Write Process Data
See also...
•
“Data Exchange” on page 14
•
“DeviceNet Host Object (FCh)” on page 42
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CIP Objects 22
Instance 96h Attributes (Consuming Instance)
Extended
The instance number for this instance can be changed by implementing the corresponding attribute in
the DeviceNet Host Object.
#
3
Name
Consumed Data
Access
Set
Type
Array of BYTE
Comments
This data corresponds to the Read Process Data
See also...
•
“Data Exchange” on page 14
•
“DeviceNet Host Object (FCh)” on page 42
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CIP Objects 23
4.6 Connection Object (05h)
Category
Extended
Object Description
-
Supported Services
Class
Get Attribute Single
Instance:
Get Attribute Single
Set Attribute Single
Class Attributes
#
1
Name
Revision
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Access
Get
Type
UINT
Comments
0001h
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CIP Objects 24
Instances #1, #10... #14 (Explicit messaging)
Extended
#
1
Name
State
Access
Get
Type
USINT
2
3
4
5
6
Instance type
Transport Class trigger
Produced connection ID
Consumed connection ID
Initial Comm Characteristics
Get
Get
Get
Get
Get
USINT
BYTE
UINT
UINT
BYTE
7
8
9
12
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Get
Get
Get/Set
Get/Set
UINT
UINT
UINT
USINT
13
14
15
16
17
18
Produced Connection path length
Produced Connection path
Consumed Connection path length
Consumed Connection path
Production Inhibit Time
Connection Timeout Multiplier
Get
Get
Get
Get
Get
Get/Set
UINT
EPATH
UINT
EPATH
UINT
UINT
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Comments
Value:State:
0 Non existent
1 Configuring
2 Waiting for connection ID
3 Established
4 Time out
5 Deferred Delete
0000h (Explicit messaging connection)
83h (Server, Transport class 3)
The message group over which the communication
occurs:
Value:Message Group
21 Instance #1
33 Instances #10... #14
262 bytes
262 bytes
2500ms
Value:Action:
0001h Auto delete (default)
0003h Deferred delete
0000h (No connection path)
0000h (No connection path)
0000h
0000h
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CIP Objects 25
Instance #2 (Poll or “COS/Cyclic consuming”)
Extended
#
1
Name
State
Access
Get
Type
USINT
2
3
Instance type
Transport Class trigger
Get
Get
USINT
BYTE
4
Produced connection ID
Get
UINT
5
6
Consumed connection ID
Initial Comm Characteristics
Get
Get
UINT
BYTE
7
Produced Connection Size
Get
UINT
8
9
12
13
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Produced Connection path length
Get
Get/Set
Get
Get
UINT
UINT
USINT
UINT
14 Produced Connection path
Get
EPATH
15
16
17
18
Get
Get
Get
Get/Set
UINT
EPATH
UINT
UINT
Consumed Connection path length
Consumed Connection path
Production Inhibit Time
Connection Timeout Multiplier
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Comments
Value:State:
0 Non existent
1 Configuring
2 Waiting for connection ID
3 Established
4 Time out
0001h (I/O Connection)
Value:Meaning:
82h Server, Polled, Class 2
80h Server, COS/Cyclic, Class 0, No Ack.
82h Server, COS/Cyclic, Class 2, Ack.
Value:Meaning:
FFFFh Not consuming (COS/Cyclic)
Other CAN ID for transmission
Value:Meaning:
01h Polled
- Produces over message group 1
- Consumes over message group 2
F1h COS/Cyclic, No Ack
- Consumes only over message group 2
01h COS/Cyclic, Ack
- Produces over message group 1 (Ack)
- Consumes over message group 2
Value:Meaning:
0000h COS/Cyclic
Other Size of Write Process Data (Polled)
Size of Read Process Data
0000h (Transition to the timed out state)
0000h (COS/Cyclic)
0007h (Polled)
No value (COS/Cyclic)
20 04 25 nn nn 30 03h (Polled)
0007h
20 04 25 nn nn 30 03h
0000h
0000h
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CIP Objects 26
Instance #3 (Bit-strobe)
Extended
#
1
Name
State
Access
Get
Type
USINT
2
3
Instance type
Transport Class trigger
Get
Get
USINT
BYTE
4
5
6
Produced connection ID
Consumed connection ID
Initial Comm Characteristics
Get
Get
Get
UINT
UINT
BYTE
7
Produced Connection Size
Get
UINT
8
9
12
13
14
15
16
17
18
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Produced Connection path length
Produced Connection path
Consumed Connection path length
Consumed Connection path
Production Inhibit Time
Connection Timeout Multiplier
Get
Get/Set
Get
Get
Get
Get
Get
Get
Get/Set
UINT
UINT
USINT
UINT
EPATH
UINT
EPATH
UINT
UINT
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Comments
Value:State:
0 Non existent
1 Configuring
2 Waiting for connection ID
3 Established
4 Time out
0001h (I/O Connection)
82h (Transport class & Trigger Server,
Cyclic, Class 2)
Produces over message group 1
Consumes over message group 2
Size of produced data on this connection.
Max of: 8 bytes, Mapped Process data
0008h
0000h (Transition to the timed out state)
0007h
20 04 25 nn nn 30 03h
0007h
20 04 25 nn nn 30 03h
0000h
0000h
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CIP Objects 27
Instance #4 (COS/Cyclic producing)
Extended
#
1
Name
State
Access
Get
Type
USINT
2
3
Instance type
Transport Class trigger
Get
Get
USINT
BYTE
4
5
Produced connection ID
Consumed connection ID
Get
Get
UINT
UINT
6
Initial Comm Characteristics
Get
BYTE
7
8
9
12
13
14
15
Produced Connection Size
Consumed Connection Size
Expected Packet Rate
Watchdog timeout action
Produced Connection path length
Produced Connection path
Consumed Connection path length
Get
Get
Get/Set
Get
Get
Get
Get
UINT
UINT
UINT
USINT
UINT
EPATH
UINT
16 Consumed Connection path
Get
EPATH
17 Production Inhibit Time
18 Connection Timeout Multiplier
Get/Set
Get/Set
UINT
UINT
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Value
Value:State:
0 Non existent
1 Configuring
2 Waiting for connection ID
3 Established
4 Time out
0001h (I/O Connection)
Value:Meaning:
00h Client, Cyclic, Class 0 (No Ack.)
10h Client, COS, Class 0 (No Ack.)
02h Client, Cyclic, Class 2 (Ack.)
12h Client, COS, Class 2 (Ack.)
CAN ID for transmission
Value:Meaning:
FFFFh Not acknowledged
Other CAN ID for reception (Ack.)
Value:Meaning:
0Fh Producing only over message group 1
(No Ack.)
01h Produces over message group 1
Consumes over message group 2
(Ack.)
Size of produced data on this connection.
0000h (Consumes 0 bytes on this connection)
Timing associated with this connection.
0000h (Transition to the timed out state)
0007h
20 04 25 nn nn 30 03h
0000h (No ack.)
0005h (Acknowledged)
No value (No ack.)
20 2B 25 01 00h (Acknowledged)
0000h
0000h
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CIP Objects 28
4.7 Parameter Object (0Fh)
Category
Extended
Object Description
This object allows configuration tools such as RSNetworx to extract information about the Application
Data Instances (ADIs) and present them with their actual name and range to the user.
Since this process may be somewhat time consuming, especially when using the serial host interface, it
is possible to disable support for this functionality in the DeviceNet Host Object.
Due to limitations imposed by the CIP standard, ADIs containing multiple elements (i.e. arrays etc) cannot be represented through this object. In such cases, default values will be returned, see 4-29 “Default
Values”.
See also...
•
“Default Values” on page 29
•
“ADI Object (A2h)” on page 31 (CIP Object)
•
“DeviceNet Host Object (FCh)” on page 42 (Host Application Object)
Supported Services
Class
Get Attribute Single
Instance:
Get Attribute Single
Set Attribute Single
Get Attributes All
Get Enum String
Class Attributes
#
1
2
Name
Revision
Max instance
Access
Get
Get
Type
UINT
UINT
8
Parameter class
descriptor
Get
WORD
9
Configuration Assembly Get
instance
UINT
Value
0001h (Revision of the object)
Maximum created instance number = class attribute 3 in
the Application Data Objecta
Default: 0000 0000 0000 01011b
Bit:Contents:
0 Supports parameter instances
1 Supports full attributes
2 Must do non-volatile storage save command
3 Parameters are stored in non-volatile storage
0000h (Configuration assembly not supported)
a. Consult the general Anybus CompactCom Software Design Guide for further information.
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CIP Objects 29
Instance Attributes
Extended
#
1
Name
Parameter Value
Access
Get/Set
2
3
Link Path Size
Link Path
Get
Get
Type
Specified in attributes 4, 5 & 6.
USINT
Packed EPATH
4
Descriptor
Get
WORD
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
Data type
Data size
Parameter Name String
Units String
Help String
Minimum value
Maximum value
Default value
Scaling Multiplier
Scaling Divisor
Scaling Base
Scaling Offset
Multiplier link
Divisor Link
Base Link
Offset Link
Decimal precision
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
EPATH
USINT
SHORT_STRING
SHORT_STRING
SHORT_STRING
(Data Type)
(Data Type)
(Data Type)
UINT
UINT
UINT
INT
UINT
UINT
UINT
UINT
USINT
Value
Actual value of parameter
This attribute is read-only if bit 4 of Attribute #4 is true
0007h
20 A2 25 nn nn 30 05h
(Path to the object from where this parameter’s value is
retrieved, in this case the ADI Object)
Bit:Contents:
0 Supports Settable Path (N/A)
1 Supports Enumerated Strings
2 Supports Scaling (N/A)
3 Supports Scaling Links (N/A)
4 Read only Parameter
5 Monitor Parameter (N/A)
6 Supports Extended Precision Scaling (N/A)
Data type code
Number of bytes in parameter value
Name of the parameter, truncated to 16 chars
(not supported)
Minimum value of parameter
Maximum value of parameter
Default value of parameter
0001h (not supported)
0000h (not supported)
Default Values
#
1
2
3
4
5
6
7
8
9
10
11
12
Name
Parameter Value
Link Path Size
Link Path
Descriptor
Data type
Data size
Parameter Name String
Units String
Help String
Minimum value
Maximum value
Default value
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Value
0
0
0010h
C6h
1
(reserved)
“”
“”
N/A
N/A
N/A
Description
Size of link path in bytes.
NULL Path
Read only Parameter
USINT
0
0
0
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CIP Objects 30
4.8 Acknowledge Handler Object (2Bh)
Category
Extended
Object Description
-
Supported Services
Class
Get Attribute Single
Instance:
Get Attribute Single
Set Attribute Single
Class Attributes
#
1
Name
Revision
Access
Get
Type
UINT
Value
0001h
Type
UINT
USINT
UINT
Value
16ms
01h
04h
Instances Attributes (01h)
Extended
#
1
2
3
Name
Acknowledge Timer
Retry Limit
Producing Connection Instance
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Access
Get/Set
Get/Set
Get
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CIP Objects 31
4.9 ADI Object (A2h)
Category
Extended
Object Description
This object maps instances in the Application Data Object to DeviceNet. All requests to this object will
be translated into explicit object requests towards the Application Data Object in the host application;
the response is then translated back to CIP-format and sent to the originator of the request.
See also...
•
Application Data Object (see Anybus CompactCom Software Design Guide)
•
“Parameter Object (0Fh)” on page 28 (CIP Object)
Supported Services
Class
Get Attribute Single
Instance:
Get Attribute Single
Set Attribute Single
Class Attributes
#
1
2
Name
Revision
Max Instance
Access
Get
Get
Type
UINT
UINT
Value
Object revision (Current value = 0001h)
3
Number of instances
Get
UINT
Equals attribute #3 in the Application Data Objecta
Equals attribute #4 in the Application Data Objecta
a. Consult the general Anybus CompactCom Software Design Guide for further information.
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CIP Objects 32
Instances Attributes
Extended
Each instance corresponds to an instance within the Application Data Object (for more information,
consult the general Anybus CompactCom Software Design Guide).
#
1
2
3
4
Name
Name
ABCC Data type
No. of elements
Descriptor
Access
Get
Get
Get
Get
Type
SHORT_STRING
USINT
USINT
USINT
5
Valuea
Get/Set
Determined by
attribute #2
Description
Parameter name (Including length)
Data type of instance value
Number of elements of the specified data type
Bit field describing the access rights for this instance
Bit:Meaning:
0 Set = Get Access
1 Set = Set Access
Instance value
6
a
Max value
Get
7
Min valuea
Get
The minimum permitted parameter value.
8
Default valuea
Get
The default parameter value.
The maximum permitted parameter value.
a. Converted to/from CIP standard by the module
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Chapter 5
5. Anybus Module Objects
5.1 General Information
This chapter specifies the Anybus Module Object implementation and how they correspond to the functionality in the Anybus CompactCom DeviceNet.
The following Anybus Module Objects are implemented:
•
“Anybus Object (01h)” on page 34
•
“Diagnostic Object (02h)” on page 36
•
“Network Object (03h)” on page 37
•
“Network Configuration Object (04h)” on page 38
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Anybus Module Objects 34
5.2 Anybus Object (01h)
Category
Basic
Object Description
This object groups common Anybus information, and is described thoroughly in the general Anybus
CompactCom Software Design Guide.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
“Anybus”
04h
0001h
0001h
Instance Attributes (Instance #1)
Basic
#
1
2
Name
Module type
Firmware version
Access
Get
Get
3
4
Serial number
Application watchdog
timeout
Setup complete
Exception Code
Error counters
Get
Get/Set
5
6
8
9 Language
10 Provider ID
11 Provide specific info
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Get/Set
Get
Get
Get/Set
Get
Get/Set
Type
UINT16
struct of:
UINT8 Major
UINT8 Minor
UINT8 Build
UINT32
UINT16
Value
0401h (Standard Anybus CompactCom)
(see Anybus CompactCom Software Design Guide)
BOOL
ENUM
struct of:
UINT16 DC
UINT16 DR
UINT16 SE
ENUM
UINT16
UINT16
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Anybus Module Objects 35
# Name
12 LED colors
Access
Get
13 LED status
14 (reserved)
15 Auxiliary Bit
Get
Get
Get/Set
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Type
struct of:
UINT8(LED1A)
UINT8(LED1B)
UINT8(LED2A)
UINT8(LED2B)
UINT8
UINT8
UINT8
Value
Value:Color:
01h Green
02h Red
01h Green
02h Red
(see Anybus CompactCom Software Design Guide)
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Anybus Module Objects 36
5.3 Diagnostic Object (02h)
Category
Basic
Object Description
This object provides a standardised way of handling host application events & diagnostics, and is thoroughly described in the general Anybus CompactCom Software Design Guide.
Supported Commands
Object:
Get_Attribute
Create
Delete
Instance:
Get_Attribute
Object Attributes (Instance #0)
#
1
2
3
4
11
Name
Name
Revision
Number of instances
Highest instance no.
Max no. of instances
Access
Get
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
UINT16
Value
‘Diagnostic’
01h
See general Anybus CompactCom Software Design Guide
5+1
Instance Attributes (Instance #1)
Basic
#
1
2
Name
Severity
Event Code
Access
Get
Get
Type
UINT8
UINT8
Value
See general Anybus CompactCom Software Design Guide
In the Anybus CompactCom DeviceNet, the severity level of all instances are logically OR:ed together
and represented on the network through the CIP Identity Object. The Event Code cannot be represented on the network and is thus ignored by the module.
See also...
•
“Diagnostics” on page 13
•
“Identity Object (01h)” on page 16 (CIP-object)
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Anybus Module Objects 37
5.4 Network Object (03h)
Category
Basic
Object Description
For more information regarding this object, consult the general Anybus CompactCom Software Design
Guide.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
Map_ADI_Write_Area
Map_ADI_Read_Area
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
“Network”
01h
0001h
0001h
Instance Attributes (Instance #1)
Basic
#
1
2
3
4
5
Name
Network type
Network type string
Data format
Parameter data support
Write process data size
Access
Get
Get
Get
Get
Get
6
Read process data size Get
Type
UINT16
Array of CHAR
ENUM
BOOL
UINT16
UINT16
Value
0025h
‘DeviceNet’
00h (LSB first)
True
Current write process data size (in bytes)
Updated on every successful Map_ADI_Write_Areaa
Current read process data size (in bytes)
Updated on every successful Map_ADI_Read_Areaa
a. Consult the general Anybus CompactCom Software Design Guide for further information.
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Anybus Module Objects 38
5.5 Network Configuration Object (04h)
Category
Basic
Object Description
This object holds network specific configuration parameters that may be set by the end user. A reset
command (factory default) issued towards this object will result in all instances being set to their default
values. Please note that the node address (instance #1) is equal to the MAC ID of the Anybus CompactCom.
See also...
•
“Communication Settings” on page 12
•
“Identity Object (01h)” on page 16 (CIP-object)
Supported Commands
Object:
Get_Attribute
Reset
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
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Anybus Module Objects 39
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
‘Network configuration’
01h
0002h
0002h
Instance Attributes (Instance #1, ‘Node address’)
Basic
#
1
2
3
4
5
Name
a
Access
Get
Type
Array of CHAR
Value/Description
‘Node address’
Valueb
Get
Get
Get
Get/Set
UINT8
UINT8
UINT8
UINT8
04h (= UINT8)
01h (one element)
07h (read/write/shared access)
Node address (default: 255
For information on how to assign a node address see
“Communication Settings” on page 12
Description
Value
0 - 63
Valid address
64 - 255
Invalid address
Name
Data type
Number of elements
Descriptor
a. Multilingual, see “Multilingual Strings” on page 39.
b. A ‘Get’ command always returns the actual value. If an invalid value is assigned to this attribute (i.e. using a ‘Set’
command), the module will accept MacID configuration via the network (unless disabled in the DeviceNet Host
Object - in such case, the module will enter communication fault state at start up).
Instance Attributes (Instance #2, ‘Baud rate’)
Basic
#
1
2
3
4
5
Name
a
Access
Get
Type
Array of CHAR
Value/Description
‘Baud rate’
Valueb
Get
Get
Get
Get/Set
UINT8
UINT8
UINT8
ENUM
08h (ENUM)
01h (one element)
07h (read/write/shared access)
Value:Enum. String:Meaning:
00h ‘125kbps’ 125kbps
01h ‘250kbps’ 250kbps
02h ‘500kbps’ 500kbps
03h ‘Autobaud’ Autobaud (default)
Name
Data type
Number of elements
Descriptor
a. Multilingual, see “Multilingual Strings” on page 39.
b. A ‘Get’ command always returns the actual value. If an invalid value is assigned to this attribute (i.e. using a ‘Set’
command), the module will accept baud rate configuration via the network (unless disabled in the DeviceNet Host
Object - in such case, the module will enter communication fault state at start up).
Multilingual Strings
The instance names in this object are multi-lingual, and are translated based on the current language set-
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Anybus Module Objects 40
tings as follows:
Instance
1
2
English
Node address
Data rate
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German
Geräteadresse
Datenrate
Spanish
Direcc nodo
Veloc transf
Italian
Indirizzo
velocità dati
French
Adresse
Vitesse
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Chapter 6
6. Host Application Objects
6.1 General Information
This chapter specifies the host application object implementation in the module. The objects listed here
may optionally be implemented within the host application firmware to expand the DeviceNet implementation.
Standard Objects:
•
Application Object (see Anybus CompactCom Software Design Guide)
•
Application Data Object (see Anybus CompactCom Software Design Guide)
Network Specific Objects:
•
“DeviceNet Host Object (FCh)” on page 42
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Host Application Objects 42
6.2 DeviceNet Host Object (FCh)
Category
Basic, extended, advanced
Object Description
This object implements DeviceNet specific settings in the host application. It is also used when implementing DeviceNet classes in the host application, e.g. when creating profile implementations etc.
The implementation of this object is optional; the host application can support none, some, or all of the
attributes specified below. The module will attempt to retrieve the values of these attributes during startup; if an attribute is not implemented in the host application, simply respond with an error message (06h,
“Invalid CmdExt[0]”). In such case, the module will use its default value.
If the module attempts to retrieve a value of an attribute not listed below, respond with an error message
(06h, “Invalid CmdExt[0]”).
See also...
•
“Identity Object (01h)” on page 16
•
Anybus CompactCom 30 Software Design Guide, “Error Codes”
IMPORTANT: To comply with CIP-specification requirements, the combination of Vendor ID (instance attribute
#1) and serial number (instance attribute #5) must be unique. The default Vendor ID, serial number, and Product Code
combination is valid only if using the standard ESD-file supplied by HMS.
Supported Commands
Object:
Process_CIP_Message_Request (See “CIP Request Forwarding” on page 49)
Instance:
-
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Host Application Objects 43
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
‘DeviceNet’
01h
0001h
0001h
Instance Attributes (Instance #1)
Basic
#
1
2
3
4
Name
Vendor ID
Device Type
Product Code
Revision
Access
Get
Get
Get
Get
Get
Get
Type
UINT16
UINT16
UINT16
struct of:
UINT8 Major
UINT8 Minor
UINT32
Array of CHAR
5
6
Serial Number
Product Name
Default Value
005Ah
0000h
0062h
(software revision)
(set at production)
‘Anybus-CC DeviceNet’
Comment
These values are forwarded to the DeviceNet Identity Object (CIP).
The Product Name can have a length of up
to 32 characters in the CIP Identity object. If
a longer product name is assigned here, it
will be truncated when forwarded.
Extended
#
7
Name
Producing
Instance No.
Access
Get
Type
UINT16
Default Value
0064h
8
Consuming
Instance No.
Get
UINT16
0096h
BOOL
False
11 Enable CIP for- Get
warding
13 Enable Quick
Connect
Get
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BOOL
False
Comment
See also...
- “Instance 64h Attributes (Producing
Instance)” on page 21 (CIP-instance)
See also...
- “Instance 96h Attributes (Consuming
Instance)” on page 22 (CIP-instance)
Value:Meaning:
True Enable CIP forwarding
False Disable CIP forwarding
See also...
- “Command Details: Process_CIP_Message_Request” on page 45
- “CIP Request Forwarding” on page 49.
Value:Meaning:
True Enable Quick Connect
False Disable Quick Connect
See also...
- “DeviceNet Object (03h)” on page 19
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Host Application Objects 44
Advanced
#
9
Name
Access
Enable Address Get
from Net
10 Enable Baud
rate from Net
Get
12 Enable Param- Get
eter Object
Type
BOOL
BOOL
BOOL
Default Value
True
True
True
Comment
Value:Meaning:
True Can be set from network
False Cannot be set from network
See also...
- “Identity Object (01h)” on page 16 (CIPobject)
Value:Meaning:
True Can be set from network
False Cannot be set from network
See also...
- “Identity Object (01h)” on page 16 (CIPobject)
Value:Meaning:
True Enable CIP Parameter Object
False Disable CIP Parameter Object
See also...
- “Parameter Object (0Fh)” on page 28
(CIP-object)
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Host Application Objects 45
6.2.1 Command Details: Process_CIP_Message_Request
Category
Extended
Details
Command Code.: 10h
Valid for:
Object Instance
Description
By setting the ‘Enable CIP Request Forwarding’-attribute (#11), all requests to unimplemented CIP-objects or unimplemented assembly object instances will be forwarded to the host application. The application then has to evaluate the request and return a proper response.
The module supports up to 6 pending CIP-requests; additional requests will be rejected by the module.
Note: This command is similar - but not identical - to the ‘Process_CIP_Message_Request’-command
in the Anybus CompactCom EtherNet/IP.
See also...
•
“Device Customization” on page 12
•
“CIP Request Forwarding” on page 49
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Appendix A
A. Categorization of Functionality
The objects, including attributes and services, of the Anybus CompactCom and the application are divided into three categories: basic, advanced and extended.
A.1 Basic
This category includes objects, attributes and services that are mandatory to implement or to use. They
will be enough for starting up the Anybus CompactCom and sending/receiving data with the chosen
network protocol. The basic functions of the industrial network are used.
Additional objects etc, that will make it possible to certify the product also belong to this category.
A.2 Extended
Use of the objects in this category extends the functionality of the application. Access is given to the
more specific characteristics of the industrial network, not only the basic moving of data to and from
the network. Extra value is given to the application.
A.3 Advanced
The objects, attributes and services that belong to this group offer specialized and/or seldom used functionality. Most of the available network functionality is enabled and accessible. Access to the specification of the industrial network is normally required.
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Appendix B
B. Implementation Details
B.1 DeviceNet Implementation
Predefined Connection Set
The module acts as a Group 2 server and supports the Predefined Master/Slave Connection Set.
•
COS Connection
When the master allocates this connection type, the module transmits the Process Data it changes. An inhibit time can be set to prevent the module from sending too often.
The module supports up to 256 bytes in each direction for this type of connection. The size of
the connection is checked against the number of bytes mapped as Process Data.
•
Cyclic Connection
When the master allocates this connection type, the module cyclically transmits the Process Data
at the configured interval.
The module supports up to 256 bytes in each direction for this type of connection.
•
Bit Strobe Connection
When the master allocates this connection type, the module transmits data when the bit strobe
message is received. The module only uses the input bit if no other I/O connections have been
configured, and produces up to 8 bytes.
•
Polled Connection
When the master allocates this connection type, the module transmits the Process Data data
when a poll command is received.
The module supports up to 256 bytes in each direction for this type of connection.
•
Explicit Connection
The predefined explicit connection has a buffer of 262 bytes.
•
Idle/Running
The module is considered to be in Idle mode when not receiving any DeviceNet telegrams, or
when receiving DeviceNet telegrams with no data. In other cases, the module is considered to
be in Run mode.
This affects the Anybus State machine as describe in B-48 “Anybus State Machine”.
Unconnected Message Server (UCMM)
The module is a UCMM capable device, and supports the Unconnected Explicit Message Request port,
Group3, Message ID=6.
•
Explicit Message Server
The module supports up to 5 simultaneous explicit message connections.
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Implementation Details 48
B.2 SUP-Bit Definition
The supervised bit (SUP) indicates that the network participation is supervised by another network device. For DeviceNet this bit is set when the connection object has a connection.
B.3 Anybus State Machine
The table below describes how the Anybus State Machine relates to the DeviceNet network. status
State
WAIT_PROCESS
ERROR
DeviceNet Specific Meaning
The module will stay in this state until a Class
0 connection is opened.
Class 0 connection error, bus off event
detected or dup-MAC-fail
PROCESS_ACTIVE Error free Class 0 connection active
IDLE
Class 0 connection idle
EXCEPTION
Some kind of unexpected behaviour, e.g.
watchdog timeout.
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Notes
(Not set for explicit connections.)
If the error is fatal, such, such as dup-MAC-fail
or bus off, the module will stay in this state until
it’s restarted.
Can only be set for connections consuming
data.
The Module Status LED will turn red to indicate a major fault, and turn the Network Status
LED off.
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Appendix C
C. CIP Request Forwarding
If CIP request forwarding is enabled (DeviceNet Host Object, Instance 1, Attribute 11), all network requests to unknown CIP objects or unknown assembly object instances will be forwarded to the host
application. For this purpose, the DeviceNet Host Object implements a command called
Process_CIP_Message_Request (Command code 10h), which is used to tunnel CIP requests to the host
application.
Note: CIP requiest forwarding is only relevant for explicit messages. It is not applicable to the messages
that carry the cyclic/process data.
Since the telegram length on the host interface is limited, the request data size must not exceed 255 bytes.
If it does, a the module will send a ‘resource unavailable’ response to the originator of the request and
the message will not be forwarded to the host application.
•
Command Message Layout
This message will be sent by the module to the host application upon receiving an unknown CIP
request from the network.
Contents
Notes
b7 b6 b5 b4 b3 b2 b1 b0
Source ID
(Source ID)
Selected by the module
Dest. Object
FCh
Destination Object = DeviceNet Host Object
Dest. Instance (lsb)
00h
Destination Instance = Object Instance
Dest. Instance (msb) 00h
This message is not an error message
(command/error)
0
1
This message is a command
(command/response)
Command number
10h
Process_CIP_Object_Request
Message Data Size
Length of CIP request
CmdExt[0]
CIP Service Code
CIP service code from original CIP request
(reserved, ignore)
CmdExt[1]
MsgData[0]
Requested CIP Class no.
(Low byte)
MsgData[1]
(High byte)
MsgData[2]
Requested CIP Instance no.
(Low byte)
MsgData[3]
(High byte)
MsgData[4...n]
CIP Data
Data associated with the CIP request
Field
•
Host Application Response Message Layout (Successful)
If the host application recognized the CIP request, i.e. if the CIP object in question is implemented in the host application, the following response shall be sent to the module.
Contents
b7 b6 b5 b4 b3 b2 b1 b0
Source ID
(Source ID)
Dest. Object
FCh
Dest. Instance (lsb)
00h
Dest. Instance (msb) 00h
(command/error)
0
0
(command/response)
Command number
10h
Message Data Size
Length of response data
CmdExt[0]
CIP Service Code (with reply bit set)
CmdExt[1]
00h
MsgData[0...n]
Response data
Field
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Notes
(Selected by the module)
Object = DeviceNet Host Object
Instance = Object
This message is not an error message
This message is a response
Process_CIP_Object_Request
(not used, set to zero)
-
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CIP Request Forwarding 50
•
Host Application Response Message Layout (Unsuccessful)
If the host application did not recognize the CIP request, i.e. the CIP object in question is not
implemented in the host application, the following response shall be sent to the module.
Contents
Notes
b7 b6 b5 b4 b3 b2 b1 b0
Source ID
(Source ID)
(Selected by the module)
Dest. Object
FCh
Object = DeviceNet Host Object
Dest. Instance (lsb)
00h
Instance = Object
Dest. Instance (msb) 00h
(command/error)
0
This message is not an ABCC error messagea
(command/response)
0
This message is a response
Command number
10h
Process_CIP_Object_Request
Message Data Size
02h
2 bytes of message data
CmdExt[0]
94h
CIP error service code with reply bit set
CmdExt[1]
00h
(not used, set to zero)
MsgData[0]
CIP General status code
MsgData[1]
Optional additional status
(FFh if no additional status)
Field
a.If this bit is set (1), an Anybus CompactCom error has occurred and an ABCC error code is returned.
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Appendix D
D. Technical Specification
D.1 Front View
#
1
Item
Network Status LED
2
Module status LED
3
DeviceNet Connector
4
M12 Female Connector
5
M12 Male Connector
1
2
3
1
1
5
4
5
2
Network Status
State
Off
Green
Flashing Green (1 Hz)
Red
Flashing Red (1 Hz)
Alternating Red/Green
Indication
Not online / No power
On-line, one or more connections are established
On-line, no connections established
Critical link failure
One or more connections timed-out
Self test
Module Status
State
Off
Green
Flashing Green (1 Hz)
Red
Flashing Red (1 Hz)
Alternating Red/Green
Indication
No power
Operating in normal condition
Missing or incomplete configuration, device needs commissioning
Unrecoverable Fault(s)
Recoverable Fault(s)
Self test
DeviceNet Connector
This connector provides DeviceNet connectivity.
Pin
1
Signal
V-
2
3
4
5
CAN_L
SHIELD
CAN_H
V+
Description
Negative bus supply voltagea
CAN low bus line
Cable shield
CAN high bus line
Positive bus supply voltagea
a. DeviceNet bus power. For more information, see D-51 “Technical Specification”.
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Technical Specification 52
M12 Connectors, Code A
The female M12 connector is used when modules are used in a daisy-chain topology.
Pin
1
Name
Drain
Description
Shield
2
V+
3
V-
4
CAN_H
Positive voltage
bus power.
11 - 25 VDCa
Ground bus
power
CAN high
5
CAN_L
CAN low
1
2
Female
5
4
3
2
1
Male
5
3
4
a. DeviceNet bus power. For more information, see D-51 “Technical Specification”.
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Technical Specification 53
D.2 Network Connector, Brick Version
The Anybus CompactCom 30 DeviceNet can also be acquired
in a brick version, without a fieldbus connector, but instead a
pin connector to the carrier board (the host device). The concept and assembly are described in the Anybus CompactCom
Mounting Kit Appendix (Doc. Id. HMSI-168-30).T
Pin no.
1
2
3
4
5
6
7
8
11
12
13
14
15
16
17
18
Signal
Shield
V+
CAN_H
Shield
CAN_L
VDrain
Shield
Shield
Drain
VShield
CAN_L
CAN_H
V+
Shield
18
16
14
12
8
6
4
2
17
15
13
11
7
5
3
1
Port
Input
1
Output
Wiring requirements
•
Route CAN_H and CAN_L side by side with similar lengths. Use Shield as a reference plane for
this signal pair and for V+ and V-.
•
If the device is designed with one fieldbus connecoter e.g. a screw terminal, it is recommended
to connect CAN-H and CAN-L only to pins 3 and 5 of the brick header.
•
If the device is designed with two fieldbus connectors, e.g. M12 connectors, it is recommended
to use brick header pins 3 and 5 for one of the connectors, while pins 15 and 16 are used for the
other connector. Which one of the connectors that is used as input or output does not matter.
Route V+and V- with thic traces directly between the connectors.
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Technical Specification 54
D.3 Protective Earth (PE) Requirements
In order to ensure proper EMC behaviour, the module must be properly connected to protective earth
via the PE pad / PE mechanism described in the general Anybus CompactCom Hardware Design
Guide.
HMS Industrial Networks does not guarantee proper EMC behaviour unless these PE requirements are
fulfilled.
D.4 Power Supply
Supply Voltage
The module requires a regulated 3.3 V power source as specified in the general Anybus CompactCom
Hardware Design Guide.
Power Consumption
The Anybus CompactCom DeviceNet is designed to fulfil the requirements of a Class A module. For
more information about the power consumption classification used on the Anybus CompactCom platform, consult the general Anybus CompactCom Hardware Design Guide.
The current hardware design consumes up to 65 mA1.
Note: It is strongly advised to design the power supply in the host application based on the power consumption classifications described in the general Anybus CompactCom Hardware Design Guide, and
not on the exact power requirements of a single product.
D.5 DeviceNet Power Supply
The total number of units that can be connected to the DeviceNet bus is limited by the maximum current that the power supply can deliver to the bus. Maximum current consumption per unit is specified
in the DeviceNet specification to 750 mA. If e.g. the supply can deliver 9 A and all units consume maximum current, the maximum numbers of units allowed on the bus are 12 (12x750 mA = 9A).
The Anybus CompactCom 30 DeviceNet module accepts 11 - 25 V on the industrial network side of
the module. Maximum current consumption at 11 - 25 V is 36 - 38 mA/module.
Note: If the M12 version of the module is used, the current on the DeviceNet bus has to be limited to
a maximum of 3 A, which is the max. current allowed for the M12 connectors.
D.6 Environmental Specification
Consult the Anybus CompactCom Hardware Design Guide for further information.
D.7 EMC Compliance
1. Note that in line with HMS policy of continuous product development, we reserve the right to change the
exact power requirements of this product without prior notification. Note however that in any case, the
Anybus CompactCom DeviceNet will remain as a Class A module.
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Technical Specification 55
Consult the Anybus CompactCom Hardware Design Guide for further information.
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Appendix E
E. Timing & Performance
E.1 General Information
This chapter specifies timing and performance parameters that are verified and documented for the
Anybus CompactCom 30 DeviceNet.
The following timing aspects are measured:
Category
Startup Delay
NW_INIT Delay
Telegram Delay
Command Delay
Anybus Read Process Data Delay (Anybus Delay)
Anybus Write Process Data Delay (Anybus Delay)
Network System Read Process Data Delay (Network System Delay)
Network System Write Process Data Delay (Network System Delay)
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Parameters
T1, T2
T3
T4
T5
T6, T7, T8
T12, T13, T14
T9, T10, T11
T15, T16, T17
Page
Please consult the Anybus
CompactCom 30 Software
Design Guide, App. B.
58
58
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Timing & Performance 57
E.2 Process Data
E.2.1 Overview
Host Application
Application
software
Anybus
Host
interface
software
HMS Driver
Network Master
Network
specific
software
Network
specific
hardware
Network Media
Event
Anybus Delay
Network System Delay
E.2.2 Anybus Read Process Data Delay (Anybus Delay)
The Read Process Data Delay (labelled ‘Anybus delay’ in the figure above) is defined as the time measured from just before new data is buffered and available to the Anybus host interface software, to when
the data is available to the host application (just after the new data has been read from the driver).
Please consult the Anybus CompactCom 30 Software Design Guide, Appendix B, for more information.
E.2.3 Anybus Write Process Data Delay (Anybus Delay)
The Write Process Data Delay (labelled ‘Anybus delay’ in the figure) is defined as the time measured
from the point the data is available from the host application (just before the data is written from the
host application to the driver), to the point where the new data has been forwarded to the network buffer
by the Anybus host interface software.
Please consult the Anybus CompactCom 30 Software Design Guide, Appendix B, for more information.
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Timing & Performance 58
E.2.4 Network System Read Process Data Delay (Network System Delay)
The Network System Read Process Data Delay (labelled ‘Network System Delay in the figure), is defined
as the time measured from the point where an event is generated at the network master to when the
corresponding data is available to the host application (just after the corresponding data has been read
from the driver).
Parameter
T9
T10
T11
Description
Network System Read Process Data delay, 8 ADIs (single UINT8)
Network System Read Process Data delay, 16 ADIs (single UINT8)
Network System Read Process Data delay, 32 ADIs (single UINT8)
Avg.
8.2
9.4
10
Max.
14
16
16.2
Unit.
ms
ms
ms
Conditions:
Parameter
Application CPU
Timer system call interval
Driver call interval
No.of ADIs (single UINT8) mapped to Process Data in each direction.
Communication
Telegram types during measurement period
Bus load, no. of nodes, baud rate etc.
Conditions
1 ms
0.2... 0.3 ms
8, 16 and 32
Parallel
Process Data only
Normal
E.2.5 Network System Write Process Data Delay (Network System Delay)
The Network System Write Process Data Delay (labelled ‘Network System Delay in the figure), is defined as the time measured from the time after the new data is available from the host application (just
before the data is written to the driver) to when this data generates a corresponding event at the network
master.
Parameter
T15
T16
T17
Description
Network System Write Process Data delay, 8 ADIs (single UINT8)
Network System Write Process Data delay, 16 ADIs (single UINT8)
Network System Write Process Data delay, 32 ADIs (single UINT8)
Avg.
8.2
9.4
10
Max.
14
16
16.2
Unit.
ms
ms
ms
Conditions: as in “Network System Read Process Data Delay (Network System Delay)” on page 58.
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