ABX CNTS addendum
X-gateway Interface Addendum
ControlNet Adapter
Doc: HMSI-27-257
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.
ControlNet Adapter X-Gateway Interface Addendum
Copyright© HMS Industrial Networks AB
Doc: HMSI-27-257, Rev: 2.00
May 2014
Table of Contents
Table of Contents
Preface
About This Document
How To Use This Document .............................................................................................................3-4
Important User Information ...............................................................................................................3-4
Related Documents...............................................................................................................................3-5
Document History ................................................................................................................................3-5
Conventions & Terminology...............................................................................................................3-5
Support ...................................................................................................................................................3-5
Chapter 4
Basic Operation
General Information.............................................................................................................................4-6
Support.........................................................................................................................................4-6
Features...................................................................................................................................................4-6
External View ........................................................................................................................................4-7
ControlNet Status LEDs.............................................................................................................4-7
Connectors and Switches................................................................................................................4-7
Chapter 5
Installation and Configuration
Configuration Switches ........................................................................................................................5-8
Gateway Config Interface ....................................................................................................................5-8
Chapter 6
Data Exchange
General Information.............................................................................................................................6-9
Input Data (Gateway to ControlNet) .........................................................................................6-10
Output Data (ControlNet to Gateway).......................................................................................6-10
Chapter 7
CIP Object Implementation
General Information...........................................................................................................................7-11
Identity Object, Class 01h..................................................................................................................7-12
General Information....................................................................................................................7-12
Class Attributes .........................................................................................................................7-12
Instance Attributes......................................................................................................................7-12
Device Status ..............................................................................................................................7-13
Service Details: Reset ..................................................................................................................7-13
Message Router, Class 02h.................................................................................................................7-14
General Information....................................................................................................................7-14
Class Attributes .........................................................................................................................7-14
Instance Attributes......................................................................................................................7-14
Assembly Object, Class 04h ..............................................................................................................7-14
General Information....................................................................................................................7-14
Class Attributes .........................................................................................................................7-14
Instance Attributes - Instance/Connection Point 64h ..................................................................7-14
Instance Attributes - Instance/Connection Point 96h ..................................................................7-15
Connection Manager Object, Class 06h ..........................................................................................7-16
General Information....................................................................................................................7-16
Class Attributes .........................................................................................................................7-16
Instance Attributes......................................................................................................................7-16
ControlNet Object, Class F0h...........................................................................................................7-17
General Information....................................................................................................................7-17
Class Attributes .........................................................................................................................7-18
Instance Attributes, Instance 01h................................................................................................7-18
Diagnostic Object, Class AAh...........................................................................................................7-21
General Information....................................................................................................................7-21
Class Attributes .........................................................................................................................7-21
Instance Attributes, Instance 01h................................................................................................7-21
Appendix 8
Technical Specification
ControlNet Interface Details.............................................................................................................8-22
ControlNet Connectors (BNC) ........................................................................................................8-22
Network Access Port (NAP).............................................................................................................8-22
Preface
About This Document
How To Use This Document
This document describes network specific features and procedures needed when operating the ControlNet Adapter Interface for the Anybus X-gateway. For general information and operating instructions
for the Anybus X-gateway, consult the Anybus X-gateway User Manual.
Related Documents
Document
Anybus X-gateway User Manual
Anybus-S ControlNet Fieldbus Appendix
Common Industrial Protocol (CIP) specification
ControlNet Specification
Author
HMS
HMS
ODVA
ODVA
Document History
Revision List
Revision
1.00
1.10
2.00
Date
2004-03-10
2007-11-19
May 2014
Author
PeP
PeP
SDa
Chapter
All
All
Multiple
Description
First release
Major rewrite
New hardware and Anybus Configuration Manager
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 ControlNet Adapter 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.
Support
For general contact information and support, please refer to the contact and support pages at
www.anybus.com.
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
Chapter 1
1. Basic Operation
1.1 General Information
1.1.1 Support
The ControlNet Adapter Interface for the Anybus X-gateway implements a ControlNet communications adapter (profile no. 12). The interface acts as an adapter, which means it can be accessed by a ControlNet scanner, but it will not initiate communication by itself.
The interface exchanges data through two buffers as follows:
Input Buffer
This buffer holds data forwarded
from the other network, i.e. data
which can be read by the ControlNet scanner.
•
Output Buffer
This buffer is forwarded to the
other network, i.e. data which can
be written by the ControlNet
scanner.
Input
Buffer
ControlNet
•
(from Gateway)
ControlNet Adapter
Output
Buffer
(to Gateway)
1.2 Features
•
Communications Adapter, profile 12
•
Network Access Port (NAP)
•
Media redundancy support
•
Up to 450 bytes of I/O data in each direction
•
UCMM Client / Server support
•
On-board configuration switches
•
Galvanically isolated bus electronics
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
Basic Operation 1-8
1.3 External View
Front View
Top-mounted interface
1.3.1 ControlNet Status LEDs
LED(s)
Gateway
Status
MS
Ch. A
and
Ch. B
Ch. A
or
Ch. B
MO
Colour
Indication
See the Gateway User manual for further information.
Green
Initialised
Green, Flashing
Waiting for initialisation
Red
Major unrecoverable fault
Red, Flashing
Minor recoverable fault
Off
Module not initialized
Red
Major fault
Alternating red/green Self test
Red, flashing
Node configuration error
Off
Channel disabled
Green
Normal operation
Green, flashing
Temporary error or not configured
Red, flashing
No other nodes, or media
fault
Red & green, flashing Network configuration error
Off
No connection has been
opened
Green
A connection has been
opened
MS
Ch. A
Ch. B
MO
Gateway
status(1)
Gateway
status(1)
MS
Ch. A
Ch. B
MO
USB Gateway
Config
Connector
Bottom-mounted interface
Top-mounted interface
Channel B
Channel A
NAP
MAC ID (x10)
MAC ID (x1)
1.3.2 Connectors and Switches
Network Access Port (NAP).
See “Network Access Port (NAP)” on page 22.
Gateway Power Connector
ControlNet Channel A
See “ControlNet Connectors (BNC)” on page 22.
ControlNet Channel B
See “ControlNet Connectors (BNC)” on page 22.
Configuration Switches
Bottom-mounted interface
Channel B
Channel A
NAP
MAC ID (x10)
MAC ID (x1)
See “Configuration Switches” on page 8.
Power connector
Consult the Gateway user manual for further details.
USB Gateway Config Connector
Consult the Gateway user manual for further details.
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
Chapter 3
3. Data Exchange
ControlNet Adapter Interface
3.1 General Information
Status Word
The amount of data to exchange on ControlNet is
specified through the Gateway Config Interface.
See also...
•
See “Gateway Config Interface” on page 8.
•
See “Assembly Object, Class 04h” on page 14.
X-Gateway Interface Addendum: ControlNet Adapter
Live List
I/O Data
ControlNet
The Adapter Interface exchanges up to 450 bytes I/O
Data of data in each direction. This data can be accessed by means of I/O connections towards the Assembly Object.
(from Gateway)
Control Word
I/O Data
(to Gateway)
Doc: HMSI-27-257, Rev: 2.00
Data Exchange 3-10
3.1.1 Input Data (Gateway to ControlNet)
Depending on the actual gateway configuration and how it has been set up to operate, parts of the data
produced by the ControlNet Adapter Interface may be used to represent status information (i.e. Status
Word, Live List etc.).
Status Word (2 bytes)
Live List (8 bytes)
Live List (8 bytes)
I/O Data
(24 bytes)
I/O Data
(24 bytes)
Status Word (2 bytes)
Data from
gateway (22 bytes)
Data from
gateway (14 bytes)
Example A:
I/O Data Size = 24
Live List = Enabled
Control & Status Word = Enabled
Example B:
I/O Data Size = 24
Live List = Disabled
Control & Status Word = Enabled
See also...
•
See “Assembly Object, Class 04h” on page 14.
Note: The Live List is only available on master-slave gateway versions.
3.1.2 Output Data (ControlNet to Gateway)
Depending on the actual gateway configuration and how it has been set up to operate, the first two bytes
consumed by the ControlNet Adapter Interface may be interpreted as control information (i.e. the Control Word).
Data to
gateway (22 bytes)
I/O Data
(22 bytes)
Live List (8 bytes)
Data to
gateway (22 bytes)
Explicit Msg
(6 bytes)
I/O Data
(18 bytes)
Control Word (2 bytes)
Example A:
I/O Data Size = 24
Control Word = Enabled
Example B:
I/O Data Size = 22
Control Word = Disabled
See also...
•
See “Assembly Object, Class 04h” on page 14.
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
Chapter 2
2. Installation and Configuration
Configuration Switches
On a FIP network, each node must be assigned its own unique node address. The slave interface features
onboard switches for node address configuration, providing an address range of 1 - 99. The switches are
read once during startup, i.e. the gateway must be restarted for any changes to have effect.
Example:
In this example, the FIP node address will be 42 (4 x 10)+(2 x 1).
x10
x1
Note: Depending on if the Slave interface is top or bottom-mounted, the orientation of the switches
will be different.
2.1.
X-Gateway Interface Addendum: CC-Link Slave
Doc: HMSI-27-244, , Rev: 2.00
Installation and Configuration 12
2.2. Gateway Config Interface
The X-Gateway and the ControlNet 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.
X-Gateway Interface Addendum: CC-Link Slave
Doc: HMSI-27-244, , Rev: 2.00
Chapter 4
4. CIP Object Implementation
4.1 General Information
The ControlNet Adapter Interface implements the following standard objects:
•
Identity Object, Class 01h
•
Message Router, Class 02h
•
Assembly Object, Class 04h
•
Connection Manager Object, Class 06h
•
ControlNet Object, Class F0h
In addition, the following vendor specific objects are implemented:
•
Diagnostic Object, Class AAh
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-14
4.2 Identity Object, Class 01h
4.2.1 General Information
Object Description
Implemented Services
Class services:
Get Attribute All
Instance services:
Get Attribute All
Reset (see 7-13 “Service Details: Reset”)
4.2.2 Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max Instance
Type
UINT
UINT
Value
0001h
0001h
Type
UINT
UINT
UINT
Struct of:
USINT,
USINT
WORD
UDINT
SHORT_STRING
Value
005Ah (HMS Industrial Networks AB)
000Ch (Communications Adapter)
000Eh (Anybus-S ControlNet)
4.2.3 Instance Attributes
#
1
2
3
4
5
6
7
Access
Get
Get
Get
Get
Get
Get
Get
Name
Vendor ID
Device Type
Product Code
Revision
Status
Serial Number
Product Name
X-Gateway Interface Addendum: ControlNet Adapter
(Major fieldbus version)
(Minor fieldbus version)
(see 7-13 “Device Status”)
(assigned at manufacturing)
‘Anybus-S CNT’
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-15
4.2.4 Device Status
bit(s)
0
1
2
3
4... 7
8
9
10
11
12... 15
Name
Module Owned (A master/scanner has allocated the Adapter Interface)
(reserved)
Configured (always set to zero)
(reserved)
Extended Device Status:
Value: Meaning:
0000b Power-up/Self-test
0010b Faulted I/O Connection
0011b Awaiting Connection
0100b Non-volatile configuration bad
0110b Connection in Run mode
0111b Connection in Idle mode
Set for minor recoverable faults
Set for minor unrecoverable faults
Set for major recoverable faults
Set for major unrecoverable faults
(reserved)
4.2.5 Service Details: Reset
There are two types of network reset requests on ControlNet:
•
Type 0: ‘Power Cycling Reset’
This causes the Adapter Interface to restart its internal ControlNet software layer. The overall
operation of the gateway remains unaffected, i.e. the gateway will neither reset itself nor the other
network interface.
•
Type 1: ‘Out of box reset’
This causes the Adapter Interface to revert to an ‘out of box’ configuration and restart its internal
ControlNet software layer. The overall operation of the gateway remains unaffected, i.e. the gateway will neither reset itself nor the other network interface.
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-16
4.3 Message Router, Class 02h
4.3.1 General Information
Object Description
Implemented Services
Class services:
-
Instance services:
-
4.3.2 Class Attributes
(no class attributes)
4.3.3 Instance Attributes
(no instance attributes)
4.4 Assembly Object, Class 04h
4.4.1 General Information
Object Description
This object provides to the I/O Data in the Input- and Output Buffers.
Implemented Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
4.4.2 Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Contents
0002h
4.4.3 Instance Attributes - Instance/Connection Point 64h
This instance is used to access Input I/O Data.
#
3
Access
Get
Name
Data
X-Gateway Interface Addendum: ControlNet Adapter
Type
Array of USINT
Contents
Input I/O Data
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-17
4.4.4 Instance Attributes - Instance/Connection Point 96h
This instance is used to access Output I/O Data.
#
3
Access
Set
Name
Data
X-Gateway Interface Addendum: ControlNet Adapter
Type
Array of USINT
Description
Output I/O Data
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-18
4.5 Connection Manager Object, Class 06h
4.5.1 General Information
Object Description
Implemented Services
Class services:
Forward Open
Forward Close
Instance services:
-
4.5.2 Class Attributes
(no class attributes)
4.5.3 Instance Attributes
(no instance attributes)
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-19
4.6 ControlNet Object, Class F0h
4.6.1 General Information
Object Description
Implemented Services
Class services:
Get Attribute All
Instance services:
Get Attribute All
Get And Clear
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-20
4.6.2 Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max Instance
Type
UINT
UDINT
Contents
0001h
00000001h
4.6.3 Instance Attributes, Instance 01h
#
Access
81h Get
Name
Current_link_config
Link_config
NUT_length
smax
umax
slotTime
blanking
gb_start
gb_center
reserved
modulus
gb_prestart
TUI
unique_ID
status_flag
reserved
X-Gateway Interface Addendum: ControlNet Adapter
Type
Struct of:
Struct of:
UINT
USINT
USINT
USINT
USINT
USINT
USINT
UINT
USINT
USINT
Struct of:
UDINT
UINT
USINT[16]
Contents
NUT length in 10 us ticks
0 to 99
1 to 99
In 1 us ticks
In 1.6 us ticks
In 10 us ticks
In 10 us ticks
Reserved
127 (required)
In 10 us ticks
Keeper CRC
TUI flag
Reserved
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-21
#
Access
82h Get,
Get and
Clear
Name
diagnostic_counters
buffer_errors
error_log
event_counters
good_frames_transmitted
Type
Struct of:
UINT
BYTE[8]
Struct of:
BYTE[3]
good_frames_received
BYTE[3]
selected_channel_frame_errors
USINT
channel_A_frame_errors
channel_B_frame_errors
aborted_frames_transmitted
USINT
USINT
USINT
highwaters
USINT
NUT_overloads
USINT
slot_overloads
USINT
blockages
USINT
non_concurrence
USINT
aborted_frames_received
lonely_counter
USINT
USINT
duplicate_node
USINT
noise_hits
collisions
Mod_MAC_ID
non_lowman_mods
USINT
USINT
USINT
USINT
rouge_count
unheard_moderator
USINT
USINT
vendor_specific
reserved
vendor_specific
vendor_specific
reserved
USINT
BYTE[4]
USINT
USINT
BYTE
X-Gateway Interface Addendum: ControlNet Adapter
Description
Buffer event counter
Bad MAC frame log
Good MAC frames transmitted
(LSB first)
Good MAC frames received
(LSB first)
Framing errors detected on active receive
channel
Framing errors detected on channel A
Framing errors detected on channel B
MAC frames aborted during transmission
(transmit underflows)
LLC transmit underflow and LLC receive overflow
No unscheduled time in NUT (All time used for
scheduled transmissions)
More scheduled data queued for one NUT
than allowed by sched_max_frame parameter
Single Lpacket size exceeds
sched_max_frame parameter
Two or more nodes could not agree whose
turn it is to transmit
Incomplete MAC frames received
Number of times nothing heard on network for
8 or more NUTs
MAC frame received from node with local
node’s MAC ID
Noise detected that locked the modem rx PLL
Rx data heard just as we are going to transmit
MAC D of the current moderator node
Moderator frames heard from non-lowman
nodes
Rouge events detected
MAC frames being heard but no moderators
being heard
Reserved
Not used (00h)
Not used (00h)
Reserved
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-22
#
Access
83h Get
84h Get
86h Get
Name
station_status
smac_ver
vendor_specific
channel_state
Type
Struct of:
USINT
BYTE[4]
BYTE
MAC_ID
MAC_ID_current
MAC_ID_switches
MAC_ID_changed
reserved
error_log
buffer_errors
error_log
Struct of:
USINT
USINT
BOOL
USINT
Struct of:
UINT
BYTE[8]
X-Gateway Interface Addendum: ControlNet Adapter
Description
MAC implementation (02h)
Vendor specific (00 18 00 00h)
Channel state LEDs, redundancy warning, and
active channel bits
Current MAC ID
MAC ID switch settings
MAC ID switches changed since reset
Reserved
Buffer event counter
Bad MAC frame log
Doc: HMSI-27-257, Rev: 2.00
CIP Object Implementation 4-23
4.7 Diagnostic Object, Class AAh
4.7.1 General Information
Object Description
This vendor specific object provides access to misc. diagnostic information.
Implemented Services
Class services:
Get Attribute All
Instance services:
Get Attribute All
Get Attribute Single
4.7.2 Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Contents
0001h
4.7.3 Instance Attributes, Instance 01h
#
01h
04h
11h
14h
Access
Get
Get
Get
Get
Name
Module serial number
Module Software version
Input Total Size
Output Total Size
X-Gateway Interface Addendum: ControlNet Adapter
Type
UDINT
UINT
UINT
UINT
Contents
(unique serial number assigned during manufacturing)
(fieldbus software revision)
(total size of Input Buffer)
(total size of Output Buffer)
Doc: HMSI-27-257, Rev: 2.00
Appendix 5
5. Technical Specification
5.1 ControlNet Interface Details
•
Redundant Operation
If redundant operation is needed, both ControlNet channels should be used
•
Cable
RG-6 quad shield cable
•
Topology
Bus, star or tree topologies possible
•
Galvanically isolated bus electronics1
•
On board Mac ID switches
•
Data Rate
5Mbit/s (Standard)
5.2 ControlNet Connectors (BNC)
ControlNet connectivity is provided through two BNC coaxial connectors.
#
Tip
Signal
ControlNet
Ring
Tip
Ring Shield
5.3 Network Access Port (NAP)
#
1
2
3
4
5
6
7
8
Signal
GND
Tx_H
Tx_L
Rx_L
Rx_H
Shield
Description
Signal Ground
(not connected)
Transmit Data, positive
Transmit Data, negative
Receive Data, negative
Receive Data, positive
(not connected)
Connected to PE
1
8
1. ControlNet Channels A and B are galvanically isolated. The NAP connector is not.
X-Gateway Interface Addendum: ControlNet Adapter
Doc: HMSI-27-257, Rev: 2.00
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