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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