ABB Pluto Ethernet Gateway Instructions

Original instructions

PLUTO Ethernet Gateway

User Manual

GATE-EIP EtherNet/IP™

GATE-EC EtherCAT

®

GATE-PN PROFINET

®

English v3C 2TLC172285M0203_C

Reference:

[REF x] Text

REF 1 Pluto Operating instructions, Hardware

Pluto Programming manual

Pluto Gateway Manual

Trademark Notices:

EtherNet/IP is a registered trademark by ODVA.

For more information see www.odva.com

.

2TLC172001Mxxyy_z

2TLC172002Mxxyy_z

2TLC172009Mxxyy_z

EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

For more information see www.ethercat.org

.

Sercos is a registered trademark by Sercos International and Sercos North America.

For more information see www.sercos.com

.

PROFINET is a trademark by PROFIBUS and PROFINET International (PI)

For more information see www.profibus.com

.

Modbus TCP is according to the Modbus Organization.

For more information see www.modbus.org

.

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2TLC172285M0203_C

Table of contents:

1

2

3

3.1

3.2

3.3

3.4

4

4.1

4.1.1

4.1.2

4.2

4.3

5

5.1

5.1.1

5.1.1.1

Version information ..................................................................................................... 8

Cyber security disclaimer ............................................................................................ 9

Cyber security deployment guideline......................................................................... 10

Network installation ................................................................................................... 10

Limit network connections ......................................................................................... 10

Pluto remote handling ............................................................................................... 12

PC port usage (only local access) ............................................................................. 12

General ..................................................................................................................... 13

Installation................................................................................................................. 13

Mounting ................................................................................................................... 13

Electrical installation ................................................................................................. 14

Maintenance and service .......................................................................................... 15

GATE-E2 replacement .............................................................................................. 15

Hardware .................................................................................................................. 16

Connection, indication and switches ......................................................................... 16

Top side .................................................................................................................... 16

ABB StatusBus terminal ............................................................................................ 17

6.3.1

6.3.2

6.3.3

6.4

6.5

6.5.1

6.5.2

6.5.3

6.1.2

6.1.3

6.1.4

6.1.4.1

6.1.4.2

6.1.4.3

6.2

6.3

5.1.1.2

5.1.1.3

5.1.2

5.1.2.1

Pluto bus terminal ..................................................................................................... 17

Configuration switch .................................................................................................. 18

Front panel................................................................................................................ 18

“K” button .................................................................................................................. 18

5.1.2.2

5.1.2.3

PC port ..................................................................................................................... 18

Indicators (LED) ........................................................................................................ 19

5.1.2.3.1

Gateway status ......................................................................................................... 19

5.1.2.3.2

Ethernet protocol status ............................................................................................ 20

5.1.2.3.3

Ethernet link status ................................................................................................... 20

5.1.3

Bottom side ............................................................................................................... 20

5.1.3.1

5.1.3.2

Ethernet port 1 .......................................................................................................... 21

Ethernet port 2 .......................................................................................................... 21

5.1.3.3

6

6.1

6.1.1

Power terminal .......................................................................................................... 21

Common configuration .............................................................................................. 22

Pluto bus ................................................................................................................... 22

Connection................................................................................................................ 22

Baud rate detection ................................................................................................... 22

Status indication........................................................................................................ 22

Gateway node number .............................................................................................. 22

Set by PLC................................................................................................................ 22

Set by DIP switch ...................................................................................................... 23

Set by terminal command ......................................................................................... 23

IP address assignment.............................................................................................. 23

Network services....................................................................................................... 24

ICMP Ping command ................................................................................................ 24

Industry Ethernet Protocol ......................................................................................... 24

Remote server .......................................................................................................... 24

Verification of configuration ....................................................................................... 25

Terminal commands ................................................................................................. 26 bg – gateway network status ..................................................................................... 26 bs – Pluto bus status ................................................................................................. 26

bc – gateway configuration status ............................................................................ 27

6.5.4

6.5.5

6.5.6

6.5.7

6.5.8

6.5.9

bw – industry Ethernet protocol status ...................................................................... 28 v – version information .............................................................................................. 28

h – help ..................................................................................................................... 29

exit – exit .................................................................................................................. 30

View Pluto data ......................................................................................................... 30

View gateway data .................................................................................................... 30

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2TLC172285M0203_C

6.8

6.8.1

6.8.2

7

7.1

7.2

7.3

7.3.1

7.3.2

7.4

7.5

8

6.5.10

6.6

6.6.1

6.6.2

6.6.3

6.6.4

6.6.5

6.6.6

6.6.7

6.6.8

6.6.9

6.6.10

6.6.11

6.6.12

6.6.13

6.7

8.1

8.2

8.3

8.3.1

8.4.5

8.4.6

8.5

8.5.1

8.5.2

8.5.3

9

9.1

8.3.2

8.3.3

8.3.4

8.4

8.4.1

8.4.2

8.4.3

8.4.4

9.2

9.3

9.4

9.5

9.5.1

9.5.2

9.5.3

10

10.1

pl/pkl – Download Pluto project ................................................................................. 31

Terminal commands (only PC port) ........................................................................... 31 time – get run time .................................................................................................... 31 cn – change gateway node number .......................................................................... 31 addc – clear additional data configuration ................................................................. 31

adds – configure additional data ............................................................................... 32 ctp – configure “Data to Pluto”................................................................................... 32

ipaddr – change IP address ...................................................................................... 33 remote – enable/disable remote operation of Pluto system ....................................... 33

name – change the device station name (GATE-PN) ................................................ 34 reset – restart the unit ............................................................................................... 34 sys – firmware update of the unit .............................................................................. 34

def – restore factory settings ..................................................................................... 35 dout – disconnect remote clients ............................................................................... 35 test – test command .................................................................................................. 35

Silent commands ...................................................................................................... 35

Firmware update ....................................................................................................... 36

Firmware update via PC port using Pluto Manager ................................................... 36

Firmware update via PC port..................................................................................... 38

GATE-EIP, EtherNet/IP ............................................................................................. 40

Ethernet Connection ................................................................................................. 40

IP address configuration ........................................................................................... 40


Module Status ........................................................................................................... 41

Network Status ......................................................................................................... 41

Service port information ............................................................................................ 42

Rockwell integration .................................................................................................. 43

GATE-EC, EtherCAT ................................................................................................ 48




Link/Activity ............................................................................................................... 48

RUN Status ............................................................................................................... 49

Error Status ............................................................................................................... 49

LED handling ............................................................................................................ 50

ABB AC500 integration ............................................................................................. 51

Device repository and XML file .................................................................................. 51

Hardware .................................................................................................................. 52

CM_579 Master ........................................................................................................ 52

Gate_EC_Pluto_Gateway ......................................................................................... 53

Startup parameters ................................................................................................... 54

I/O mapping list ......................................................................................................... 56

Beckhoff TwinCAT integration ................................................................................... 57

Add device description file ........................................................................................ 57

Scan system for the device ....................................................................................... 57

Firmware update ....................................................................................................... 57

GATE-S3, Sercos III ................................................................................................. 60





Bosch-Rexroth IndraWorks integration ...................................................................... 62

Add device description file ........................................................................................ 62

Scan system for the device ....................................................................................... 63

Gateway configuration .............................................................................................. 64

GATE-PN, PROFINET .............................................................................................. 65

Description file .......................................................................................................... 65

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10.2

10.3

10.4

10.5

10.5.1

10.5.2

10.6

10.7

10.7.1

10.7.2

10.7.2.1

10.7.2.2

10.7.2.3

10.7.3

10.7.4

10.8

Data format ............................................................................................................... 65




SF (System Failure) .................................................................................................. 67

BF (Bus Failure) ........................................................................................................ 67


ABB AC500 implementation ...................................................................................... 68

Device repository and XML file .................................................................................. 68

Hardware .................................................................................................................. 69

Adding objects .......................................................................................................... 69

Configuring objects ................................................................................................... 70

Configuring Gate-PN ................................................................................................. 70

PROFINET name ...................................................................................................... 71

Assigning variable names ......................................................................................... 72

Siemens integration .................................................................................................. 73

10.8.1

10.8.2

10.8.2.1

10.8.2.2

Install GSD XML file .................................................................................................. 73

Add the device to the PROFINET network ................................................................ 74

PROFINET name and IP address ............................................................................. 74

IO Cycle .................................................................................................................... 75

10.8.2.3

10.8.2.4

Module parameters of the Head module ................................................................... 75

Device view ............................................................................................................... 76

10.8.2.4.1

Adding modules under the Head module .................................................................. 76

10.8.2.4.2

Module parameters of modules under the Head module ........................................... 77

10.8.2.4.3

Addressing of in- and out-data .................................................................................. 78

10.8.2.5

Tag list ...................................................................................................................... 79

10.8.2.5.1

Example of Pluto A20 family mapping ....................................................................... 80

11 GATE-MT, Modbus TCP ........................................................................................... 81

11.1

11.2

11.3

11.3.1




RUN .......................................................................................................................... 82

11.3.2

11.4

11.5

11.6

ERR .......................................................................................................................... 82


Integration and configuration ..................................................................................... 82

ABB AC500 integration ............................................................................................. 83

11.6.1

11.6.2

Hardware configuration ............................................................................................. 83

CoDeSys implementation .......................................................................................... 84

11.6.2.1

Structured Flow Chart Implementation ...................................................................... 84

11.6.2.1.1

Variables ................................................................................................................... 84

11.6.2.1.2

Structured Flow chart steps ...................................................................................... 86

11.6.2.1.3

Init step ..................................................................................................................... 87

11.6.2.1.4

Configuration step, Write ........................................................................................... 87

11.6.2.1.5

Pluto units online, Read ............................................................................................ 87

11.6.2.1.6

Global Data, Read .................................................................................................... 88

11.6.2.1.7

Additional Data, Read ............................................................................................... 88

11.6.2.1.8

Packets to Pluto, Write .............................................................................................. 88

11.6.2.2

Task configuration ..................................................................................................... 89

12

12.1

12.2

12.3

12.3.1

12.3.1.1

12.3.1.2

12.3.2

12.3.2.1

Data to/from Pluto ..................................................................................................... 90

Pluto Status .............................................................................................................. 90

Global Data from Pluto .............................................................................................. 90

Additional Data from Pluto ........................................................................................ 91

Layout of additional data ........................................................................................... 91

User defined blocks .................................................................................................. 91

Standard blocks ........................................................................................................ 92

Programming in Pluto PLC ........................................................................................ 95

Function block library ................................................................................................ 95

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2TLC172285M0203_C

14

14.1

14.2

14.3

14.4

14.5

14.6

14.7

15

15.1

15.2

15.3

12.3.2.2

12.3.2.3

12.4

12.4.1

12.4.2

12.4.3

12.5

12.5.1

12.5.2

12.5.3

12.5.3.1

12.5.3.2

12.5.3.3

13

13.1

13.2

15.4

15.5

15.6

15.7

15.8

16

16.1

16.1.1

16.1.1.1

16.1.1.2

16.1.1.3

16.1.1.4

16.1.1.5

16.1.1.6

16.1.1.7

16.1.1.8

16.1.1.9

16.1.2

16.1.2.1

16.1.2.2

16.1.2.3

16.1.2.4

16.2

16.2.1

16.2.2

16.2.3

16.2.4

16.2.5

16.2.6

Use of the function blocks ......................................................................................... 95

Example of usage in Pluto program .......................................................................... 96

Data to Pluto ............................................................................................................. 98

Enable bit .................................................................................................................. 98

Cyclic transmission time ............................................................................................ 98

Timeout time ............................................................................................................. 98

In PLUTO - Reception of external data from gateway ............................................... 98

Set up in PLUTO for reception .................................................................................. 98

Addressing of external data in Pluto .......................................................................... 99

Connection of external variables in PLC code ......................................................... 100

Function block ”Ext_Sig” ......................................................................................... 100

Function block ”Ext_Val” ......................................................................................... 100

Function block ”ExtVarBlock” .................................................................................. 100

Technical data ........................................................................................................ 102

Protocol specific data .............................................................................................. 102

Common data ......................................................................................................... 103

Appendix A, gateway registers. ............................................................................... 104

Gateway registers 0 - … ......................................................................................... 104

Gateway registers 100 - … ..................................................................................... 105

Gateway register 200 - … ....................................................................................... 106





Appendix B, object description EtherNet/IP ............................................................. 110

Definitions ............................................................................................................... 110

Identity Object (01

HEX -

1 Instance) ........................................................................... 111

Message Router Object (02

HEX

) .............................................................................. 111

Assembly Object (04

HEX

– 5 Instances) ................................................................... 112

Connection Manager Object (06

HEX

) ........................................................................ 114

TCP Object (F5

HEX -

1 Instance) ............................................................................... 115

Ethernet Link Object (F6

HEX -

1 Instance) ................................................................. 116

Application Object (64

HEX -

32 Instances) ................................................................. 117

Appendix C, object description EtherCAT ............................................................... 120

PDO mapping ......................................................................................................... 120

Input mapping ......................................................................................................... 120

Pluto status (0x1A00) .............................................................................................. 120

Pluto global 0 – 7 (0x1A01) ..................................................................................... 120

Pluto global 8 – 15 (0x1A02) ................................................................................... 120

Pluto global 16 – 23 (0x1A03) ................................................................................. 120

Pluto global 24 – 31 (0x1A04) ................................................................................. 121

Additional data 0 – 7 (0x1A05) ................................................................................ 121

Additional data 8 – 15 (0x1A06) .............................................................................. 121

Additional data 16 – 23 (0x1A07) ............................................................................ 122

Additional data 24 – 31 (0x1A08) ............................................................................ 122

Output mapping ...................................................................................................... 122

Data to Pluto packet 1 (0x1600) .............................................................................. 122




SDO mapping ......................................................................................................... 123

Pluto global data (0x2100) ...................................................................................... 123

Additional data (0x2101) ......................................................................................... 124

Pluto status (0x2120) .............................................................................................. 125

Data to Pluto (0x220y) ............................................................................................ 125

Configuration of additional data (0x23zz) ................................................................ 125

Configuration of Data to Pluto (0x2320) .................................................................. 125

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2TLC172285M0203_C

19.3

19.4

19.5

19.6

19.7

19.8

16.2.7

17

17.1

17.2

18

19

19.1

19.2

Configuration gateway node number (0x2321) ........................................................ 125

Appendix D, object description Sercos III ................................................................ 126

Standard Sercos IDN supported by the gateway ..................................................... 126

IDN for gateway configuration ................................................................................. 129

Appendix E, object description PROFINET ............................................................. 132

Appendix F, object description Modbus TCP ........................................................... 149

Port number ............................................................................................................ 149

Unit Identifier ........................................................................................................... 149

Access functions ..................................................................................................... 149

Data format ............................................................................................................. 149

Data to Pluto ........................................................................................................... 150

Gateway Configuration............................................................................................ 150

Data to/from Pluto ................................................................................................... 152

Data from Pluto ....................................................................................................... 153

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2TLC172285M0203_C

1 Version information

This document is valid for:

2.3

Firmware version

- GATE-EIP :

- GATE-EC :

- GATE-S3 :

- GATE-PN :

- GATE-MT :

2.15

1.3

1.3

1.2

Currently not supported.

Updates in 2TLC172285M0203_C:

- Removed FTP, TFTP and web servers.

- Removed login on telnet server and renamed the server to remote server.

- Updated cyber security deployment guideline (3).

- Updated the terminal command information (6.5).

- Updated firmware update handling (6.8).

- Added PLC download via gateway using Pluto Manager (6.5.10).

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2TLC172285M0203_C

2 Cyber security disclaimer

This gateway product is designed to be connected and to communicate information and data via a network interface, which should be connected to a secure network. It is your sole responsibility to provide and continuously ensure a secure connection between the product and your network or any other network (as the case may be) and to establish and maintain appropriate measures (such as but not limited to the installation of firewalls, application of authentication measures, encryption of data, installation of antivirus programs, etc.) to protect the product, the network, its system and interfaces against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB Ltd and its affiliates are not liable for damages and/or losses related to such security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information.

Although ABB provides functionality testing on the products and updates that we release, you should institute your own testing program for any product updates or other major system updates

(to include but not limited to code changes, configuration file changes, third party software updates or patches, hardware change out, etc.) to ensure that the security measures that you have implemented have not been compromised and system functionality in your environment is as expected.

For more information/contact regarding ABB cyber security see: http://www.abb.com/cybersecurity

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2TLC172285M0203_C

3 Cyber security deployment guideline

3.1 Network installation

This device shall be connected only to private/restricted network (see Figure 1).

Figure 1 - Network installation

This private/restricted network can be connected for access via Internet or other network when using “external equipment” which can be separated devices or devices that combine firewall,

router and secure VPN functionality. The cyber security standard of these external equipment is customer depending.

This “Cyber security deployment” guideline cannot suggest concrete products for “external equipment” to make a secure system setup. This must be decided along the specific project, requirements and existing infrastructure.

3.2 Limit network connections

When commission a network system it’s important to address the cyber security problems by making a cyber security assessment of the system. Example of methods to reduce security vulnerabilities are:

Limit the connections with routers/firewall and similar products.

- Network access control.

Add some control/limitations on the network by routers/firewall and similar products.

If needed add products which can monitor the network access and traffic.

From a cyber security point and the protecting of the industry factory system it’s good to separate the remote connection gateway from the factory control connected gateways as

noted in Figure 2, Network separation.

- It’s highly recommended to contact any cyber security personal/consulting for making a good cyber security assessment of the system.

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2TLC172285M0203_C

Figure 2, Network separation.

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2TLC172285M0203_C

3.3 Pluto remote handling

The gateway product has together with Pluto Manager the possibility to make remote monitor and control of Pluto safety PLC system. By default this service is disabled in the gateway, but it can be

enabled with the “remote” command (see 6.6.12) via the PC port (see 5.1.2.2) on the device.

The Pluto remote monitor and control is handled by the remote server (see 6.3.3) with its cyber security limitations (see 6.3.3). The connection to the remote server don’t have any

authentication and the traffic is not encrypted.

For Pluto control (Pluto PLC download and configuration) a limited access control is implemented by using the device “K” button. When the device get a commands related to any Pluto control command it will request authentication by an operator at site who shall pressing the “K” button on the device. This will give some protection against unintentional re-configuration of the Pluto system.

All commands related to configuration of the gateway itself is not supported via the remote server, e.g. only supported via the PC port.

When enable Pluto remote monitor and control handling the device shall be installed according to

chapter 3.1.

The Pluto remote monitor and control behavior is depending on good network conductivity on both the Pluto bus network and the Ethernet network.

3.4 PC port usage (only local access)

The PC port (see 5.1.2.2) shall only be used for local terminal access to the

device and are not designed for any external access handling.

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2TLC172285M0203_C

4 General

The Ethernet gateways are a series of gateways for different industry Ethernet protocols. Each model is dedicated to specific industry Ethernet protocol. The following list gives a summary of the existing industry Ethernet gateways:

- GATE-EIP (2TLA020071R9000) for EtherNet/IP.

- GATE-EC (2TLA020071R9100) EtherCAT.

- GATE-S3 (2TLA020071R9200) for Sercos III.

- GATE-PN (2TLA020071R9300) PROFINET.

- GATE-MT (2TLA020071R9400)

In addition to the industry Ethernet protocol each device also has support remote server (telnet).

The Pluto Safety PLC system and the gateways GATE-P1/P2, -D1/D2, -C1/C2 and -E1/E2 are

described in the manual [REF 1].

Figure 3 – Pluto system with gateway

4.1 Installation

The device shall be installed according to the information within this manual.

4.1.1

Mounting

The device shall be mounted on a 35 mm DIN rail.

For ventilation requirement the device shall be mounted vertical with minimum 20 mm free space

on top/bottom side, see Figure 4.

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2TLC172285M0203_C

20 mm

20 mm

Figure 4 - Installation

The device shall be installed indoors and its enclosure is IP20. The device shall therefore be

installed in cabinet for proper environmental protection, see technical data chapter 13.2.

4.1.2

Electrical installation

The device is designed for applications which fulfil IEC-EN 60204-1.

The device is powered by 24 VDC (4.8 W/0.2 A) and it has internal fuse (2 A) protection. External fuse (type C characteristic) shall be used to protect the electrical wiring (according to UL 2550 VW-

1 or equivalent) to the device and the value of the fuse is depending on the installation (example 6

A type C characteristic using minimum 0.75 mm 2

wiring), see Figure 5.

Enclosure and terminals are able to reach temperatures above 60 °C in ambient temperatures of up to 55 °C. The electrical wiring (cables) shall therefore meet the specification of minimum 65 °C.

Boîtier et bornes sont capables d'atteindre des températures supérieures à

60 °C à des températures ambiantes jusqu'à 55 °C. Le câblage électrique

(câbles) doit donc répondre à la spécification minimale de 65 °C.

24 VDC

DIN rail grounding

0V +V

Fuse (example 6 A)

Figure 5 - 24 VDC installation

14

2TLC172285M0203_C

The device shall be installed in a system (the complete system) using a common ground system e.g. proper potential equalization is necessary.

When mounted on the DIN rail the device ground (0V) is connected via a capacitor to the DIN rail.

Therefore the DIN rail shall be connected to the system ground, see Figure 5.

The user can install a disconnecting device if needed on the power line; or use an external fuse which is approved to be used as disconnecting device. The device also has detachable terminal blocks which can be used as a disconnection device.

4.2 Maintenance and service

The device has no requirements regarding maintenance or service.

4.3 GATE-E2 replacement

The GATE-EIP, GATE-PN and GATE-MT are functional replacements for GATE-E2 within the different industry Ethernet protocols with the following notes,

- Power terminal plug is changed, see 5.1.1.2.

- Pluto bus terminal plug is changed, see 5.1.1.2.

- There is no support for GATE-E2 local data request/response service object/function.

- There is no support for GATE-E2 pass through service object/function.

- There is no support for GATE-E2 binary server.

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2TLC172285M0203_C

5 Hardware

The Ethernet gateway is housed in a 22.5 mm enclosure with 35 mm DIN rail mounting.

Top side

Front panel DIN rail mounting/connection

Bottom side

Figure 6 - Gateway side description

5.1 Connection, indication and switches

The gateway has connections, indications and switches on four sides (see Figure 6).

-

Two connections and one configuration switch on the top side see 5.1.1.

-

One connection and several indicators on the front panel, see 5.1.2.

- Three connections on the bottom side see 5.1.3.

- One connection to DIN rail, see 4.1.

5.1.1

Top side

The following connectors are positioned on the gateways top side (in order from front to back), see

Figure 7 and Figure 8:

- ABB StatusBus terminal.

- Pluto bus terminal.

- Switch setting (behind cover).

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2TLC172285M0203_C

Figure 7 - Terminals on the top side, with cover over the switch.

Figure 8 - Terminals on the top side, with cover removed and switch accessible.

5.1.1.1 ABB StatusBus terminal

This terminal is currently not used.

It has the following connections.

PIN

1

2

3

Label Description

SB4 -

SB3 -

SB2 -

4 SB1 -

Table 1, ABB statusbus terminal connections.

The terminal connector is of type Phoenix MSTBT 2,5/4-ST BK BD:1-4 (Phoenix 1944259).

5.1.1.2 Pluto bus terminal

Connection to Pluto bus (CAN bus) which has a functional electrical insulation and has the connection according to the following table.

PIN

1

Label Description

CS Pluto bus, CAN shield.

2 CH Pluto bus, CAN high.

3

4

CL

CS

Pluto bus, CAN low.

Pluto bus, CAN shield.

Table 2, Pluto bus terminal connections.


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2TLC172285M0203_C

5.1.1.3 Configuration switch

Behind a cover is a small DIP switch for configuration of gateway node number. (Switch pos. 1 and

2 currently not used).

Figure 9 - DIP-switch, switch numbering.

The gateway node number is set according to the table below.

Switch pos. 3

Up

Switch pos. 4 Function

Up Gateway node number 0.

Up Down Gateway node number 1.

Down

Down

Up

Down

Gateway node number 2.


Table 3, DIP-switch – gateway node address setting.

For more information see chapter 6.1.4.2.

5.1.2

Front panel

The status indicators (LED) are located on the front panel. They are grouped in four groups for an easy overview. On the front panel there is also a pushbutton name “K” button, and a PC port connector.

5.1.2.1 “K” button

The “K” button is used for confirmation of commands which need confirmation by a person whom is at the physical site where the gateway and the Pluto system is situated.

5.1.2.2 PC port

On the front there is a four pin PC port connector where the ABB serial cable or ABB USB cable can be connected for configuration and/or troubleshooting of the gateway/Pluto system.

For connection between the gateway and a PC, one of the ABB cables and the terminal tool in

ABB Pluto Manager software can be used. It’s also possible to use any other terminal software and, if so, the following serial configuration shall be used:

- Parity

57.6 kbit/s

8

1 none

The PC port shall only be used for local terminal access to the device and are not secured for any external access handling.

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5.1.2.3 Indicators (LED)

Left side: Gateway status

Right side: (StatusBus status)

Today no function defined

Industry Ethernet protocol status

Ethernet link status

Figure 10 – Front panel indicators.

5.1.2.3.1 Gateway status

The gateway status has four indicators, of which only three has defined functions:

- The yellow “Diag” indicator will light shortly at start up but shall during normal operation not lightning. If this indicator has a steady light it is an error indication and the device shall be replaced.

- The green “Power” indicator will light when the software is running in normal non-error state.

- The green “Pluto Bus” indicator will indicate the status of the Pluto bus. For more

information see chapter 6.1.3.

LED

OFF

GREEN

Steady

Diag

OFF

Power EtherNet/IP

Unit off

Running

Remark

YELLOW/RED

Toggling

Second bootloader

Diag/Power is toggling 1 Hz.

Firmware is corrupted, device replacement needed!

Device faulty Device replacement needed!

else

Table 4, Pluto Bus indicator behavior.

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5.1.2.3.2 Ethernet protocol status

The Ethernet protocol status indicators are two combined red/green indicators giving the possibility for two status indications. Each Ethernet protocol has its own defined behavior on these indicators and the behavior is defined in the chapter for each protocol.

- EtherNet/IP, see chapter 7.3.

- Sercos

chapter

- PROFINET, see chapter 10.5.

- Modbus TCP, see chapter 11.3.

5.1.2.3.3 Ethernet link status

The Ethernet link status is two combined yellow/green indicators giving the status for each

Ethernet port (see connectors on bottom side chapter 0 and 5.1.3.2). Each color has the following

status information related the Ethernet port.

Yellow indicator

Flashing light indicates Ethernet traffic on the port.

E.g. no flashing indicates no Ethernet traffic on the port.

Green indicator

Steady light indicates Ethernet connection.

E.g. no light indicates no Ethernet connection.

Table 5, Ethernet link status indicator behavior.

For the green indicator the “Ethernet connection” only means there is a cable connection between the gateway and the other Ethernet device (Ethernet switch, other device or PC). It is not an indication of data traffic; this is indicated by the Ethernet protocol status indicators.

For EtherCAT there is a different coding of the link status, see chapter 8.3.1.

5.1.3

Bottom side

The following connectors are positioned on the gateways bottom side (in order from front to back):

- Ethernet port 1

- Ethernet port 2

(EtherCAT this is the IN port)

(EtherCAT this is the OUT port)

Figure 11 – Bottom side terminal connections.

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5.1.3.1 Ethernet port 1

This is the first Ethernet port on the gateway and it shall be the main port to connect to the network. For “daisy chain” connecting on EtherCAT this is the input connector.

Connection is standard RJ45 connector and the cable used shall be (minimum) according to Cat5e

S/FTP (shielded cable).

5.1.3.2 Ethernet port 2

This is the second Ethernet port on the gateway and it shall be the secondary port to connect to the network. For “daisy chain” connecting on EtherCAT this is the output connector.

Connection is standard RJ45 connector and the cable used shall be (minimum) according to Cat5e

S/FTP (shielded cable).

5.1.3.3 Power terminal

The unit is powered with 24 VDC using this terminal connection 1 and 2.

On this terminal it is possible to connect an ABB IDFIX device for future use (has today no function).

Terminal Description

1 0V

2 +24VDC

3

4

0V

(IDFIX)

Table 6, 24 VDC power terminal connections.


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6 Common configuration

This chapter contains information about configuration which is common for all models of the

Ethernet gateways described in this manual.

6.1 Pluto bus

The Pluto bus is a CAN bus which means that the connection shall follow the common rules for all

CAN buses. For more information see Pluto Safety PLC hardware manual [REF 1].

6.1.1

Connection

The connector for the Pluto bus is located on the top side of the enclosure (normal mounting).

If the gateway is placed at the beginning or at the end of the bus line a 120 Ω terminating resistor

must be mounted. For Pluto bus terminal connection see chapter 5.1.1.2.

6.1.2

Baud rate detection

The gateway will automatically detect the baud rate when there is traffic on the Pluto bus. Once detected, the baud rate setting will remain while there is traffic on the bus. If the traffic is interrupted for 5 seconds or more the automatic baud rate detection will be restarted.

6.1.3

Status indication

The front panel LED indicator labeled Pluto bus indicates the status of the Pluto bus.

Description LED – Pluto bus

GREEN

off with short on flash

Pluto bus baud rate search.

Remark

When bus is not connected or no traffic on the bus.

GREEN

on with short off flash

Table 7, Pluto bus indicator behavior.

Pluto bus traffic detected and baud rate set.

6.1.4

Gateway node number

The gateway needs to have a node number on the Pluto bus which makes it possible for the device to send data to the Pluto system via the “Data to Pluto” function. It is possible to select node number in the range of 0 – 15.

Note: The node number setting is important to differentiate between several gateways when using “Data to Pluto”.

The gateway node number can be set in several ways; by PLC (via industry Ethernet protocol),

DIP switch or terminal command. Best practice is to let the PLC set the gateway node number.

6.1.4.1 Set by PLC

The gateway node number can be set via the industry Ethernet protocol from the connected PLC master. When setting the gateway node number from the PLC it’s possible to select node number in the range of 0 – 15, compared to only the range of 0 – 3 when using the DIP switch.

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The configuration parameter shall be set according to the table below. The default value is 0 which means that the node number has been read from the DIP switch.

Value Function

0 (default) Gateway node number from DIP switch.

1 Gateway node number 0.

2 Gateway node number 1.

5

6

3

4

7

8

9

10









11

12

13

14





15

16



Table 8, Gateway node number selection via PLC.

Note: If the DIP switch is changed and the device is restarted the gateway will use the DIP switch node number until it’s overwritten by the PLC.

6.1.4.2 Set by DIP switch

The gateway has a DIP switch where it is possible to set the node number of the unit to a value between 0 – 3. The value of the DIP switch is only read at power on. For more information about

the DIP switch see chapter 5.1.1.3.

6.1.4.3 Set by terminal command

It is also possible to set the gateway node number via terminal command if no other ways are

possible to use. For more information see chapter 6.6.2.

6.2 IP address assignment

Each type of product will at delivery have a default IP address and IP address handling according to the device industry Ethernet protocols preferred setting, for more information see chapter for the relevant industry Ethernet protocol.

For some of the Ethernet gateways (GATE-EC and GATE-PN) there is no manual assignment of the IP address. In these systems the master PLC will assign IP address to the device during commissioning. For these devices the rest of this chapter has no meaning.

The IP address can be assigned and changed in several ways,

- Via the industry Ethernet protocol if this is supported.

- Via the PC port on the front panel (see chapter 5.1.2.2).

- DHCP address setting.

- BOOTP address setting.

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Normally many master units on the industry Ethernet protocol has some functions to handle and change the device IP address when connected to the network. How to do this depends on the used industry controller and no deeper information regarding this can be given here.

The second best way is to connect a terminal program to the PC port on the front panel. Via this interface it is possible to view the current IP address setting with the “bw” command. The IP

address can be change by using the “ipaddr” command, see chapter 6.6.6.

6.3 Network services

The Ethernet gateways have several Ethernet network services. These services are:

Service

ICMP Ping command.

The device industry Ethernet Protocol.

Remote server (telnet).

Default setting

Enabled

Can’t be disabled.

Enabled

Can’t be disabled.

Disabled

Can be enabled/disabled by the user.

Table 9, Device network services.

For cyber security reasons the remote servers are disabled by default. If the user needs the functionality with of this services it can be enabled by the user using terminal commands, see

chapter 6.6.7.

It’s important that the user before enabling any of the services read the relevant chapter for the service to get knowledge in the service functionality and its cyber security limitations.

6.3.1

ICMP Ping command

The device will respond on any ICMP ping command which is sent to the device IP address. This service is by default always enabled and can’t be disabled.

C:\>ping 192.168.0.100

Pinging 192.168.0.100 with 32 bytes of data:

Reply from 192.168.0.100: bytes=32 time=2ms TTL=64




Ping statistics for 192.168.0.100:

Packets: Sent = 4, Received = 4, Lost = 0 (0% loss),

Approximate round trip times in milli-seconds:

Minimum = 1ms, Maximum = 2ms, Average = 1ms

C:\>

Figure 12 – Ping command.

6.3.2

Industry Ethernet Protocol

The industry Ethernet protocol is different for the different gateway models, but it is either

EhterNet/IP, EtherCAT, Sercos III, PROFINET or Modbus TCP. One of these protocols will be running on the device and can’t be disabled e.g. it will always be active for any connection.

6.3.3

Remote server

Cyber security is an important part when enabling this services, see chapter 2.

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The remote server (telnet) is a network terminal interface similar to the PC port on the unit’s front panel with limited functionality. This gives the possibility to access the unit via the network for remote monitoring and remote control of Pluto system.

By default the remote server is disabled. If the user want to use the remote server and explore

this server on the network it can be enabled see chapter 6.6.7.

The remote server will listen on port number 50100 (default) and this can be changed when using

the remote enable command (6.6.7).

When connecting to the remote server there is no login handling e.g. when open the connection to the remote server the user have direct access to the commands provide via this server. The commands are a subset of the commands handled by the PC port terminal connection.

The remote server connection has a 10 minutes timeout with automatic disconnection it there haven’t been any inputs.

Below is an example connection and a disconnection using the exit command to the remote server.

Note that not login handling is used and to exit use the exit command at the terminal input.

*************************************

EtherNet/IP gateway

*************************************

Name : GATE-EIP

Article no : 2TLA020071R9000

Serial number: 4096

*************************************

Vendor ID : 950

Product code : 1100

Device type : 43

*************************************

Software ver : 2.15

Software date: 2016-12-28

*************************************

ABB AB, Jokab Safety

www.abb.com/jokabsafety

************************************* eip_gw> exit

Figure 13 – Remote server connection and disconnection.

As terminal program for the remote server use the Pluto Manager terminal window. If other terminal program is used following settings,

- Use backspace key as control-H.

- Local echo off.

- Local line editing off.

Summary: Enable the remote server only if you need this function.

Note no password is used for the connection!

Data traffic to/from remote server is not encrypted, e.g. clear text.

The remote server supports only one client connection.

6.4 Verification of configuration

Via the terminal commands (6.5) it is possible to check the status of the gateway and also to see

which configuration the gateway has received from the master. For more information see the “bs”,

“bw” and “bc” commands in chapter 6.5.

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6.5 Terminal commands

Terminal commands can be used via a connection to the device PC port or via its remote server (if enabled). With these terminal commands it’s possible to check and read the status of the unit and also update the PLC program/configuration of the Pluto system.

Each gateway has a unique prompt on the terminal output:

- GATE-EIP eip_gw>

- GATE-S3 s3_gw>

- GATE-EC ec_gw>

- GATE-PN pn_gw>

- GATE-MT mt_gw>

The prompt can be visible by pressing the ESC button. This will also end any current active commands which can be active from previous usage of the PC port.

For handling the terminal interface the “h” command will always list all valid commands see 6.5.1.

6.5.1

bg – gateway network status

With this command it is possible to see which gateways are on the Pluto bus network. It’s important that all gateways on the Pluto bus have unique node number.

In the example below the “bg” command finds a gateway node number 0, which is the gateway where the command was given (connected). As gateway node number 1 there is a GATE-C2

(CANopen), number 2 is GATE-E2 (Ethernet), number 3 is GATE-D2 (DeviceNet) and as gateway node number 6 there is a GATE-EIP (EtherNet/IP).

eip_gw> bg

-------------------------------------

Gateway 0 : Connected Gateway 8 : -

Gateway 1 : GATE-C2 Gateway 9 : -

Gateway 2 : GATE-E2 Gateway 10 : -

Gateway 3 : GATE-D2 Gateway 11 : -

Gateway 4 : - Gateway 12 : -


Gateway 6 : GATE-EIP Gateway 14 : -


------------------------------------eip_gw>

Figure 14 – Example gateway status (bg) command.

6.5.2

bs – Pluto bus status

With this command it’s possible to check the Pluto bus settings and status.

In the example below the device is operational on the Pluto bus as gateway node number 0 and the current detected Pluto bus speed is 125 kbit/s. On the Pluto bus there is only one Pluto with node number 10 active and it’s a Pluto B20 v2.

eip_gw> bs

-------------------------------------

Gateway node number: 0

Pluto bus speed: 125 kbits

-------------------------------------

Pluto 0 : - Pluto 16 : -






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Pluto 10 : B20 v2 Pluto 26 : -






------------------------------------eip_gw>

Figure 15 – Example Pluto bus (bs) command.

6.5.3

bc – gateway configuration status

With this command it is possible to check and verify the configuration of the gateways application objects for data to Pluto and the additional data configuration.

Configuration and changes of this data are normally done via the configuration functions on the

industry Ethernet protocol, but can also be done via terminal commands “ctp” see chapter 6.6.5,

“addc” see chapter 6.6.3 and “adds” see chapter 6.6.4.

The example below of the “bc” command give that the “Data to Pluto” function is enabled for all data packet area, industry Ethernet protocol write timeout is disabled (e.g. 0 ms) and the Pluto bus update time is set to 100 ms.

For additional data there are three areas which has configuration. Area 0 is configured to receive data from Pluto node 5 with data of type “Error Code” (IO-type number 100), area 1 to receive data from Pluto node 10 with data of type “USER:01” (IO-type number 1) and area 10 will receive data from Pluto node 10 with data of type “B46” (IO-type number 101).

eip_gw> bc

-------------------------------------

Data to Pluto

Packet area 0: Enabled




EtherNet/IP write timeout: 0 ms

Pluto bus update time: 100 ms

-------------------------------------

Additional data configuration

Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type

0 5 ErrCode | 1 10 USER: 1 | 10 10 B46 |

------------------------------------eip_gw>

Figure 16 – Example gateway configuration status (bc) command.

For information about the IO-type see information. Table (and also chapter 12.3.1).

Short name Long name

USER:xx User block number xx.

ErrCode

B46

ASIsaf2

Error Code.

B46 I20-I47.

AS-i node 16-31 safe inputs.

ASI0103

ASI0407

ASI0811

ASI1215

ASI1619

AS-i node 1-3 standard input.





IO-type number

1 – 99

100

101

102

103

104

105

106

107

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ASI2023

ASI2427

ASI2831

Global

B42 ASi




Pluto global.

B42 AS-i I20-I47.

ASISaf1

D45

AS-i node 1-15 safe input.

D45 I20-I47.

Table 10, IO-type information.

6.5.4

bw – industry Ethernet protocol status

108

109

110

111

112

113

114

With this command it is possible to check the network settings and see status for the device

Ethernet ports.

The first section displays the current status of the industry Ethernet protocol for the device. In this example it’s the EtherNet/IP status as it’s a GATE-EIP.

Next are network settings with the device MAC address together with the current network IP address setting (in this case using DHCP with the IP address 192.168.130.212). IP address

assignment can be changed using command “ipaddr” see chapter 6.6.6.

Next section views the current status of each of the Ethernet ports.

The last section shows the current status the remote sever, if enabled also the number of connected clients to this remote server. Enable/disable of the remote server is done with the

“remote” command see chapter 6.6.7.

eip_gw> bw

-------------------------------------

EtherNet/IP status

Module Status: Device operational

Network Status: No connections

-------------------------------------

MAC address : 02:C0:FF:E0:69:FF

IP address : 192.168.130.212

Subnetmask : 255.255.255.0

Gateway : 0.0.0.0

Address mode : DHCP

-------------------------------------

Port : 1

Speed : 100 MBITS

Duplex : FULL

Port : 2

Speed : NO CONNECTION

Duplex : NO CONNECTION

-------------------------------------

Remote port : ENABLED (50100)

Remote control : DISABLED

Remote clients : 0 (max 1)

------------------------------------eip_gw>

Figure 17 – Example Ethernet protocol status (bw) command.

6.5.5

v – version information

At startup of the unit it will print out the version on the PC port. This information can also be viewed by making a “v” command. Some of the information is common for all products, but some is specific for each industry Ethernet protocol.

Below is an example of version information for a GATE-EIP product using industry Ethernet protocol EhterNet/IP. Firmware version and date will match the current firmware in the device.

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eip_gw> v

*************************************

EtherNet/IP gateway

*************************************

Name : GATE-EIP

Article no : 2TLA020071R9000

Serial number: 105

*************************************

Vendor ID : 950

Product code : 1100

Device type : 43

*************************************

Firmware ver : 2.15

Firmware date: 2016-12-28

*************************************


www.abb.com/jokabsafety

************************************* eip_gw>

Figure 18 – Example device information (v) command.

6.5.6

h – help

With the online help command it’s possible to see which commands are available via the terminal connection. Depending if the terminal connection is via the PC port or the remote server the list of valid command will be different. Commands can be entered with both capital and lower case letters.

List of valid commands for both the PC port and the remote server connection, eip_gw> h

I [Pluto node[.address]] read input

Q [Pluto node[.address]] read output

GM [Pluto node[.address]] read global memory

M [Pluto node[.address]] read memory bit

R [Pluto node[.address]] read register

DR [Pluto node[.address]] read double register

S [Pluto node[.address]] read sequence step

SM [Pluto node[.address]] read system memory bit

SR [Pluto node[.address]] read system register

SDR [Pluto node[.address]] read system double register

ASIS [Pluto node[.address]] read AS-i safety input

ASI [Pluto node[.address[.sub]]] read AS-i input

ASQ [Pluto node[.address[.sub]]] read AS-i output

GW [gateway node.address] read gateway register

ADD [gateway node[.area]] read gateway additional data

TO [gateway node[.area[.reg]]] read gateway data to Pluto

BG view gateway nodes on Pluto bus

BS view Pluto nodes on Pluto bus

BC view gateway configuration

BW view Ethernet configuration

V view gateway version information

H view gateway help list

EXIT remote disconnect eip_gw>

Figure 19 – List of valid commands (h) command for both PC port and remote server.

List of additional commands for PC port,

...

TIME view gateway uptime

CN change gateway node number

ADDC clear gateway additional data configuration

ADDS change gateway additional data configuration

CTP change gateway data to Pluto configuration

IPADDR change gateway IP address

REMOTE enable remote monitoring of Pluto system

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RESET restart gateway

SYS download new gateway firmware

DEF restore to the default factory settings

DOUT disconnect remote client

TEST run gateway production test eip_gw>

Figure 20 – List of additional commands (h) command valid only for PC port.

6.5.7

exit – exit

When connected to the remote server (6.3.3) the command “exit” will disconnect the connection.

6.5.8

View Pluto data

It’s possible to view Pluto data via the terminal command for checking data in a selected Pluto. The list below (from the help command) shows which data can be viewed,

I [Pluto node[.address]] read input

Q [Pluto node[.address]] read output

GM [Pluto node[.address]] read global memory

M [Pluto node[.address]] read memory bit

R [Pluto node[.address]] read register

DR [Pluto node[.address]] read double register

S [Pluto node[.address]] read sequence step

SM [Pluto node[.address]] read system memory bit

SR [Pluto node[.address]] read system register

SDR [Pluto node[.address]] read system double register

ASIS [Pluto node[.address]] read AS-i safety input

ASI [Pluto node[.address[.sub]]] read AS-i input

ASQ [Pluto node[.address[.sub]]] read AS-i output

Figure 21 – List of valid view Pluto data commands (h) command.

The syntax for the parameters is “command[<Pluto node>[.<register[A/B]>[.subregister]]]” where

Pluto node is the Pluto node number (0 – 31) and register is depending on command. For ASI and

ASQ command there is also a selection of A/B-slave plus an additional sub register.

When viewing a register it’s possible to make following commands,

- Enter : step to next register (+1).

- Backspace : step to previous register (-1).

- ‘.’ : step to next register (+1).

- ‘,’

- ‘h’

- ESC

: step to previous register (-1).

: switch between decimal and hexadecimal presentation.

: exit the view command.

6.5.9

View gateway data

It’s possible to check the configuration of the gateway with several commands.

GW [gateway node.address] read gateway register

ADD [gateway node[.area]] read gateway additional data

TO [gateway node[.area[.reg]]] read gateway data to Pluto

Figure 22 – List of valid view gateway data commands (h) command.

The gateway have most data viewed by “bs/bw/bc/add/to” commands accessible via register

reading using the “gw” command and some additional information see chapter 14. By using the

“gw” command it’s also possible to read this data from other gateway via the Pluto bus.

The syntax for the “gw” command is “gw<gateway node>.<register address>” to read information from any gateway node on the Pluto bus. To read information from the connected device it’s possible to use the “gw<register address>” command. E.g. if no or only one parameter is added to the command it will view the information for the connected gateway register and with no parameter

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2TLC172285M0203_C

starting at register 0. If the command has two parameters then the first is the gateway node number (0 – 15) and the second it the register number. Explanation of the different registers within

the gateway is listed in Appendix A, gateway registers. (Chapter 14).

When viewing a register it’s possible to make the following commands,

- Enter : step to next register (+1).

- Backspace : step to previous register (-1).

- ‘.’ : step to next register (+1).

- ‘,’

- ‘h’

- ESC

: step to previous register (-1).

: switch between decimal and hexadecimal presentation.

: exit the view command.

The “add” and “to” commands will view the current value of additional data area for “add” command and the current data to Pluto data with the “to” command. By these commands it’s then possible to see what additional data the gateway receives from the Pluto bus, and which data will be transmitted on the Pluto bus.

6.5.10

pl/pkl – Download Pluto project

These command (pl and pkl) are command used by Pluto Manager to download Pluto project PLC

via the gateway to the connected Pluto system mainly using the gateway remote server (6.3.3)

function.

When processed via the remote server the download process will prompt the operator to press the gateway or Pluto device “K” button to complete the project download. This to partly secure the download processing and also have a person on site which can overview the Pluto system.

For more information about download of Pluto PLC see Pluto Manager.

It’s possible to use these command direct form terminal window but it will not give the full functionality of the download which is given by using PLC download via Pluto Manager. Therefore these command are not visible via the help command.

6.6 Terminal commands (only PC port)

Commands describe in this section is only valid via the PC port for cyber security reason.

6.6.1

time – get run time

With the command “time” it is possible see run time of the gateway since last restart.

6.6.2

cn – change gateway node number

With the command “cn” it is possible to change the gateway node number on the Pluto bus. This shall normally not be needed because this configuration can normally be done via the industry

Ethernet protocol.

Below is an example when the gateway node number for the unit is set to node number 10.

eip_gw> cn


Change node number in range 0-15 : 10

Gateway node number changed to 10.

eip_gw>

6.6.3

addc – clear additional data configuration

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With the command “addc” it is possible to clear the current additional data configure, e.g. all configuration for the additional data elements like from which Pluto and which IO-type for all the additional data areas will be cleared. The status of the set configuration can be checked using the

“bc” command.

eip_gw> addc

Clear additional data configuration [Yes/No] ? y

Configuration cleared.

eip_gw>

6.6.4

adds – configure additional data

With the command “adds” it is possible to configure one additional data area and by using it several times all the areas can be configured. This shall normally not be needed because this configuration shall normally be done using the industry protocol device configuration.

The example below shows setting additional area zero (0) to get data from Pluto 1 and the IO-type is 100 (e.g. error code from the selected Pluto). The status of the set configuration can be checked using the “bc” command.

eip_gw> adds

Configure additional data area [0-31] : 0

Receive data from Pluto node number [0-31] : 1

IO-type :

- 0 = Not used

- 1-99 = User block

- 100 = Error Code

- 101 = B46 I20-I47

- 102 = AS-i node 16-31 safe input

- 103 = AS-i node 1- 3 standard input

- 104 = AS-i node 4- 7 standard input

- 105 = AS-i node 8-11 standard input






- 111 = Pluto global

- 112 = B42 AS-i I20-I47

- 113 = AS-i node 1-15 safe input

- 114 = D45 I20-I47

Select IO-type [0-255] : 100

Configuration done.

eip_gw>

Figure 23 – Example add additional data configuration (adds) command.

6.6.5

ctp – configure “Data to Pluto”

With the command “ctp” it is possible to configure “Data to Pluto” setting. This shall normally not be needed because this configuration shall normally be done using the industry protocol device configuration.

The example below shows a setting of data to Pluto where all packet area 0 – 3 are enabled

(previously disabled), timeout is not changed (e.g. 0 ms mean timeout is disabled) and update time is changed from 100 ms to 150 ms. The status of the set configuration can be checked using the

“bc” command.

eip_gw> ctp

Enable packet area 0 (disabled) [Yes/No]? y




EtherNet/IP write timeout (0 ms) [0-60000 ms]:

Pluto bus update time (100 ms) [0-255 ms]: 150

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Setting done.

eip_gw>

Figure 24 – Example change “Data to Pluto” configuration (ctp) command.

6.6.6

ipaddr – change IP address

The “ipaddr” command is not implemented on EtherCAT and PROFINET as these protocols has other protocol depending way to set the IP address of the device.

With the command “ipaddr” it’s possible to change the units IP address on the network. This IP address can be set as,

- Static, a fixed IP address set via terminal command.

- DHCP, the unit will try to get IP address from DHCP server on the network.

- BOOTP, the unit till try to get IP address using BOOTP.

Note: This will restart the gateway with the new settings!

Below is an example where the IP address is set to a static address 192.168.130.212 on a network using subnet mask of 255.255.255.0 and a default gateway of 0.0.0.0. Which setting to use depends on the network where the unit will be connected. The unit will use the new IP address after a reset/power restart. Verify the setting by using the “bw” command after the unit has been restarted.

eip_gw> ipaddr

Address mode STATIC/BOOTP/DHCP (S/B/D) : s (STATIC)

IP address : 192.168.130.212

Subnetmask : 255.255.255.0

Gateway : 0.0.0.0

Change setting, making a restart.

eip_gw>

Figure 25 – Example change IP address to static (ipaddr) command.

If your network/system is using DHCP it is only to change the setting to DHCP mode. After reset/power restart the unit will try to get its IP address from the networks DHCP server. Status of this can be seen using the “bw” command.

eip_gw> ipaddr

Address mode STATIC/BOOTP/DHCP (S/B/D) : d (DHCP)


eip_gw>

Figure 26 – Example change IP address to DHCP (ipaddr) command.

If your network/system is using BOOTP it is only to change the setting to BOOTP mode. After reset/power restart the unit will try to get its IP address using the BOOTP protocol. Status of this can be seen using the “bw” command.

eip_gw> ipaddr

Address mode STATIC/BOOTP/DHCP (S/B/D) : b (BOOTP)


eip_gw>

Figure 27 – Example change IP address to BOOT (ipaddr) command.

6.6.7

remote – enable/disable remote operation of Pluto system

Cyber security is an important part when enabling this function, see chapter 2.

The command “remote” is a command for enable/disable the possibility for remote operation of

Pluto system by enable/disable the device network remote server. When enabling this function it’s possible to make remote operation of a Pluto system via the Ethernet (Internet) network.

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When enabled the remote operation function it’s important to note the network limitations for the

remote server (see 6.3.3) and make appropriate actions to handle network cyber security issues in

a good way (see 2).

The command will print the current status of the remote handling (see Figure 28). When a list of possible remote options is listed (see Table 11).

Selection Description

1

2

3

Enable remote server for both control and monitor of Pluto system.

Enable remote server only for monitor of Pluto system.

Disable all remote server handling.

Table 11, Remote selections.

eip_gw> remote

Current setting is:

Remote handling is disabled.

Select to change remote handling:

1: Enable remote control/monitoring of Pluto system.

2: Enable remote monitoring of Pluto system.

3: Disable remote handling of Pluto system.

Select (number and enter): 1


eip_gw>

Figure 28 – Example disable remote server (remote) command.


6.6.8

name – change the device station name (GATE-PN)

For GATE-PN (PROFINET) there is a device station name. This device station name is used by the PROFINET master PLC to connect to the device and assigned an IP address. This device station name is by default not set. When commissioning the device the PROFINET master PLC software has a discovery tool (DCP) to find the device on the network and with it set the device station name.

pn_gw> name

Current station name: oldname

New station name: newname

New station name saved!

pn_gw>

Figure 29 – Example change PROFINET name (name) command.

6.6.9

reset – restart the unit

With this command it is easy to restart the unit. This restart will be similar to a power restart.

eip_gw> reset

Reset gateway? (y/n) y

Reset...

eip_gw>

Figure 30 – Example restart the device (reset) command.

6.6.10

sys – firmware update of the unit

For firmware update of the device there is a sys command which is documented in a separate

chapter 6.8.1.

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6.6.11

def – restore factory settings

This command restore the device to the factory settings,

- IP address assignment.

- Configuration of “Data to Pluto”.

- Clear configuration of additional data.

- Set default server enable/disable settings.

- Clear device station name (GATE-PN).

- Read gateway node number from the current DIP switch setting.


eip_gw> def

Restore the device to the factory settings? (y/n) y

Making a restart.

eip_gw>

Figure 31 – Example restore factory settings (def) command.

6.6.12

dout – disconnect remote clients

With the command “dout” it is possible to disconnect any connected clients to the remote server.

This can only be executed via the PC port and NOT via the remote terminal.

6.6.13

test – test command

This command is used during ABB production test and is used together with a specific test system.

This command cannot be used to test the device without the test system. The command is only presented in the help listing and in this document so it’s not hidden. If this command is started the device need to be restarted via power off/on sequence to be operational.

6.7 Silent commands

For remote monitor handling via Pluto Manager the terminal also handles silent commands. These commands start with a “%” character and are not echoed back to the operator. As these commands are intended to be used only by Pluto Manager they are not documented within this manual.

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6.8 Firmware update

Update the device firmware is done with Pluto Manager and a connection to the device PC port on

the front panel (see 6.8.1). It’s also possible to use Pluto Manger terminal window or any other

terminal program (see 6.8.2).

For GATE-EC it’s possible to download new firmware via the EtherCAT FoE function. How to make

firmware update this way is described in a chapter under the EtherCAT protocol, see chapter 8.5.3.

6.8.1

Firmware update via PC port using Pluto Manager

Firmware update by Pluto Manager and cable connected to the PC port on the front panel. This gives an easy way to retrieve the latest firmware for the device and also a guiding tool to making the firmware update of the device without any knowledge of the gateway commands.

For this update you need the new firmware in file format with file extension “.ghx” which normally is retrieved by Pluto Manager automatically for the ABB firmware site.

Note: Normally the firmware update via the PC port will work with the device up and running the industry Ethernet protocol. It can sometimes fail and therefore it’s recommended to disconnect the Ethernet ports during the update process.

Start Pluto Manager and under Preferences select the COM port and connect the serial cable to the PC port on the gateways front panel. Then select under tools “Update System Software” and then “Pluto System Software”, se picture below.

Figure 32 – Select “Pluto System Software”.

Pluto Manager will check which device is connected and then view a file selector there firmware files for the type of gateway will be shown (in this case GATE-EIP). Browse for the firmware file and then select open.

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Figure 33 – Select update firmware file.

When firmware file have been selected the file will be sent to the device.

Figure 34 – Selected firmware file sent to the device.

After the firmware file have been sent will be stored in the devices FLASH memory:

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Figure 35 – Downloaded firmware file is saved on the device.

Last the device will make a restarts to activate the new firmware:

Figure 36 – Firmware file downloaded and device is restarting.

During the restart the gateway will make some checking of the downloaded file and if the file is correct it will start the execution of the new firmware.

The complete download and installation will take about 5 minutes.

6.8.2

Firmware update via PC port

The firmware of the device can be updated vid the terminal PC port interface on the front panel by using the “sys” command and upload the new firmware in file format with file extension “.ghx”.

Note: Normally the firmware update via the PC port will work with the device up and running the industry Ethernet protocol. It can sometimes fail and therefore it’s recommended to disconnect the Ethernet ports during the update process.

To make the firmware update enter the command “sys” and press enter! The prompt will tell you to send the firmware file. In Pluto Manager terminal window you select the “Send File” button and

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select the correct firmware file which will have a file extension named “.ghx”. When selected the file transfer is started and it will take about 4 to 5 minutes to complete the firmware update.

eip_gw> sys

Send file...

Saving file...

Firmware saved, restarting.

eip_gw>

Figure 37 – Example firmware update using terminal (sys) command.

There is no information if the check of the downloaded file fails, the only way to verify firmware version is via the version command which is also printed on the terminal at power up.

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7 GATE-EIP, EtherNet/IP

The Ethernet gateway GATE-EIP is an Ethernet gateway handling the industry Ethernet protocol

EtherNet/IP which is defined by ODVA. It is build according to ODVA,

· CIP Volume 1 Edition 3.16

· CIP Volume 2 EtherNet/IP Adaption of CIP Edition 1.17

· Minimum cycle time is 10 ms.

7.1 Ethernet Connection

The gateway is connected to EtherNet/IP network using standard Ethernet connector and cable

according to chapter 0 and 5.1.3.2. Both Ethernet ports have the same functionality and can be

connected as desired. Normally Ethernet port 1 shall be used to connect to a network switch and

Ethernet port 2 can be used to connect to other Ethernet device on the network if desired.

Each port can handle connection in both 10 and 100 Mbit/s using half or full duplex. The port automatically configures the port so it can be connected without using any special cross connected cabled.

The gateway has two Ethernet ports, and therefore it’s possible to connect another device on the same Ethernet switch output by connection the other device to the second Ethernet port on the gateway. This will however increase the network traffic and may decrease the performance of the gateway device.

Ethernet switch

Eth 1

GATE-EIP

Eth 2

Other device

Figure 38 – EtherNet/IP, network connection via the gateway device.

7.2 IP address configuration

The default IP address assignment for the unit is using DHCP to get an IP address on the network

(preferred solution for EtherNet/IP device). From many vendors using EtherNet/IP there are tools to retrieve the IP address from the device when using DHCP, see your EtherNet/IP PLC vendor documentation.

If this is not working there are other ways to configure the IP address of the device, see chapter

6.2.

7.3 Status indication

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On the gateway with EtherNet/IP there are two dual color LEDs for EtherNet/IP status indications.

They are named Module Status (Mod status) and Network Status (Net status). The tables below explain the indicators status information.

7.3.1

Module Status

Remark LED

OFF

EtherNet/IP

Unit off

GREEN flashing

GREEN steady

RED flashing

RED steady

Standby

Operational

Minor fault

Major fault

GREEN/RED flashing

Start-up/Test

Table 12, EtherNet/IP, module status indication behavior.

7.3.2

Network Status

LED

OFF

EtherNet/IP

Unit off

Remark

If module status flashing green then the unit is missing IP address.

GREEN flashing

No connection

GREEN steady

RED flashing

Connected

Connection timeout

RED steady

Duplicate IP

GREEN/RED flashing

Start-up/Test

Table 13, EtherNet/IP, network status indication behavior.

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7.4 Service port information

The EtherNet/IP service is using several network ports on the device.

TCP

UDP

Port

44818

1024

2222

Description

Encapsulation messages based on TCP and Explicit messaging.

Receive encapsulated CIP Service responses.

Implicit messaging (IO messaging).

44818 Encapsulation messages based on UDP.

Table 14, EtherNet/IP, service port information.

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7.5 Rockwell integration

The EtherNet/IP protocol in the gateway has been implemented according to EtherNet/IP object

description in appendix chapter 15.

Example of configuration of an Allen-Bradley Rockwell system under I/O configuration and

Ethernet add new module for communication of type Generic Ethernet Module,

Figure 39 – EtherNet/IP, add gateway as “Generic Ethernet Module”.

Important settings are:

- Name of the Ethernet unit which will give names to the controller tags as,

PLUTO_GATEWAY_1:C

PLUTO_GATEWAY_1:I control data input data

PLUTO_GATEWAY_1:O output data

-

IP address of the gateway (see chapter 6.2).

- Communication data size format (Comm Format, preferred format is “Data – INT”).

- Input assembly instance number and size.

- Output assembly instance number and size.

- Configuration assembly instance number and size.

- Requested Packet Interval (RPI).

- Set configuration data.

Input assembly setting

If only input data is used the size can be any of the three showed in the table. If output data is used or will maybe be used in future the size of INT shall be used.

Input data Instance number

Status Only

Data Only

100

101

Status and Data 102

Table 15, EtherNet/IP, selecting input data assembly.

Data - SINT Data – INT Data – DINT

4

256

260

Instance size

2

128

130

1

64

65

Data structure for each instance is like the table below. For detailed information about each part

see chapter 12.1 (status), 12.2 (Data from Pluto) and 12.3 (Additional Data from Pluto). The table

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below indicates on which byte/word the data is located in depending on data type and used assembly number (no mapping for DINT data have been shown in this table).

Data

Status

Data Pluto 0

Data Pluto 1

Data Pluto 2

Data Pluto 3

Data Pluto 4

Data Pluto 5

Data Pluto 6

Data Pluto 7

Data Pluto 8

Data Pluto 9

Data Pluto 10

Data Pluto 11

Data Pluto 12

Data Pluto 13

Data Pluto 14

Data Pluto 15

Data Pluto 16

Data Pluto 17

Data Pluto 18

Data Pluto 19

Data Pluto 20

Data Pluto 21

Data Pluto 22

Data Pluto 23

Data Pluto 24

Data Pluto 25

Data Pluto 26

Data Pluto 27

Data Pluto 28

Data Pluto 29

Data Pluto 30

Data Pluto 31

Additional Data 00

Additional Data 01

Additional Data 02

Additional Data 03

Additional Data 04

Additional Data 05

Additional Data 06

Additional Data 07

Additional Data 08

Additional Data 09

Additional Data 10

Additional Data 11

Additional Data 12

Additional Data 13

Additional Data 14

Additional Data 15

Additional Data 16

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Data - SINT (byte)

100

0 – 3

101

-

0 – 3

102

0 – 3

4 – 7

4 – 7

8 – 11

12 – 15

16 – 19

20 – 23

8 – 11

12 – 15

16 – 19

20 – 23

24 – 27

24 – 27 28 – 31

28 – 31 32 – 35

32 – 35 36 – 39

36 – 39

40 – 43

44 – 47

48 – 51

52 – 55

56 – 59

60 – 63

40 – 43

44 – 47

48 – 51

52 – 55

56 – 59

60 – 63

64 – 67

64 – 67 68 – 71

68 – 71 72 – 75

72 – 75 76 – 79

76 – 79 80 – 83

80 – 83 84 – 87

84 – 87 88 – 91

88 – 91 92 – 95

92 – 95 96 – 99

96 – 99 100–103

100–103 104–107

104–107 108–111

108–111

112–115

116–119

144–147

148–151

152–155

164–167

168–171

172–175

176–179

112–115

116–119

120–123

120–123 124–127

124–127 128–131

128–131 132–135

132–135 136–139

136–139 140–143

140–143 144–147

148–151

152–155

156–159

156–159 160–163

160–163 164–167

168–171

172–175

176–179

180–183

180–183 184–187

184–187 188–191

188–191 192–195

192–195 196–199

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

100

0 – 1

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Data - INT (word)

101

-

0 – 1

2 – 3

4 – 5

6 – 7

8 – 9

102

0 – 1

2 – 3

4 – 5

6 – 7

8 – 9

10 – 11

10 – 11 12 – 13

12 – 13 14 – 15

14 – 15 16 – 17

16 – 17 18 – 19

18 – 19 20 – 21

20 – 21 22 – 23

22 – 23 24 – 25

24 – 25 26 – 27

26 – 27 28 – 29

28 – 29 30 – 31

30 – 31 32 – 33

32 – 33 34 – 35

34 – 35 36 – 37

36 – 37 38 – 39

38 – 39 40 – 41

40 – 41 42 – 43

42 – 43 44 – 45

44 – 45 46 – 47

46 – 47 48 – 49

48 – 49 50 – 51

50 – 51 52 – 53

52 – 53 54 – 55

54 – 55 56 – 57

56 – 57 58 – 59

58 – 59 60 – 61

60 – 61 62 – 63

62 – 63 64 – 65

64 – 65 66 – 67

66 – 67 68 – 69

68 – 69 70 – 71

70 – 71 72 – 73

72 – 73 74 – 75

74 – 75 76 – 77

76 – 77 78 – 79

78 – 79 80 – 81

80 – 81 82 – 83

82 – 83 84 – 85

84 – 85 86 – 86

86 – 86 88 – 89

88 – 89 90 – 91

90 – 91 92 – 93

92 – 93 94 – 95

94 – 95 96 – 97

96 – 97 98 – 99

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Data

Additional Data 17

Additional Data 18

Additional Data 19

Additional Data 20

Additional Data 21

Additional Data 22

Additional Data 23

Additional Data 24

Additional Data 25

Additional Data 26

Additional Data 27

Additional Data 28

Additional Data 29

Additional Data 30

Additional Data 31

Table 16, EtherNet/IP, input data allocation.

-

-

-

-

-

-

-

-

-

-

-

-

100

Data - SINT (byte)

101 102

-

-

-

196–199

200–203

204–207

200–203

204–207

208–211

208–211

212–215

216–219

212–215

216–219

220–223

220–223 224–227

224–227 228–231

228–231 232–235

232–235 236–239

236–239

252–255

240–243

240–243 244–247

244–247 248–251

248–251 252–255

256–259

Output assembly setting

100

Data - INT (word)

101 102

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

98 – 99 100–101

100–101

102–103

104–105

106–107

108–109

102–103

104–105

106–107

108–109

110–111

110–111 112–113

112–113 114–115

114–115 116–117

116–117 118–119

118–119

126–127

120–121

120–121 122–123

122–123 124–125

124–125 126–127

128–129

It is recommended to only use INT data for output data because output data is 16-bits registers.

For description of “Data to Pluto” structure see chapter 12.4.

Input data

Data to Pluto (Output data)

Input only (No data to Pluto)

Instance number

Configuration assembly setting

112

128

Table 17, EtherNet/IP, selecting output data assembly.

Instance size


-

0

12

0

-

0

There is no configuration data so size is zero.

Input data

Configuration data

Instance number

130

Table 18, EtherNet/IP, selecting no data assembly.

Instance size


0 0 0

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Requested Packet Interval (RPI)

Under the connection tab the Requested Packet Interval (RPI) shall be set to desired value, but it shall not be less than 10 ms.

Figure 40 – EtherNet/IP, select RPI (not less than 10 ms).

Set configuration data

After the PLC has established connection and/or done a reconnection to the gateway, the PLC can/shall send configuration messages to the gateway if needed. It is possible to send configuration data by using message blocks. Configuration settings are related to “Data to Pluto” information to enable packet area (attribute 0x10) and timeout (attribute 0x11), see example below

and chapter 12.4.

Figure 41 – EtherNet/IP, add configuration command.

Figure 42 – EtherNet/IP, example set enable bits by a write to attribute 0x10.

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Figure 43 – EtherNet/IP, example set enable bits by a write to attribute 0x11.

There is also configuration get/set for additional data via the same feature but using other attribute

numbers in the message. For more information see appendix and also chapter 12.3.

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8 GATE-EC, EtherCAT

The Ethernet gateway GATE-EC is an Ethernet gateway handling the industry Ethernet protocol

EtherCAT which is defined by EtherCAT Technology Group and build according to,

· IEC 61158 Part 2-6 Type 12 documents (ETG.1000 V1.0.3).

· EtherCAT Protocol Enhancements (ETG.1020 V1.0.0).

· Minimum cycle time is 500 µs.

· The device support FoE (File transfer over EtherCAT) see chapter 5.4.3.

· The device support EoE (Ethernet over EtherCAT) for access to remote server.

· Support for hot connect (second slave address, also used for Omron PLC).

For more information see EtherCAT bus master documentation how to use these functions.


The gateway is connected to EtherCAT network using standard Ethernet connector and cable

according to chapter 0 and 5.1.3.2. As EtherCAT is a bus where each device has an input and

output side the “Eth 1” port is the input port (IN) and “Eth 2” is the output port (OUT), see figure below.

EtherCAT master

GATE-EC

Eth 1

(IN)

Eth 2

(OUT)

Other device

Figure 44 – EtherCAT, network connection.


The IP address assignment for the unit is managed by the EtherCAT master and can’t be changed in any other ways.


On the gateway with EtherCAT there are two LEDs for link indication and two LEDs for EtherCAT status indications. The link LEDs are named “Ethernet 1” and “Ethernet 2”. The status LEDs are named RUN and ERR. The table below explains the indicators status information.

8.3.1

Link/Activity

LED

OFF

EtherCAT

Port closed

Remark

GREEN

Flickering

Port open Link and activity.

GREEN

Steady

Port open

Table 19, EtherCAT, Ethernet link status indication behavior.

Link and no activity.

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8.3.2

RUN Status

LED

OFF

EtherCAT

Init

GREEN

Blinking

GREEN

Single Flash

Pre-Operational

Safe-Operational

GREEN

Flickering

Initialization or

Bootstrap

GREEN

Steady

Operational

Table 20, EtherCAT, RUN status indication behavior.

Remark

8.3.3

Error Status

LED

OFF

EtherCAT

No error

RED

Blinking

RED

Single Flash

RED

Double Flash

Invalid Configuration

Unsolicited State

Change

Application Watchdog

Timeout

RED

Flickering

Booting Error

RED

Steady

PDI Watchdog

Timeout

Table 21, EtherCAT, ERROR status indication behavior.

Remark

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2TLC172285M0203_C

8.3.4

LED handling

Indicator states

On

Off

Flickering

Blinking

Single Flash

Definition

The indicator shall be constantly on.

The indicator shall be constantly off.

The indicator shall turn on and off iso-phase with a frequency of 10 Hz: on for 50 ms and off for 50 ms.

The indicator shall turn on and off iso-phase with a frequency of 2.5 Hz: on for 200 ms followed by off for 200 ms.

The indicator shall show one short flash (200 ms) followed by a long off phase (1000 ms).

Double Flash The indicator shall show a sequence of two short flashes (200 ms), separated by an off phase (200 ms), and followed by a long off phase

(1000 ms).

Table 22, EtherCAT, define of different type of LED indication behavior.

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8.4 ABB AC500 integration

This example shows a simple implementation of the Gate-EC in an ABB AC500 PLC, using a

CM579-ETHCAT communication module. It doesn’t show any actual program, just how the “to” and

“from” variables via the gateway Gate-EC are setup. Automation Builder V1.1.1717 was used. All settings are default unless otherwise said so.

8.4.1

Device repository and XML file

In Automation Builder under the Tools menu, start the “Device Repository” tool.

Figure 45 – EtherCAT, add description file to “Device Repository…”.

Use the “Install…” button and point at the file’s location. Please note that it is included in Pluto

Manager, under the Help menu. The result is shown in the picture below.

Figure 46 – EtherCAT, view the installed device as “Pluto Gateway”.

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8.4.2

Hardware

After adding the CM579-ETHCAT communication module right-click and add the Gate-EC object.

Figure 47 – EtherCAT, select the “Pluto Gateway” device.

8.4.3

CM_579 Master

Settings for the CM579-ETHCAT master.

Figure 48 – EtherCAT, select the CM579-ETHCAT master.

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8.4.4

Gate_EC_Pluto_Gateway

The picture below shows the default settings used for the gateway.

Figure 49 – EtherCAT, “Pluto Gateway” default setting.

In this example everything has been included but it doesn’t have to be so.

Figure 50 – EtherCAT, example of including all input and outputs.

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8.4.5

Startup parameters

It is advised to include all “Additional Data” areas so they are initialized to zero at startup.

Figure 51 – EtherCAT, include configuration of all additional data.

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2TLC172285M0203_C

Please note that the “EnablePackets” startup parameter value has been set to 1, only enabling packet 0. To enable all four available packets this must be set to 15.

See bullet 12.4 for a description of line 65, 66 and 67.

Edit the settings of an object as required. The example project below show how the gateway’s

node number on the Pluto bus is set to 4 e.g. selecting node address 3, see 6.1.4.1.

Figure 52 – EtherCAT, change setting.

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8.4.6

I/O mapping list

Enter the names of the variables that will be used in the CoDeSys environment.

Figure 53 – EtherCAT, add names for the variables.

Result as shown in the CoDeSys environment programming tool.

Figure 54 – EtherCAT, variable names in CoDeSys.

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8.5 Beckhoff TwinCAT integration

This chapter will describe how to use the gateway GATE-EC with Beckhoff TwinCAT system.

8.5.1

Add device description file

The description file for EtherCAT is called ESI XML files. For the gateway GATE-EC this file is named “ABB_JokabSafety_GATE-EC.xml”. Installation is easily done by copying the file into the correct TwinCAT directory.

For TwinCAT 2 copy the file into “TwinCAT\Io\EtherCAT” directory.

After the installation of the file you need to restart system manager so it will reread the configuration directory for new information.

8.5.2

Scan system for the device

The unit will be easily installed into a system by scanning the system for boxes. During this scan it will detect the gateway GATE-EC and generate a box for it where all settings and data then will be available, see picture below.

Figure 55 – EtherCAT, result of scanning the system with GATE-EC.

8.5.3

Firmware update

With system supporting FoE (File access over EtherCAT) it’s possible to update the device firmware in the gateway GATE-EC. In a Beckhoff TwinCAT system the file download button can be found in the “Online” tab of the device,

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Figure 56 – EtherCAT, firmware update using the FoE, press “Download…”.

When pressing the “Download…” button the first steps will be to select the firmware file which shall be sent to the device. To be able to see the file you need first to change so you can see all files (1) and then navigate to the file which shall be named “GATE-EC_yyyy-mm-dd_vx.y.NXF” (2) and then click open.

Figure 57 – EtherCAT, select the firmware file named “GATE-EC”.

You will now get a dialog for the FoE file name transfer similar to this one,

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Figure 58 – EtherCAT, default FoE transfer window.

In this dialog you need to write string as “GATE-EC.NXF” so the dialog will look like below,

Figure 59 – EtherCAT, edit the FoE transfer window.

Click OK button and the file transfer will start and you will see a download progress bar in the

TwinCAT window,

Figure 60 – EtherCAT, FoE download progress bar.

When the download is finished the gateway unit need to be restarted to start running the downloaded application.

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9 GATE-S3, Sercos III

The Ethernet gateway GATE-S3 is an Ethernet gateway handling the industry Ethernet protocol

Sercos III according to,

· Communication Spec. V1.1.2.1.7 (March 30, 2009).

· Sercos Communication Profile V1.1.2.1.1 (March 31, 2009).

· Function Specific Profile IO V1.1.2.1.4 (May 11, 2009).

· Internet Protocol Services V1.3.1 - 1.2 (February 10, 2011).



The gateway is connected to Sercos III network using standard Ethernet connector and cable

according to chapter 0 and 5.1.3.2. As Sercos III is a bus where each device has an input and

output side the “Eth 1” port is the input port and “Eth 2” is the output port, see figure below.

Sercos master

GATE-S3

Eth 1

(IN)

Eth 2

(OUT)

Other device

Figure 61 – Sercos, network connection via the gateway device.


The IP address assignment for the unit is by default set to 192.168.0.100. It can be changed via the terminal port. For Sercos III the last not connected port in the chain can be used for normal

Ethernet connections and this is valid for the GATE-S3 also. So if the “Eth 2” port is not used for

Sercos III connection to other Sercos device this port is free for normal TCP/IP access on the

Sercos system. This is done by connecting a computer with correct IP address settings, and then it’s possible to access the gateways remote server (if enabled) this way.

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On the gateway with Sercos III there are one dual colors LED for Sercos III status indication, named S3. Currently this is not a true dual color LED as stated in the Sercos specification but it has the same behavior. The tables below explain the indicators status information, when both the green and red light the color shall be orange.

9

10

7

8

11

12

Pattern

1

2

3

4

5

6

Color

13

14

15

3 seconds, each flash 250 ms.

Table 23, Sercos, status indication behavior.

Description

NRT-Mode

CP0

CP1

CP2

CP3

CP4

HP0

HP1

HP2

Fast forward

⇒

Loopback

Application error

MST ≥ (S-0-

1003/2)


Communication error

Identification

Watchdog error

1

2

1

1

3

4

Priority

0

0

0

0

0

0

5

6

7

Comment

No SERCOS communication

Communication phase 0 is active





Device is in hot-plug phase 0



RT-state has changed from fast-forward to loopback

See GDP & FSP Status codes class error

As long as the communication warning (S-

DEV.Bit15) in the Device Status is present, at least 2 sec.

See SCP Status codes class error

Invoked by (C-DEV.Bit 15 in the Device

Control) or SIP Identification request

Application is not running

The Sercos III service is using several network ports on the device.

UDP

Port

35021

Description

Encapsulation messages based on UDP.

Table 24, Sercos, service port information.

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9.5 Bosch-Rexroth IndraWorks integration

This chapter will highlight some aspects on integrating gateway GATE-S3 with a Bosch-Rexroth

IndraWorks system.

9.5.1

Add device description file

Select in IndraWorks menu “Tools” and “Device Database…” which will bring up this window,

Figure 62 – Sercos, add the description file.

Press the ”Add Devices…” button and select the description file for the gateway GATE-S3 device which is named something like

”SDDML#3.0#ABB_AB_JOKAB_SAFETY#ABB_GATE-S3#2015-03-25.xml”.

If a correct installation you can see the device in the “Device database” under the directory

“Fieldbusses” – “Sercos3” – “Slave” – “ABB GATE-S3”, see picture below.

Figure 63 – Sercos, view the installed description file as “ABB GATE-S3”.

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9.5.2

Scan system for the device

The unit will be easily installed into a system by scanning the Sercos bus by right click on the

Sercos bus in the project and select “Scan Bus Configuration”. During this scan it will detect the gateway GATE-S3 and add it to the project via the “Scan Bus Configuration” windows which will follow the scan of the bus.

Figure 64 – Sercos, scan the bus with “Scan Bus Configuration”.

After adding the device the project explorer will view the gateway in a way similar to the example below,

Figure 65 – Sercos, example of the project after adding the gateway.

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9.5.3

Gateway configuration

By clicking on the two gateway modules in the project explorer it’s now possible to configure the gateway device as needed. For example the startup configuration can be updated via “User

Parameter” tab.

Figure 66 – Sercos, change gateway configuration.

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10 GATE-PN, PROFINET

The Ethernet gateway GATE-PN is an Ethernet gateway handling the industry Ethernet protocol

PROFINET which is defined by PI Organization. It is build according to,

· Specification for PROFINET, Version 2.31.

· IRT Top (“Red phase”) will be supported.

· Minimum cycle time 2ms for RTC1 and 1ms for RTC3.

Note: Limitation

Minimum cycle time of 1 and 2 ms are today only possible when the Pluto system has maximum 8

Pluto units. For cycle time below 10 ms the limits are maximum 16 Pluto units. From 10 ms and up, a full Pluto system can be used.

10.1 Description file

The description file (GSSML) is the description file which shall be imported into the master PLC configuration tool.

The description file has two access points,

- GATE-E2 (Compatibility Mode).

This access point shall only be used as a backward compatibility access point when making direct replacement of GATE-E2 device.

Shall not be used for new system configuration!

- GATE-PN.

This is the access point which shall be used in new system configurations.

For more information see PROFINET description appendix at chapter 18.

10.2 Data format

Pluto data in chapter 12 (Pluto global data 12.2, Pluto additional data 12.3 and data to Pluto 12.4)

is in little endian format but data received/transmitted via PROFINET will in the master PLC be in big endian format. The table below show how this effects how data is arranged in the master PLC memory.

PLC memory

0

1

Weight

MSB

Unsigned32

Pluto global byte

order see 12.2

2

3 LSB

Table 25, PROFINET, data format.

3

2

1

0


Additional byte

order see 12.3

1

0

3

2

Unsigned16

PLC memory

Weight

0

1

MSB

LSB

The gateway is connected to PROFINET network using standard Ethernet connector and cable




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The gateway has two Ethernet ports, and therefore it’s possible to connect another device on the same Ethernet switch output by connection the other device to the second Ethernet port on the gateway. This will however increase the network traffic and may decrease the performance of the gateway device.

The gateway can be installed in a PROFINET IRT network even that the gateway itself doesn’t have any real time data update performance.

Ethernet switch

Eth 1

GATE-PN

Eth 2

Other device

Figure 67 – PROFINET, network connection via the gateway device.


The IP address assignment for the unit is managed by the PROFINET master and can’t be changed in any other way.

Instead of the IP address the device station name must be assigned using any DCP handling program within the master PLC configuration tool or similar standalone program. When the device has a device station name the master PLC will configure and assigned IP address according to the master configuration data.

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On the gateway with PROFINET there are two dual color LEDs for PROFINET status indications.

They are named SF (System Failure) and BF (Bus Failure). The tables below explain the indicators status information.

10.5.1

SF (System Failure)

LED

OFF

PROFINET

No system error.

Remark

RED steady

Red steady on when diagnostic error.

GREEN flashing

Device identification via the “blink” command from master device.

Table 26, PROFINET, SF status indication behavior.

10.5.2

BF (Bus Failure)

Currently the device doesn’t have any diagnostic handling.

Flashing is 1 Hz for minimum 3 seconds.

LED

OFF

PROFINET

No bus error.

Remark

RED flashing

Ethernet cable connected but not connection.

RED steady

No Ethernet cable connection on any port.

Table 27, PROFINET, BF status indication behavior.


The PROFINET service is using several network ports on the device.

UDP

Port

161

34964

Description

SNMP is mandatory for PROFINET.

PROFInet RPC Endpointmapper Port.

49152 PROFInet RPC Device Server.

Table 28, PROFINET, service port information.

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10.7 ABB AC500 implementation

This example shows a simple implementation of the Gate-PN in an ABB AC500 PLC, using a

CM579-PNIO communication module. It doesn’t show any actual program, just how the “to” and

“from” variables via the gateway Gate-PN are setup. Automation Builder V1.1.1717 was used.

10.7.1

Device repository and XML file

In Automation Builder under the Tools menu, start the “Device Repository” tool.

Figure 68 – PROFINET, add description file to “Device Repository…”.



Figure 69 – PROFINET, view the installed device as “GATE-PN”.

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10.7.2

Hardware

After adding the CM579-PNIO communication module right-click and add the Gate-PN object.

10.7.2.1 Adding objects

Add objects by right-clicking. Please note that each object under the Gate-PN has a specific place in the structure. “Node_Status” below must always be in the first location, “Pluto_Nodes_00_07” in the second, “Pluto_Nodes_08_15 in the third”, and so on.

Figure 70 – PROFINET, adding modules.

The result when all object has been added. Please note that you may need to configure some objects further.

Figure 71 – PROFINET, example adding all modules.

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10.7.2.2 Configuring objects

In the picture below it is shown how each Additional Data area is configured. Each area, 0 to 31, must be configured so that it knows which Pluto unit is should expect data from and what type it

should be. See chapter 12.3.

Figure 72 – PROFINET, example configuration of a module (additional data).

10.7.2.3 Configuring Gate-PN

The Gate-PN in the picture has been configured for a request interval of 16 ms. You can also set its node number (address) on the Pluto bus here, instead of using the DIP switches on the

gateway. See bullet 12.4.

Figure 73 – PROFINET, example of the device configuration.

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10.7.3

PROFINET name

Either use Pluto Manager, Tools menu, Terminal Window (NAME command), and a programming cable connected to the gateway, or use the tool under the CM579-PNIO communication module to assign a PROFINET name to the gateway. This will establish communication with the gateway.

Figure 74 – PROFINET, setting device name.

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10.7.4

Assigning variable names

Use the I/O mapping list to assign variables their names.

Figure 75 – PROFINET, add names (assigning) for the variables.

This is how they will show up in the CoDeSys environment, ready to be used.

Figure 76 – PROFINET, variable names in CoDeSys.

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10.8 Siemens integration

This example shows a simple implementation of the Gate-PN in a Siemens S-1200 PLC, using its internal PROFINET. It doesn’t show any actual program, just how the “to” and “from” variables via the gateway Gate-PN are setup. Siemens TIA portal V13 was used.

10.8.1

Install GSD XML file

Under the “Options” menu choose “Install general…”.

Figure 77 – PROFINET, install description file (Siemens).



Figure 78 – PROFINET, view the result of the installation (Siemens).

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10.8.2

Add the device to the PROFINET network

Use the “Devices & Networks” to add the Gate-PN. Please note that the PLC and gateway must be linked to each other with PROFINET network intended to be used.

Figure 79 – PROFINET, add gateway to network (Siemens).

10.8.2.1 PROFINET name and IP address

Mark the gateway and use Properties to set its IP address. The name is default “gatepn”. This can be changed either via Pluto Manager, Tools menu, Terminal Window (NAME command), and a programming cable connected to the gateway, or use “Online access” and connect to the gateway if it’s reachable, use “Functions” to assign the name and IP address.

Figure 80 – PROFINET, assign name for the gateway device (Siemens).

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10.8.2.2 IO Cycle

Set the gateway’s IO cycle, either automatically or manually. Here it’s been set manually to 16 ms.

Figure 81 – PROFINET, setting IO cycle time (Siemens).

10.8.2.3 Module parameters of the Head module

Under the “Module parameters” tab settings concerning the gateways behavior on the Pluto bus is

setup. See bullet 12.4.

Figure 82 – PROFINET, example of the device configuration (Siemens).

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10.8.2.4 Device view

Adding module is done under the “Device view”.

Figure 83 – PROFINET, adding module to the gateway (Siemens).

10.8.2.4.1 Adding modules under the Head module

Drag and drop the modules intended to be used from the “Hardware catalog”. Please note that each module has its intended fixed placement. “Node Status” first, “Pluto Nodes 00-07” second, and so on. As shown in the picture.

Figure 84 – PROFINET, adding module to the gateway (Siemens).

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10.8.2.4.2 Module parameters of modules under the Head module

To configure module parameters such as “Additional data” parameters mark the module and use the “Module parameters” tab. Configure which Pluto node the additional data area is expecting

data from and what IO type it is. See bullet 12.3.

In this example “Additional Data Area 00” is set to receive data from Pluto node 0 of the IO type 1.

IO type 1 means that in the Pluto project a “ToGateway_User_X” (where X is A, B or C) is used.

See bullet 12.3.2.3, network 3.

Figure 85 – PROFINET, configuration of modules (Siemens).

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10.8.2.4.3 Addressing of in- and out-data

Point the modules to the intended input address or output address. In this example this has been done automatically.

Figure 86 – PROFINET, setting input and output address (Siemens).

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10.8.2.5 Tag list

Give the tags their intended name and point it to the correct address. See bullet 10.8.2.4.3 above

for the “Additional data” area 0’s address.

Figure 87 – PROFINET, change the tag list (Siemens).

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10.8.2.5.1 Example of Pluto A20 family mapping

See chapter 12, bullet 12.2 for the Global variables mapping and bullet 12.3 for the “Additional

Data” mapping. Plus bullet 10.2 for the data format.

Figure 88 – PROFINET, example of the Pluto A20 tagging (Siemens).

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11 GATE-MT, Modbus TCP

The Ethernet gateway GATE-MT is an Ethernet gateway handling the industry Modbus TCP which is defined by Modbus Organization. It is build according to,

· MODBUS Application Protocol Specification, V1.1a, June 4, 2004.

· MODBUS Messaging on TCP/IP Implementation Guide, V1.0a, June 4, 2004.

· Minimum 500 request per seconds for one steady open connection with about 1 ms response time.

· Maximum of 8 client connections.


The gateway is connected to Ethernet network using standard Ethernet connector and cable





Ethernet switch

Eth 1

GATE-MT

Eth 2

Other device

Figure 89 – Modbus TCP, network connection via the gateway device.


The default IP address assignment for the unit is using DHCP to get an IP address on the network.

If this is not working there are other ways to configure the IP address of the device, see chapter

6.2.


On the gateway with Modbus TCP there are two dual color LEDs for status indications. They are named RUN and ERR (Error). The tables below explain the indicators status information.

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11.3.1

RUN

LED

OFF

Modbus TCP

GREEN flashing

Waiting for connection.

GREEN steady

Connection established.

Table 29, Modbus TCP, RUN status indication behavior.

11.3.2

ERR

LED

OFF

Modbus TCP

No error.

Remark

Flashing with 5 Hz.

Remark

RED flashing

System error.

Flashing with 2 Hz.

Need device replacement.

RED steady

Communication error. Need device replacement.

Table 30, Modbus TCP, ERR status indication behavior.


The Modbus service is using several network ports on the device.

Port Description

TCP 502 Modbus TCP port.

Table 31, Modbus TCP, service port information.

11.5 Integration and configuration

The integration of the device into a system is depending on the system controller.

By default the device uses DHCP to get its IP address and then the easiest way to get this IP address is to use the terminal interface and the “bw” command.

When the IP address is known then standard Modbus TCP communication can be setup using

methods described in the appendix for Modbus TCP, see chapter 0.

In this chapter there is a sub chapter (19.6) describing the configuration of the device from the

master PLC or by another controller unit. It is recommended to write the complete configuration area even only data need to be changed from the default values. This helps if replacing an existing device with a device used in other machine/system with other configuration then the default settings.

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11.6 ABB AC500 integration

This example shows a simple implementation of the Gate-MT in an ABB AC500 PM573-ETH controller using Automation Builder V1.1.1.1717. It doesn’t show error handling, it’s up to the user to implement this.

The example shows, by using a simple state-machine, how the different steps are done.

Configuring, reading status of Pluto units online, reading global data, reading additional data, and sending data to the Pluto, via the Gate-MT.

This example does not explain in detail the workings of the ABB AC500 and CoDeSys environment. For this refer to its relevant documentation.

11.6.1

Hardware configuration

Add the “Modbus_TCP_IP_Server” object to the “Ethernet-Protocols” object by using the “Add object” function. Choose “Modbus” and then “Modbus TCP/IP Server”.

In this example the default setting are used.

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11.6.2

CoDeSys implementation

This part will show how the gateway is read and written in the CoDeSys environment.

11.6.2.1 Structured Flow Chart Implementation

Create a Structured Flow Chart POU, Program – SFC, here named “Modbus_TCP_GateMT”.

11.6.2.1.1 Variables

The data to and from the gateway are stored in the following global variables in the CoDeSys environment.

Please note that the Packets to Pluto variable here is initialized in [0] and [1] so all packets transmitted are valid when transmitted.

The following variables are initialized in the SFC, they concern the configuration of the gateway. All of the 32 additional data areas available are set to listen to the Pluto node equal to its own designation. This means “Additional data area 00” will listen for data from Pluto node 0, “Additional data area 01” from Pluto node1, and so on. The IO type is set to 1 in all of the areas, which means they’re all listening for a block with user number 1, be it any type of “ToGateway_User_...”, A, B or

C, as used in the Pluto project for each Pluto node.

PROGRAM ModbusTCP_GateMT

VAR CONSTANT

IP_Adress_Gate_MT:STRING:='192.168.0.100';(* Chosen by the user *)

(* See Appendix F, bullet 17.6 for the structure of the configuration telegram. *)

Length:WORD:=42; (* Length of Modbus TCP configuration telegram, do not change *)

Enable_Data_To_Pluto_Packets:WORD:=15; (* Enables up to four packets to Pluto, value 0 to 15 decimal,

0000 (none) - 1111 (all four) binary *)

Data_To_Pluto_Timeout:WORD:=0; (* Sets the timeout, 0 means no timeout or set to 1000 - 60000 *)

Expected_Pluto_NodesLSW :WORD:=65535; (* Pluto nodes 0 - 15, 65535 decimal for all 0 to 15, 1111 1111 1111 1111

binary, LSB is Pluto 0, MSB is Pluto 15 *)

Expected_Pluto_NodesMSW:WORD:=65535; (* Pluto nodes 16 - 31 65535 decimal for all 16 to 31, 1111 1111 1111 1111

binary, LSB is Pluto 16, MSB is Pluto 31 *)

Additional_Data_Area_0_Pluto_Node_Number:BYTE:=0; (* High Byte is Pluto node number, Low Byte is IO type; for IO type

see bullet 4.3.3 in the Pluto gateway manual *)

Additional_Data_Area_0_IO_Type:BYTE:=1; (* This and all 32 additional data areas below are calculated and in the Init step and inserted into the CfgData array below *)

Additional_Data_Area_1_Pluto_Node_Number:BYTE:=1;

Additional_Data_Area_1_IO_Type:BYTE:=1;





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Data_To_Pluto_Cycle_Time:WORD:=100; (* How often in ms the value is sent to the Pluto bus, lower value means high bus

load, value 4 - 255 *)

NotUsed0:WORD:=0;

NotUsed1:WORD:=0;

END_VAR

NotUsed2:WORD:=0;

Gateway_Node_Address:WORD:=0; (* Value between 0-15, can also be set by DIP switch on the gateway *)

VAR

ModbusTCP: ETH_MOD_MAST;

CfgData:ARRAY [0..41] OF WORD:=

Length,

Enable_Data_To_Pluto_Packets,

Data_To_Pluto_Timeout,

Expected_Pluto_NodesMSW,

Expected_Pluto_NodesLSW ,

0, (* Here and below follows the 32 (0 - 31) additional data areas available in the Gate-MT *)

0, (* The value is calculated in the Init step and inserted into the CfgData but they need to be initialised, set to zero *)

0, (* The value depends on the Additional_Data_Area_X_Pluto_Node_Number and

Additional_Data_Area_X_IO_Type above *)

0, (* Where X is 0 - 31 *)

0,

0,

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END_VAR

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

0,

Data_To_Pluto_Cycle_Time,

NotUsed0,

NotUsed1,

NotUsed2,

Gateway_Node_Address;

11.6.2.1.2 Structured Flow chart steps

The flow the state-machine works through, the user is advised to remove parts that will not be used as he sees fit. A configuration is always recommended to implement.

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11.6.2.1.3 Init step

This step takes the contents of the variables initialized above and puts in the correct place in the configuration array, CfgData.

11.6.2.1.4 Configuration step, Write

This step used the “ETH_MOD_MAST” block available in the CoDeSys environment. It is setup according to the rules described in Appendix F, bullet 17.6.

11.6.2.1.5 Pluto units online, Read

Reads which Pluto unit nodes are online on the Pluto bus.

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11.6.2.1.6 Global Data, Read

Reads the global data of all Pluto units available on the Pluto bus, the data which all units always transmit. Nothing needs to be configured in the Pluto unit.

11.6.2.1.7 Additional Data, Read

Reads the additional data that is transmitted on the Pluto bus by the Pluto units. The Pluto project needs to be setup using the “Ext01.fps” block library and use a suitable block from that library.

11.6.2.1.8 Packets to Pluto, Write

Used to transmit data to the Pluto units, via the gateway onto the Pluto bus. The Pluto unit that wishes to pick up the packet needs to be configured to do so. See the Pluto chapter.

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11.6.2.2 Task configuration

Create a task under; Resources – Task configuration, calling the SFC POU at a suitable interval, for example as shown in the pictures.

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12 Data to/from Pluto

This chapter will describe the different type of data sent to/from Pluto via the gateway. It will also be the reference chapter regarding encoding of the data.

12.1 Pluto Status

The size of this module is 4 bytes or 2 words. These data contain information about which Pluto units that are active on the Pluto bus. When a Pluto is active the corresponding bit is set to “1”.

The coding of the status data in byte is,

Byte

0

1

2

MSB

10 Pluto

LSB

8

Pluto 23 Pluto 22 Pluto 21 Pluto 20 Pluto 19 Pluto 18 Pluto 17 Pluto 16

3 Pluto 31 Pluto 30 Pluto 29 Pluto 28 Pluto 27 Pluto 26 Pluto 25 Pluto 24

Table 32, Pluto Status coding.

12.2 Global Data from Pluto

When selected, the global Pluto variables are always transferred. There are 32 global Pluto variables from each Pluto and they are always available on the Pluto bus, 1024 for a full net with

32 Pluto. All variables are bit variables.

The size of this module is 4 bytes or 2 words. Pluto global variables are of different types and are depending on which type of Pluto the data is coming from. The table below list different type of variables and the following tables list the layout of data from different type of Pluto:

Ix.y

Qx.y

GMx.y

ASIx.y

Table 33, Pluto variables.

Inputs data port y from Pluto x.

Safety outputs port y from Pluto x.

Global memories y from Pluto x.

Input AS-i safety slave y from Pluto x.

The coding of the Pluto variables for Pluto A20 and Double family in byte is,

Byte

0

1

2

MSB

Ix.7

Ix.17

GMx.3

Ix.6

Ix.16

GMx.2

Ix.5

Ix.15

Ix.4

Ix.14

Ix.3

Ix.13

GMx.1 GMx.0 Qx.3

Ix.2

Ix.12

Qx.2

Ix.1

Ix.11

Qx.1

LSB

Ix.0

Ix.10

Qx.0

3 GMx.11 GMx.10 GMx.9 GMx.8 GMx.7 GMx.6 GMx.5 GMx.4

Table 34, Pluto global data for Pluto A20 and Double family (x is Pluto node number).

The coding of the status variables for Pluto AS-i family in byte is,

Byte

0

MSB

ASIx.7

ASIx.6

LSB

ASIx.5 ASIx.4 ASIx.3 ASIx.2 ASIx.1 Ix.0

ASIx.15 ASIx.14 ASIx.13 ASIx.12 ASIx.11 ASIx.10 ASIx.9 ASIx.8

1

2 GMx.3

GMx.2

GMx.1 GMx.0 Qx.3

Qx.2

Qx.1

Qx.0


Table 35, Pluto global data for Pluto AS-i family (x is Pluto node number and ASIx.y is the safety node y).

The coding of the Pluto variables for Pluto B42 AS-i in byte is,

Byte

0

MSB

GMx.3

GMx.2

GMx.1 GMx.0 Ix.3

Ix.2

Ix.1

LSB

Ix.0

GMx.11 GMx.10 GMx.9 GMx.8 GMx.7 GMx.6 GMx.5 GMx.4

1



Table 36, Pluto global data for Pluto B42 AS-i (x is Pluto node number).

The coding of the Pluto variables for Pluto O2 in byte is,

90

2TLC172285M0203_C

Byte

0

1

2

-

-

MSB

GMx.3

-

-

GMx.2

-

-

-

-

GMx.1 GMx.0 -

-

-

-

-

-

Ix.1

Ix.11

Qx.1

LSB

Ix.0

Ix.10

Qx.0


Table 37, Pluto global data for Pluto O2 (x is Pluto node number).

12.3 Additional Data from Pluto

Every Pluto on the Pluto bus can send out additional data blocks where each block has:

- The Pluto node number.

- An IO-type number (for user block a user identity number).

- 0 (zero) data is not used.

- 1-99 are user defined numbers used at the additional data blocks in PLC code.

- ≥100 are standard additional data types (see tables below).

- 111 are IO-type for Pluto global data.

- 32 bit of data according to IO-type.

The configuration of the additional data is normally done using application objects on the industry protocol from the connected PLC system. It can also be done via the terminal port using

commands according to chapter 0.

12.3.1

Layout of additional data

All blocks which can be used in the Pluto PLC program for sending additional data are listed below.

Note: For the user defined blocks each block in each Pluto must be allocated a unique number between 1 and 99 (on input “No”) to identify the data block. This number is then used to identify the block in the receiving field bus system.

The standard blocks have defined data.

12.3.1.1 User defined blocks

User defined “ToGateway_User_A” (ToGateway_UserNumber_x),

Byte

0

MSB

Reg_0.7

Reg_0.6

Reg_0.5

Reg_0.4

Reg_0.3

LSB

Reg_0.2 Reg_0.1 Reg_0.0

Reg_0.15 Reg_0.14 Reg_0.13 Reg_0.12 Reg_0.11 Reg_0.10 Reg_0.9 Reg_0.8

1

2 Reg_1.7

Reg_1.6

Reg_1.5

Reg_1.4

Reg_1.3

Reg_1.2 Reg_1.1 Reg_1.0

3 Reg_1.15 Reg_1.14 Reg_1.13 Reg_1.12 Reg_1.11 Reg_1.10 Reg_1.9 Reg_1.8

Table 38, User defined block type A (Unique user number (x) set in block).

User defined “ToGateway_User_B” (ToGateway_UserNumber_x),

Byte

0

1

2

MSB

3 Pluto Error Code

Table 39, User defined block type B (Unique user number (x) set in block).

LSB



Bit_7 Bit_6 Bit_5 Bit_4 Bit_3 Bit_2 Bit_1 Bit_0

User defined “ToGateway_User_C” (ToGateway_UserNumber_x),

Byte

0

MSB

Reg_0.7

Reg_0.6

Reg_0.5

Reg_0.4

Reg_0.3

LSB

Reg_0.2 Reg_0.1 Reg_0.0


1

2 Bit_7 Bit_6 Bit_5 Bit_4 Bit_3

3 Bit_15 Bit_14 Bit_13 Bit_12 Bit_11

Table 40, User defined block type C (Unique user number (x) set in block).

Bit_2

Bit_10

Bit_1

Bit_9

Bit_0

Bit_8

91

2TLC172285M0203_C

12.3.1.2 Standard blocks

ASIx.y is safety slave y from Pluto AS-i unit (x is Pluto node number).

Standard “ToGateway_ErrorCode” (IO-type number 100, 0x64),

Byte

0

1

2

MSB

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

3 Pluto Error Code

Table 41, Standard block “ToGateway_ErrorCode” ( ‘-‘ character indicate undefined value).

Standard “ToGateway_B46_I20_I47” (IO-type number 101, 0x65),

Byte

0

1

2

MSB

Ix.27

Ix.37

Ix.47

Ix.26

Ix.36

Ix.46

Ix.25

Ix.35

Ix.45

3

Table 42, Standard block “ToGateway_B46_I20_I47”.

Ix.24

Ix.34

Ix.23

Ix.33

Ix.44

Ix.43

Pluto Error Code

Ix.22

Ix.32

Ix.42

-

-

-

Ix.21

Ix.31

Ix.41

LSB

-

-

-

LSB

Ix.20

Ix.30

Ix.40

Standard “ToGateway_ASi_16_31_Safe” (IO-type number 102, 0x66),

Byte

0

MSB

Ix.13* Ix.12* Ix.11* Ix.10* Ix.3* Ix.2* Ix.1*

LSB

-


1

2 ASIx.31 ASIx.30 ASIx.29 ASIx.28 ASIx.27 ASIx.26 ASIx.25 ASIx.24

3 Pluto Error Code

Table 43, Standard block “ToGateway_ASi_16_31_Safe” ( ‘-‘ undefined value / ‘*’ undefined for B42 AS-i).

Standard “ToGateway_ASi_1_3_NonSafe_In” (IO-type number 103, 0x67),

Byte

0

1

2

MSB

-

Ax.1B.4 Ax.1B.3 Ax.1B.2 Ax.1B.1

Ax.2B.4 Ax.2B.3 Ax.2B.2 Ax.2B.1

-

Ax.1.4

Ax.2.4

-

Ax.1.3

Ax.2.3

3 Ax.3B.4 Ax.3B.3 Ax.3B.2 Ax.3B.1

Ax.3.4

Ax.3.3

Table 44, Standard block “ToGateway_ASi_1_3_NonSafe_In” ( ‘-‘ undefined value).

-

Ax.1.2

Ax.2.2

Ax.3.2

LSB

-

Ax.1.1

Ax.2.1

Ax.3.1


Byte

0

1

2

MSB

Ax.4B.4 Ax.4B.3 Ax.4B.2 Ax.4B.1

Ax.5B.4 Ax.5B.3 Ax.5B.2 Ax.5B.1

Ax.6B.4 Ax.6B.3 Ax.6B.2 Ax.6B.1

3 Ax.7B.4 Ax.7B.3 Ax.7B.2 Ax.7B.1

Table 45, Standard block “ToGateway_ASi_4_7_NonSafe_In”.

Ax.4.4

Ax.5.4

Ax.6.4

Ax.7.4

Ax.4.3

Ax.5.3

Ax.6.3

Ax.7.3

Ax.4.2

Ax.5.2

Ax.6.2

Ax.7.2

LSB

Ax.4.1

Ax.5.1

Ax.6.1

Ax.7.1


Byte

0

1

2

MSB

Ax.8B.4 Ax.8B.3 Ax.8B.2 Ax.8B.1

Ax.9B.4 Ax.9B.3 Ax.9B.2 Ax.9B.1

Ax.8.4

Ax.9.4

Ax.8.3

Ax.9.3

Ax.8.2

Ax.9.2

LSB

Ax.8.1

Ax.9.1

Ax.10B.4 Ax.10B.3 Ax.10B.2 Ax.10B.1 Ax.10.4 Ax.10.3 Ax.10.2 Ax.10.1

3 Ax.11B.4 Ax.11B.3 Ax.11B.2 Ax.11B.1 Ax.11.4 Ax.11.3 Ax.11.2 Ax.11.1


92

2TLC172285M0203_C

Standard “ToGateway_ASi_12_15_NonSafe_In” (IO-type number 106, 0x6A),

Byte

0

1

2

MSB LSB






Standard “ToGateway_ASi_16_19_NonSafe_In” (IO-type number 107, 0x6B),

Byte

0

1

2

MSB LSB






Standard “ToGateway_ASi_20_23_NonSafe_In” (IO-type number 108, 0x6C),

Byte

0

1

2

MSB LSB






Standard “ToGateway_ASi_24_27_NonSafe_In” (IO-type number 109, 0x6D),

Byte

0

1

2

MSB LSB






Standard “ToGateway_ASi_28_31_NonSafe_In” (IO-type number 110, 0x6E),

Byte

0

1

2

MSB LSB






Standard “GLOBAL DATA” (IO-type number 111, 0x6F),

Byte

0

1

2

MSB

3

Table 52, Standard block “GLOBAL DATA”.

See 12.2

LSB

Standard “ToGateway_B42_ASi_I20_I47” (IO-type number 112, 0x70),

Byte

0

1

2

MSB

Ix.27

Ix.37

Ix.47

Ix.26

Ix.36

Ix.46

Ix.25

Ix.35

Ix.45

Ix.24

Ix.34

Ix.44

Ix.23

Ix.33

Ix.43

3 Pluto Error Code

Table 53, Standard block “ToGateway_B42_ASi_I20_I47”.

Ix.22

Ix.32

Ix.42

Ix.21

Ix.31

Ix.41

LSB

Ix.20

Ix.30

Ix.40

93

2TLC172285M0203_C

Standard “ToGateway_ASi_1_15_Safe” (IO-type number 113, 0x71),

Byte

0

1

2

MSB

Ix.17

ASIx.7

Ix.16

ASIx.6

Ix.15

Ix.14

Ix.13

Ix.12

Ix.11

ASIx.5 ASIx.4 ASIx.3 ASIx.2 ASIx.1

LSB

Ix.10

0


3 Pluto Error Code

Table 54, Standard block “ToGateway_ASi_1_15_Safe”.

Standard “ToGateway_D45_I20_I47” (IO-type number 114, 0x71),

Byte

0

1

2

MSB

0

Ix.37

Ix.47

Ix.26

Ix.36

Ix.46

Ix.25

Ix.35

Ix.45

3

Table 55, Standard block “ToGateway_D45_I20_I47”.

Ix.24

Ix.34

Ix.23

Ix.33

Ix.44

Ix.43

Pluto Error Code

Ix.22

Ix.32

Ix.42

Ix.21

Ix.31

Ix.41

LSB

Ix.20

Ix.30

Ix.40

94

2TLC172285M0203_C

12.3.2

Programming in Pluto PLC

12.3.2.1 Function block library

To use the function “Additional data from Pluto” the function block library “Ext01_1.fps” must be

selected. The library contains all blocks listed above (12.3.1.1 and0).

Figure 90 – Add function library “Ext01_1.fps”.

12.3.2.2 Use of the function blocks

As described before there are standard blocks and user defined blocks. The standard blocks have a fixed content as for example “ToGateway_B46_I20_I47” transmitting the local inputs and error code of a Pluto B46. The user defined blocks have inputs for bit variables (M, I, Q...) and registers which makes it possible for the user to compose his own telegram.

.

Figure 91 – Example of a standard block.

Transmission of AS-i slave inputs 16-31 and error code.

Each block generates a CAN telegram on the

Pluto bus. In order to control and limit bus load and execution time all blocks have an input named “Send”. When the input conditions for

“Send” are true (1) the block transmits a telegram. All blocks have also an output “Q” which is high (1) by transmission and can for example be used for inhibiting other blocks to transmit.

Figure 92 – Example of a user defined block:

Transmission of 8 bits and one register.

Note: Each block in each Pluto shall have its unique number in input “No”.

If “Send” is continuously activated a CAN message is transmitted every 10 ms which of course will give the best performance in reaction time. If there is need for limiting the transmission depends on how many Pluto units there are on the bus and how many of these blocks are used.

Note: Pluto can only send 4 telegrams every PLC cycle.

Note: Additional data can be sent with time interval up to 300 ms as the internal timeout is fixed to 1000 ms.

For example can the time interval be set by using timer block

TON, see example below, which then will to lower the bus load if this update time is appropriate for the application.

95

2TLC172285M0203_C

12.3.2.3 Example of usage in Pluto program

The following two examples show how transmission rate can be controlled in order to limit the CAN bus load and program execution time in Pluto.

Figure 93 – Example 1: Transmission of local IO:s in a Pluto B46 user defined block. The input “Send” in the first block is connected to the system memory for 10Hz to decrease the CAN bus load to 1 telegram / 100ms. The second block will be

transmitted one PLC cycle after the first because “Send” is connected to negative edge of Sent_1.”.

96

2TLC172285M0203_C

Figure 94 – Example for transmission from a Pluto AS-i sequence. The transmission can be enabled by memory

M0.0 in sequence 0 then a telegram will be transmitted every 50 ms. This is a recommended method when a lot of blocks are used since it limits the CAN bus load and the Pluto do not need to execute the code in inactive

sequence steps.

97

2TLC172285M0203_C

12.4 Data to Pluto

A gateway can totally transfer 64 bit variables and 8 registers from other field buses to the Pluto bus. The area “Data to Pluto” is divided into four packets each with16 bit variables and two registers and is organized according to the table below.

To Pluto Area

Packet

0

Type

1

Bit (16 bits)

Register (16 bits)

Register (16 bits)

Bit (16 bits)

Register (16 bits)

Register (16 bits)

2 Bit (16 bits)

Register (16 bits)

Register (16 bits)

Bit (16 bits) 3

Register (16 bits)

Register (16 bits)

Table 56, “Data to Pluto” data allocation.

12.4.1

Enable bit

Data

Bit variables 0…15

Register 0

Register 1


Register 0

Register 1


Register 0

Register 1


Register 0

Register 1

A PLC system on the field bus can enable the usage of 0 to 4 of the packets for Data to Pluto, for example enable the gateway to transfer the data in packet 0 and 1 to the units on the Pluto bus.

The gateway then transmits one packet in one CAN telegram.

12.4.2

Cyclic transmission time

The gateway will transmit each data packet cyclically every 100 ms to the Pluto bus. The time interval is 4 – 255 ms with a default value of 100 ms.

Note: Low cycle time will load the Pluto bus more.

Therefore this value shall not be set lower than needed and with consideration of the load of the Pluto bus.

12.4.3

Timeout time

A PLC system on the field bus can also set a timeout value time in the range of 0 – 60000 ms. The default value is 0 which is the same as no timeout. If the gateway does not receive data telegrams from the field bus within the timeout time the data will be cleared and the gateway will transmit “0”.

12.5 In PLUTO - Reception of external data from gateway

A PLUTO has a corresponding data area for external communication divided in four data blocks which enables each PLUTO unit to receive four packets of data from different sources e.g. four different gateways. A data block in a PLUTO is programmed to receive data from a certain gateway node number (0 – 15) and a certain packet number (0 – 15).

12.5.1

Set up in PLUTO for reception

For each PLUTO which shall receive data from a gateway, a setup must be made to decide from where the data comes. If the same gateway shall send to more than one block it must send in two different packets. (One packet is one CAN telegram).

98

2TLC172285M0203_C

Figure 95 – Example of setup in Pluto for reception of external data from

three different gateways.

Note: The timeout shall be greater than the gateway cycle time

which has a default value of 100 ms, see chapter 12.4.2.

12.5.2

Addressing of external data in Pluto

In the PLUTO the variables are numbered according to the following table.

Data block

External Comm

Block 0

External Comm

Block 1

Data in Pluto

Data bit 0…15

Register 0

Register 1

Data bit 16…31

Register 2

Register 3

External Comm

Block 2

Data bit 32…47

Register 4

Register 5

External Comm

Block 3

Data bit 48…63

Register 6

Register 7

Table 57, “Data to Pluto” external data in Pluto.

99

2TLC172285M0203_C

12.5.3

Connection of external variables in PLC code

When the setup in “External Communication” is made the data can be used in the PLC code. Then there are function blocks for linking the variables to the ordinary PLC variables M, Q, GM or R.

The blocks are available in the library “Ext01.fps” which must be selected.

Figure 96 – The function library Ext01.fps must be selected.

12.5.3.1 Function block ”Ext_Sig”

The function block Ext_Sig links the data bits to the PLC code.

Figure 97 – Reception of Data bit 4 (located in Data block 0).

12.5.3.2 Function block ”Ext_Val”

The function block Ext_Val links the registers to the PLC code.

Figure 98 – Reception of register 5 (located in Data block 2).

12.5.3.3 Function block ”ExtVarBlock”

The function block ExtVarBlock makes it possible to link all variables in one of the “External comm blocks” to the PLC code. The function block is very big but is easier to use since the only input parameter is the number of the “External comm. Block”.

By setting of BlockNo = 0: Bits 0…15 and Reg 0..1 are given.




(According to table 12.5.2)

100

2TLC172285M0203_C

Figure 99 – Reception of all variables in “External Comm Block” 0, (16 bits, 2 registers).

101

2TLC172285M0203_C

13 Technical data

13.1 Protocol specific data

GATE-EIP – EtherNet/IP

Interface

Status indication

Default IP address

Service ports

According to,

· ODVA, CIP Volume 1 Edition 3.16

· ODVA, CIP Volume 2 EtherNet/IP Adaption of CIP Edition 1.17

· Minimum RPI value of 10 ms.

Mod (Module) status and Net (Network) status.

DHCP.

TCP/44818, UDP/2222 and UDP/44818 (see 7.4).

GATE-EC – EtherCAT

Interface

Status indication

Default IP address

Service ports

According to

· IEC 61158 Part 2-6 Type 12 documents (ETG.1000 V1.0.3).

· EtherCAT Protocol Enhancements (ETG.1020 V1.0.0).


· The device support FoE (firmware update).

· The device support EoE (remote server).

Run and Error status.

Master configured.

-

GATE-S3 – Sercos III

Interface

Status indication

Default IP address

Service ports

GATE-PN – PROFINET

Interface

According to:

· Communication Spec. V1.1.2.1.7 (March 30, 2009).

· Sercos Communication Profile V1.1.2.1.1 (March 31, 2009).

· Function Specific Profile IO V1.1.2.1.4 (May 11, 2009).

· Internet Protocol Services V1.3.1 - 1.2 (February 10, 2011).


S3 status.

192.168.0.100

UDP/35021 (see 9.4).

Status indication

Default IP address

Service ports

According to:

· Specification for PROFINET, Version 2.31.

· IRT Top (“Red phase”) will be supported.

· Minimum cycle time 2ms for RTC1 and 1ms for RTC3.

SF (System Failure) and BF (Bus Failure).

Master configured.

UDP/161, UDP/34964 and UDP/49152 (see 10.6).

GATE-MT – Modbus TCP

Interface According to:

· Modbus Application Protocol Specification, V1.1a.

· Modbus Messaging on TCP/IP Implementation Guide, V1.0a.

· Minimum 500 request per seconds for one steady open connection with about 1 ms response time.

· Maximum of 8 client connections.

Status indication

Default IP address

Service ports

RUN (Connection) and ERR (Error).

DHCP.

TCP/502 (see 11.4).

102

2TLC172285M0203_C

13.2 Common data

Ethernet data and services

Interface

Status

IP address

2 port with 10/100 Mbit/s, half/full duplex.

Link status and traffic status on each port.

Static, DHCP and BOOTP.

Set via terminal (PC port), not for GATE-EC and GATE-PN.

Remote access (port 50100, changeable).

Remote server

Pluto bus

Pluto bus

Pluto bus speed

CAN (electrical insulation 500 VAC).

100, 125, 200, 250, 400, 500, 800 and 1000 kbit/s

(automatic speed detection).

Pluto bus status vid LED (Pluto bus).

Status indication

PC port (front connector)

Setting

Cable (serial)

Cable (USB)

Common data

DC power

Power consumption at

24V

Electrical insulation

Enclosure

Mounting

Ambient air temperature

Temperature, transportation and storage

Operating altitude

Humidity

Degree of protection

57600 bit/s, 8 bit data, 1 stop bit, no parity and no flow control.

Article number 2TLA020070R5600.

Article number 2TLA020070R5800.

24 VDC, -15% to +20%.

< 4.8 W

< 0.2 A (recommended external fuse ≤ 6 A).

500 VAC for Pluto bus and Ethernet ports to DC power.

Width = 22.5 mm, height = 108 mm and depth = 114 mm.

35 mm DIN rail.

-10 °C to + 55 ºC.

-25 °C to + 55 ºC.

Up to 2000 meter.

EN 60 204-1 50% at 40 ºC (ex 90% at 20 ºC).

Enclosure IP 20 - IEC 60 529.

Terminals IP 20 - IEC 60 529.

Approval

Figure 100 – Gateway mechanical dimensions.

103

2TLC172285M0203_C

14 Appendix A, gateway registers.

With the terminal command “gw” and via Pluto bus request it’s possible to read this information from the gateway. All gateway registers are 32-bit registers.

14.1 Gateway registers 0 - …

Unit information registers.

Register Data

0 Unit firmware version

- Bit 0 – 7, major number

- Bit 8 – 15, minor number

- Bit 16 – 23, build number

- Bit 24 – 31, revision number

1 Unit firmware date

- Bit 0 – 7, century

- Bit 8 – 15, year

- Bit 16 – 23, month

- Bit 24 – 31, day

4

5

2

3

6

Reserved

Reserved

Reserved

Unit name

- GATE-EIP, 0x504945 (ASCII “PIE”)

- GATE-EC, 0x4345 (ASCII “CE”)

- GATE-S3, 0x3353 (ASCII “3S”)

- GATE-PN, 0x4E50 (ASCII “NP”)

- GATE-MT, 0x544D (ASCII “TM”)

Unit device type

Read Write Note

X

X

-

X

-

-

X

10

11

12

7

8

9

13

14

15

16

17

18

Reserved

Unit serial number

Option information:

- bit 0 set if support for pl/pkl commands.

Unit uptime in seconds

Unit gateway node number (0 – 15)

Online Pluto bit mask information.

- Bit 0 is Pluto 0

- Bit 1 is Pluto 1

…

- Bit 31 is Pluto 31

-

-

-

-

-

Active additional data bit mask information.

- Bit 0 is additional area 0


…


104

X

X

X

-

X

X

X

2TLC172285M0203_C

19

20

21

22

23

24

25

26

27

-

CAN speed (0 = speed detection)

CAN receive overrun counter

CAN error status

CAN error passive counter

CAN bus off counter

CAN restart counter

CAN RX counter (CAN controller)

CAN TX counter (CAN controller)

X

X

X

X

X

X

X

X

14.2 Gateway registers 100 - …

Fieldbus information registers.

Register Data

100 MAC address (high part, bit 0 - 15)

101

102

103

MAC address (low part, bit 0 - 31)

TCP/IP address

- aaa.bbb.ccc.ddd

- bit 24 – 32 is aaa value

- bit 16 – 23 is bbb value

- bit 8 – 15 is ccc value

- bit 0 – 7 is ddd value

TCP/IP subnet mask

- See coding for register 102

104

105

106

107

TCP/IP gateway address


TCP/IP address mode

- 1 address mode Static

- 2 address mode BOOTP

- 3 address mode DHCP

Number of Ethernet ports

Port speed for port 1

- 1 is 10 Mbit/s

- 2 is 100 Mbit/s

108

109

110

111

112

113

114

115

116







Duplex information for port 1

- 1 is half duplex

- 2 is full duplex







MAC address for port 1 (high part, bit 0 - 15)

MAC address for port 1 (low part, bit 0 - 31)

Read Write Note

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

GATE-PN

GATE-PN

105

2TLC172285M0203_C

117

118

119

120

121

122

123

124

125

125

127







Remote server active

- 1 is active / 0 is not active

Remote server port number

Remote Pluto system control

- 1 is active / 0 is not active

Number of connections to remote server

Max number of connections to remote server

GATE-EIP specific registers (EtherNet/IP).

150

151

152

153

154

Vendor id

Product number

Profile number

Module status

Network status

GATE-EC specific registers (EtherCAT).

150

151

Vendor id

Product number

GATE-S3 specific registers (Sercos III).

150

151

Vendor id

Product number

GATE-PN specific registers (PROFINET).

150

151

Vendor id

Product number

GATE-MT specific registers (Modbus TCP).

150 -

14.3 Gateway register 200 - …

Pluto global data register information.

Register Data

200 Global data from Pluto 0

201

202

203

204

Global data from Pluto 1




205

206

207




X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

-

GATE-PN

GATE-PN

GATE-PN

GATE-PN

GATE-PN

GATE-PN

Read Write Note

X

X

X

X

X

X

X

X

106

2TLC172285M0203_C

213

214

215

216

217

218

219

208

209

210

211

212

220

221

222

223

224

225

226

227

228

229

230

231


























Additional data register information.

311

312

313

314

315

316

317

318

319

320

321

322

323

324

Register Data

300 Additional data for area 0

301

302

303

304

Additional data for area 1




305

306

307

308

309

310





















107

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

Read Write Note

X

X

X

X

X

2TLC172285M0203_C

325

326

327

328

329

330

331








X

X

X

X

X

X

X


Additional filter register information.

- Bit 0 – 7 coding IO-type

- Bit 8 – 15 coding Pluto number

- Bit 30 set if active on Pluto bus

- Bit 31 set if configuration active (e.g. IO-type not zero)

423

424

425

426

427

428

429

430

431

Register Data

400 Additional filter for area 0

401 Additional filter for area 1

402

403

404

405

Additional filter for area 2




411

412

413

414

415

416

417

418

419

420

421

422

406

407

408

409

410



























X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

Read Write Note

X

X

X

X

X

X


Data to Pluto data register information.

108

2TLC172285M0203_C

Register Data

500 Data to Pluto area 0, bits

501

502

503

Data to Pluto area 0, register 1


Data to Pluto area 1, bits

504

505

506

507

508

509

510

511










Data to Pluto setting register information.

Register Data

600

601

Data to Pluto enable bit mask

- Bit 0 enable area 0




Data to Pluto update time (ms)

602 Data to Pluto timeout (ms)

X

X

X

X

X

X

X

X

Read Write Note

X

X

X

X

Read Write Note

X

X

X

109

2TLC172285M0203_C

15 Appendix B, object description EtherNet/IP

This is a description of the object model used for EtherNet/IP.

15.1 Definitions

The following table has a description of all of the data types used.

USINT

UINT

UDINT

STRING

BYTE

WORD

DWORD

Unsigned Short Integer (8-bit)

Unsigned Integer (16-bit)

Unsigned Double Integer (32-bit)

Character String (1 byte per character)

Bit String (8-bits)

Bit String (16-bits)

Bit String (32-bits)

110

2TLC172285M0203_C

15.2 Identity Object (01

HEX -

1 Instance)

Class Attributes

Attribute

ID

1

Name

Revision

Instance Attributes

Attribute

ID

1

2

3

4

5

6

7

Name

Vendor Number

Device Type

Product Code Number

Product Major Revision

Product Minor Revision

Status Word (see below for definition)

Product Serial Number

Product Name

Data Type

UINT

Data Value

1

Access

Rule

Get

Data Type Data Value Access

Rule

UINT 950 Get

UINT

UINT

USINT

USINT

WORD

43

1100

2

11

See Below

Get

Get

Get

Get

UDINT

String of

USINT

Unique

32 Bit Value

GATE-EIP

Get

Get

Status Word

Bit

0

1

2

3 – 15

Bit = 0

Not Owned

Unused

No configuration since the last

Out of Box reset.

Unused

Common Services

Service

Code

0E

HEX

05

HEX

Implemented for

Class Level Instance Level

Yes

No

Yes

Yes

Bit = 1

Owned

Unused

The device has been configured since the last Out of Box reset.

Unused

Service Name

Get_Attribute_Single

Reset

15.3 Message Router Object (02

HEX

)

This object has no supported attributes.

111

2TLC172285M0203_C

15.4 Assembly Object (04

HEX

– 5 Instances)

Class Attributes (Instance 0)

Attribute

ID

1

2

Name

Revision

Max Instance

Input Instance Attributes (Instance 100 - 102)


UINT

UINT

2

113

Rule

Get

Get

Attribute

ID

3

Name

Input Data

Data Type

USINT

[4-132]

Input Instance 100 – 4 Bytes (Node Status Only)

For more information about data structure see chapter 12.

Default

Data Value

0

Access

Rule

Bytes

0 – 3

Class, Instance, Attribute

0x64, 0x00, 0B

Input Instance 101 – 256 Bytes (Node Data Only)

Description

Node Status


Bytes

0 – 3

4 – 7

…

120 – 123

124 – 127

128 – 131

132 – 135

…

248 – 251

252 – 255


0x64, 0x01, 0x04

0x64, 0x02, 0x04

0x64, 0x1F, 0x04

0x64, 0x20, 0x04

0x64, 0x01, 0x0A

0x64, 0x02, 0x0A

0x64, 0x1F, 0x0A

0x64, 0x20, 0x0A

Description

Combined 32 Bit Data – Node 0




Additional Data 00

Additional Data 01

Additional Data 30

Additional Data 31

Get

112

2TLC172285M0203_C

Input Instance 102 – 260 Bytes (Node Status and Data)


Bytes

0 – 3

4 – 7

8 – 11

…

124 – 127

128 – 131

132 – 135

136 – 139

…

252 – 255

256 – 259


0x64, 0x00, 0x0B

0x64, 0x01, 0x04

0x64, 0x02, 0x04

0x64, 0x1F, 0x04

0x64, 0x20, 0x04

0x64, 0x01, 0x0A

0x64, 0x02, 0x0A

0x64, 0x1F, 0x0A

0x64, 0x20, 0x0A

Output Instance Attributes (Instance 112)

Description

Node Status





Additional Data 00

Additional Data 01

Additional Data 30

Additional Data 31

Attribute

ID

3

Name

Output Data

Data Type Default

Data Value

0

Access

Rule

Get USINT

[0-24]

Output Instance 112 – 24 Bytes (Data to Pluto)

For more information about data structure see chapter Error! Reference source not found..

Bytes

0 – 5

6 – 11

12 – 17

18 – 23


0x64, 0x00, 0x0C

0x64, 0x00, 0x0D

0x64, 0x00, 0x0E

0x64, 0x00, 0x0F

Description

Data to Pluto area 0




Output Instance 128 (Heartbeat Instance – Input Only)

This instance allows client to monitor input data without providing output data.

Output Instance 129 (Heartbeat Instance – Listen Only)

This instance allows client to monitor input data without providing output data. To utilize this connection type, an owning connection must exist from a second client and the configuration of the connection must match exactly.

Output Instance 130 (Configuration Instance)

This instance allows client to download necessary configuration information to the gateway when the I/O connection is opened. The configuration instance supports 0 – 400 bytes of data. If no configuration data is needed this instance may be omitted.

113

2TLC172285M0203_C

Common Services

Service

Code

0E

HEX

10

HEX

No

Implemented for

Class Level

Yes

Instance Level

Yes

Yes

15.5 Connection Manager Object (06

HEX

)

This object has no attributes.

Service Name


Set_Attribute_Single

114

2TLC172285M0203_C

15.6 TCP Object (F5

HEX -

1 Instance)


Attribute

ID

1

Name

Revision


Attribute

ID

1

2

3

4

5

6

Name

Status

1

Configuration Capability

2

Configuration Control

3

Physical Link Object

4

Structure of:

Path Size

Path

Interface Configuration

5

Structure of:

IP Address

Network Mask

Gateway Address

Name Server

Name Server 2

Domain Name Size

Domain Name

Host Name

6

Structure of:

Host Name Size

Host Name

Common Services

Service

Code

0E

HEX

10

HEX

01

HEX

Implemented for


Yes

No

No

Yes

Yes

Yes


Rule

UINT 1 Get

Data Type

DWORD

DWORD

DWORD

UINT

Array Of

WORD

UDINT

UDINT

UDINT

UDINT

UDINT

UINT

STRING

UINT

STRING

Default

Data Value

1

0

0

2

0x20F6

0x2401

0

0

0

0

0

0

0

0

0

Service Name

Access

Get_Attribute_All

Rule


Set_Attribute_Single

Get

Get

Get

Get

Get

Get

1

See section 5-3.2.2.1 of “Volume 2: EtherNet/IP Adaptation of CIP” from ODVA for more details on this attribute.

2 See section 5-3.2.2.2 of “Volume 2: EtherNet/IP Adaptation of CIP” from ODVA for more details on this attribute.



5


6


115

2TLC172285M0203_C

15.7 Ethernet Link Object (F6

HEX -

1 Instance)


Attribute ID Name

1


Revision

Attribute ID

1

2

3

Name

Interface Speed

7

Interface Flags

8

Physical Address 9

Data Type

Common Services

Service

Code

0E

HEX

01

HEX

Implemented for


Yes

No

Yes

Yes

UINT

Data Type

UDINT

DWORD

USINT

Array[6]

Data Value

1

Default

Data Value

100

3

0

Service Name


Get_Attribute_All

Access

Rule

Get

Access

Rule

Get

Get

Get

7



9


116

2TLC172285M0203_C

15.8 Application Object (64

HEX -

32 Instances)

Class Attributes (Instance 0)

For more information about “Data to Pluto” structure see chapter 12.4.


1

10

11

12

13

14

15

16

17

18

19

20

Revision

Expected Nodes Bitmap

Not used!

Node Status Bitmap

Data to Pluto 1

Data to Pluto 2

Data to Pluto 3

Data to Pluto 4

Enable Data to Pluto

(0 = Disabled; 1 = Enabled)

Bit 0 – Data To Pluto 1




Data to Pluto Timeout (ms)

0 = timeout disabled

Valid value ≥ 1000 ms.

Data to Pluto Update Time

(ms). Value modulus of 4 e.g.

0, 4, 8, 16… 252.

Set gateway node number

0 = DIP switch setting

1 = Node number 0

2 = Node number 1

…

16 = Node number 15

Read gateway node number

0 = Node number 0

1 = Node number 1

…

15 = Node number 15

Data Type

UINT

DWORD

DWORD

UINT[3]

UINT[3]

UINT[3]

UINT[3]

BYTE

UINT16

UINT8

UINT8

UINT8

Default

Data Value

1

0

0

0,0,0

0,0,0

0,0,0

0,0,0

0

0

100

0

0

Additional data configuration see chapter 12.3.


32

33

34

35

36

37

38

39

40

41

42

43

Additional Data 00, Node (0-31)

Additional Data 00, IO-type











BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

Data Type Default

Data Value

0

0

0

0

0

0

0

0

0

0

0

0

Get/Set

Get/Set

Get/Set

Get

Access

Rule

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Access

Rule

Get

Get/Set

Get

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

117

2TLC172285M0203_C

69

70

71

72

63

64

65

66

67

68

73

74

75

76

77

49

50

51

52

53

54

55

44

45

46

47

48

56

57

58

59

60

61

62

91

92

93

94

95

87

88

89

90

78

79

80

81

82

83

84

85

86





















































BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

BYTE

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

Get/Set

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

118

2TLC172285M0203_C

Instance Attributes (Instances 1-32)

Instance value 1-32 is equal to Pluto station number 0-31.


1

2

3

4

10

Common Services

Input Bits

Output Bits

Global Bits

Combined 32 Bits

Additional Data 32 Bits

Data Type

WORD

BYTE

WORD

DWORD

DWORD

Service

Code

0E

HEX

10

HEX

Implemented for


Yes

Yes

Yes

No

Default

Data Value

0

0

0

0

0

Service Name

Get Attribute Single

Set Attribute Single

Access

Rule

Get

Get

Get

Get

Get

119

2TLC172285M0203_C

16 Appendix C, object description EtherCAT

16.1 PDO mapping

16.1.1

Input mapping

16.1.1.1 Pluto status (0x1A00)

Data Type Index:

Subindex

0x1A00:1

Name

Pluto status data(0x2120:1)

16.1.1.2 Pluto global 0 – 7 (0x1A01)

Index:

Subindex

0x1A01:1

0x1A01:2

0x1A01:3

0x1A01:4

0x1A01:5

0x1A01:6

0x1A01:7

0x1A01:8

Name

Pluto global 0 (0x2100:1)








16.1.1.3 Pluto global 8 – 15 (0x1A02)

Index:

Subindex

0x1A02:1

0x1A02:2

0x1A02:3

0x1A02:4

0x1A02:5

0x1A02:6

0x1A02:7

0x1A02:8

Name









16.1.1.4 Pluto global 16 – 23 (0x1A03)

Index:

Subindex

0x1A03:1

0x1A03:2

0x1A03:3

0x1A03:4

Name





Data Type

Data Type

Data Type

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

120

2TLC172285M0203_C

Index:

Subindex

0x1A03:5

0x1A03:6

0x1A03:7

0x1A03:8

Name





16.1.1.5 Pluto global 24 – 31 (0x1A04)

Index:

Subindex

0x1A04:1

0x1A04:2

0x1A04:3

0x1A04:4

0x1A04:5

0x1A04:6

0x1A04:7

0x1A04:8

Name









16.1.1.6 Additional data 0 – 7 (0x1A05)

Index:

Subindex

0x1A05:1

0x1A05:2

0x1A05:3

0x1A05:4

0x1A05:5

0x1A05:6

0x1A05:7

0x1A05:8

Name

Additional data 0 (0x2101:1)









Index:

Subindex

0x1A06:1

0x1A06:2

0x1A06:3

0x1A06:4

0x1A06:5

0x1A06:6

0x1A06:7

Name








Data Type

Data Type

Data Type

Data Type

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

121

2TLC172285M0203_C

Index:

Subindex

0x1A06:8

Name



Index:

Subindex

0x1A07:1

0x1A07:2

0x1A07:3

0x1A07:4

0x1A07:5

0x1A07:6

0x1A07:7

0x1A07:8

Name










Index:

Subindex

0x1A08:1

0x1A08:2

0x1A08:3

0x1A08:4

0x1A08:5

0x1A08:6

0x1A08:7

0x1A08:8

Name









16.1.2

Output mapping

16.1.2.1 Data to Pluto packet 1 (0x1600)

Index:

Subindex

0x1600:1

0x1600:2

0x1600:3

Name

Bits 0-15 (0x2200:1)

Register 0 (0x2200:2)



Index:

Subindex

0x1601:1

Name

Bits 0-15 (0x2201:1)

Data Type

Data Type

Data Type

Data Type

Data Type

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

122

2TLC172285M0203_C

Index:

Subindex

0x1601:2

0x1601:3

Name




Index:

Subindex

0x1602:1

0x1602:2

0x1602:3

Name

Bits 0-15 (0x2202:1)




Index:

Subindex

0x1603:1

0x1603:2

0x1603:3

Name

Bits 0-15 (0x2203:1)



16.2 SDO mapping

16.2.1

Pluto global data (0x2100)

Index:

Subindex

0x2100:1

0x2100:2

0x2100:3

0x2100:4

0x2100:5

0x2100:6

0x2100:7

0x2100:8

0x2100:9

Name

Pluto 0

Pluto 1

Pluto 2

Pluto 3

Pluto 4

Pluto 5

Pluto 6

Pluto 7

Pluto 8

Data Type

Data Type

Data Type

Data Type

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

123

Default Data

Value

Access

Default Data

Value

Access

Default Data

Value

Access

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Default Data

Value

Access

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

2TLC172285M0203_C

Index:

Subindex

Name

16.2.2

Additional data (0x2101)

Index:

Subindex

Name

0x2101:1

0x2101:2

0x2101:3

0x2101:4

0x2101:5

Additional area 0

Additional area 1

Additional area 2

Additional area 3

Additional area 4

0x2101:6

0x2101:7

0x2101:8

0x2101:9

Additional area 5

Additional area 6

Additional area 7

Additional area 8

0x2101:10 Additional area




















124

Data Type

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

0

0

0

0

0

0

0

0

0

0

0

0

Default Data

Value

Access

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Data Type

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

DWORD

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Default Data

Value

Access

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

2TLC172285M0203_C

Index:

Subindex

Name




16.2.3

Pluto status (0x2120)

Data Type

DWORD

DWORD

DWORD

0

0

0

Default Data

Value

Access

Ro

Ro

Ro

Index:

Subindex

0x2120

Name

Pluto status data

Data Type

DWORD

Default Data

Value

0

Access

Ro

16.2.4

Data to Pluto (0x220y)

There are 4 objects with the Indexes 0x2200 to 0x2203 represents the output data going to Pluto.

Index:

Subindex

0x220Y

0x220Y:1

0x220Y:2

0x220Y:3

Name

Data to Pluto Output Pack Y

Py Bits 0-15

Py Register 0

Py Register 1

Data Type

WORD

WORD

WORD

0

0

0

Default Data

Value

Access

RW

RW

RW

16.2.5

Configuration of additional data (0x23zz)

There are 32 objects with the Indexes 0x2300 to 0x231F represents Additional data configuration.

The object is only writeable in PREOP mode.

Index:

Subindex

0x23ZZ

0x23ZZ:1

0x23ZZ:2

Name

Config. of additional data

ADzz Pluto node

ADzz IO-Type

Data Type

BYTE

BYTE

0

0

Default Data

Value

Access

RW

RW

16.2.6

Configuration of Data to Pluto (0x2320)

Default Data

Value

Access Index:

Subindex

0x2320

0x2320:1

0x2320:2

0x2320:3

Name

Configuration of data to Pluto

Data to Pluto enable

Data to Pluto timeout

Data to Pluto update time

Data Type

BYTE

WORD

BYTE

16.2.7

Configuration gateway node number (0x2321)

Index:

Subindex

0x2321

Name

Gateway node number

Data Type

BYTE

1

1000

100

RW

RW

RW

Default Data

Value

0

Access

RW

125

2TLC172285M0203_C

17 Appendix D, object description Sercos III

17.1 Standard Sercos IDN supported by the gateway

IDN

S-0-0014

S-0-0017

S-0-0021

S-0-0022

S-0-0025

S-0-0095

S-0-0099

S-0-0127

S-0-0128

S-0-0267

S-0-0279

S-0-0390

S-0-0398

S-0-0399

S-0-1000

S-0-1002

S-0-1003

S-0-1005

S-0-1006

S-0-1007

S-0-1008

S-0-1009

S-0-1010

S-0-1011

S-0-1012

S-0-1013

S-0-1014

S-0-1015

S-0-1016

S-0-1017

S-0-1019

S-0-1020

S-0-1020.0.1

S-0-1021

Name

Interface Status

IDN list of all operation data

IDN list of invalid operation data for

CP2

IDN list of invalid operation data for

CP3

IDN list of all procedure commands

Diagnostic message

Reset class 1 diagnostic (Process

Command)

CP3 transition check (Process

Command)

CP4 transition check (Process

Command)

Password

IDN list of password protected data

Diagnostic number

-

-

-

-

-

-

-

-

-

Value

-

-

-

IDN list of configurable real-time bits as producer

IDN list of configurable real-time bits as consumer

SCP type & version

Communication cycle time (tScyc)

Allowed MST losses in CP3/CP4

Minimum feedback processing time

(t5)

AT0 transmission starting time (t1)

Feedback acquisition capture point (t4) -

-

Command value valid time (t3)

Device control (C-Dev) offset in MDT -

-

-

-

-

-

-

10

Length of MDTs

Device status (S-Dev) offset in AT

Length of Ats

SVC offset in MDT

SVC offset in AT

Ring delay

Slave delay

NRT transmission time

MAC address

IP address

Current IP address

Subnet mask

-

-

-

-

-

-

-

-

-

192.168.0.100

-

255.255.255.0

-

us

us

-

-

-

-

us us us

-

-

-

us us us

-

-

-

-

-

-

-

-

-

Unit comment

-

-

-

-

126

2TLC172285M0203_C

S-0-1021.0.1

S-0-1022

S-0-1022.0.1

S-0-1023

S-0-1024

S-0-1026

S-0-1027.0.1

S-0-1027.0.2

S-0-1028

S-0-1031

S-0-1035

S-0-1035.0.1

S-0-1036

S-0-1037

S-0-1040

S-0-1041

S-0-1044

S-0-1045

S-0-1047

S-0-1048

Current Subnet mask

Gateway node number

Current Gateway node number

SYNC jitter

SYNC delay measuring procedure command (Process Command)

Version of communication hardware

Requested MTU

Effective MTU

Error counter MST-P/S

Test pin assignment Port 1 and Port 2 -

Error counter Port1 and Port2 -

Error counter P&S

Interframe Gap -

-

-

-

-

-

-

-

-

-

192.168.0.1

Slave Jitter

Sercos address

AT Command value valid time (t9)

Device control

Device status

Maximum consumer activation time

(t11)

Procedure Command – Activate IP

Settings

Connection setup -

-

-

-

-

1

-

-

S-0-1050.x.1

S-0-1050.x.2

S-0-1050.x.3

S-0-1050.x.4

S-0-1050.x.5

S-0-1050.x.6

S-0-1050.x.8

Connection number

Telegram assignment

Max. length of connection

Current length of connection

Configuration list

Connection control

S-0-1050.x.10 Producer cycle time

S-0-1050.x.11 Allowed data losses

S-0-1050.x.12 Error counter data losses

-

-

-

-

-

-

-

-

-

S-0-1050.x.20 IDN allocation of real-time bit

S-0-1050.x.21 Bit allocation of real-time bit

S-0-1051 Image of connection setups

S-0-1300.0.1

S-0-1300.0.2

S-0-1300.0.3

Component name

Vendor name

Vendor code

-

-

-

-

-

-

S-0-1300.0.4

S-0-1300.0.5

S-0-1300.0.7

Device name

Device ID

Function revision

S-0-1300.0.8

Hardware revision

S-0-1300.0.9

Firmware revision

S-0-1300.0.10 Firmware loader revision -

-

-

-

-

-

-

127 us

-

-

-

us

-

-

-

-

-

-

-

-

us

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

us

-

-

-

-

-

-

-

-

-

2TLC172285M0203_C

S-0-1300.0.13 Manufacturing date parameter

S-0-1301

S-0-1302.0.1

List of GDP classes & version

FSP type & version

S-0-1302.0.2

Function groups

S-0-1302.0.3

Application type

S-0-1303.0.1

10 Diagnosis trace configuration

S-0-1303.0.2

S-0-1303.0.3

Diagnosis trace control

Diagnosis trace state

S-0-1303.0.10 Diagnosis trace buffer no1

S-0-1303.0.11 Diagnosis trace buffer no2

S-0-1305.0.1

S-0-1305.0.2

S-0-1305.0.3

S-0-1350

Sercos current time

Sercos current fine time

Sercos current coarse time

Reboot device

S-0-1500

S-0-1500.0.1

S-0-1500.0.2

S-0-1500.0.3

IO bus coupler

IO control

IO status

List of module type codes

S-0-1500.0.5

S-0-1500.0.9

Container output data

Container input data

S-0-1500.0.19 Parameter channel receive

S-0-1500.0.20 Parameter channel transmit

S-0-1500.0.32 IO diagnostic message

S-0-1500.0.33 Current IO diagnostic message

S-0-1502

S-0-1502.0.1

IO function group digital output

Name of IO FG

S-0-1502.0.2

S-0-1502.0.3

S-0-1502.0.4

S-0-1502.0.5

Configuration of IO FG

Channel quantity PDOUT

Channel width PDOUT

PDOUT

S-0-1502.0.15 Channel Quantity DIAGIN

S-0-1502.0.16 Channel width DIAGIN

S-0-1502.0.17 DIAGIN

S-0-1502.0.22 Fallback Value Output

S-0-1502.0.23 Min. Delay time

S-0-1502.0.24 Max. Delay time

S-0-1503

S-0-1503.0.1

S-0-1503.0.2

IO function group digital input

Name of IO FG

Configuration of IO FG

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

128

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

h

-

-

2TLC172285M0203_C

S-0-1503.0.7

S-0-1503.0.8

Channel quantity PDIN

Channel width PDIN

S-0-1503.0.9

PDIN

S-0-1503.0.15 Channel Quantity DIAGIN

S-0-1503.0.16 Channel width DIAGIN

S-0-1503.0.17 DIAGIN

S-0-1503.0.23 Min. Delay time

S-0-1503.0.24 Max. Delay time -

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

17.2 IDN for gateway configuration

The following configuration will be transmitted through the IDN S-0-1502.0.20 (Parameter channel transmit)

Value Byte No. Description

Gateway configuration

0 Gateway node number (0-16)

DIP switch setting

Gateway node number 0


…


Data to Pluto configuration

8

9

10

11

5

6

7

12

13

14

15

16

17

1 Data to Pluto Update Time (ms).

Value modulus

2 – 3 Data to Pluto Timeout (ms)

timeout disabled

4

Valid value in ms.

Enable Data to Pluto (bit or:ed data)

Data to Pluto 1

Data to Pluto 2

Data to Pluto 3

Data to Pluto 4

Additional Data configuration

Additional Data 00, Pluto node (0-31)













2

..

0

1

15

4 - 250

0

1 - 65535

0x1

0x2

0x4

0x8

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

129

2TLC172285M0203_C

50

51

52

53

54

46

47

48

49

42

43

44

45

38

39

40

41

55

56

57

58

59

60

61

62

63

64

65

66

67

68

31

32

33

34

35

36

37

26

27

28

29

30

Byte No. Description

18 Additional Data 06, IO-type

19

20

21




22

23

24

25
















































0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

Not used

Not used

Not used

Not used

Value

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

0 – 255

0 – 31

130

2TLC172285M0203_C

Element

name

attribute length (octet)

data type & display format

function

positions after decimal point

write protection

conversion factor

unit

minimum value

maximum value

Value

Configuration of Pluto

67 unsigned integer & binary parameter never n/a n/a

scaling

scope of parameter

1 local

Note

131

2TLC172285M0203_C

18 Appendix E, object description PROFINET

132

2TLC172285M0203_C

133

2TLC172285M0203_C

134

2TLC172285M0203_C

135

2TLC172285M0203_C

136

2TLC172285M0203_C

137

2TLC172285M0203_C

138

2TLC172285M0203_C

139

2TLC172285M0203_C

140

2TLC172285M0203_C

141

2TLC172285M0203_C

142

2TLC172285M0203_C

143

2TLC172285M0203_C

144

2TLC172285M0203_C

145

2TLC172285M0203_C

146

2TLC172285M0203_C

147

2TLC172285M0203_C

148

2TLC172285M0203_C

19 Appendix F, object description Modbus TCP

19.1 Port number

The Modbus TCP server is running on the standard port number 502.

19.2 Unit Identifier

The server will respond on the following “Unit Identifier number” (UI) of “slave address”.

Access Rule

RW

UI

1 (0x01)

Data

Data to Pluto.

4 (0x04) Gateway Configuration.

10 (0x0A) Data to/from Pluto.

33 (0x21)

36 (0x24)

(Data from Pluto, see note below).

Data from Pluto, see note below.

Access function

FC01, FC03, FC05,

FC06, FC15 and

FC16

FC03 and FC16

FC23

FC03

FC01 and FC03

RW is Read/Write access.

RO is Read only access.

Note: The UI 33 and UI 36 is the same information but used differnet type if encoding of 32 bit data.

RW

RW

RO

RO

19.3 Access functions

Each UI can be accessed via different access function codes,

FC

01 (0x01)

03 (0x03)

05 (0x05)

06 (0x06)

15 (0x0E)

16 (0x10)

23 (0x17)

Description

Read Coils

Read Holding Register

Write Coils

Write Single Register

Force Multiple Coils

Preset Multiple Registers

Read/Write Registers

Access Rule

Read

Read

Write

Write

Write

Write

Read/Write

19.4 Data format

An UINT data types occupy one Modbus registers, the data is ordered in the following way:

UINT

Byte 1 Byte 0

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

An UDINT data type occupies two Modbus registers, the data is ordered in the following way:

UDINT

First UINT

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Second UINT

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

149

2TLC172285M0203_C

UDINT data for UI 33, the data is ordered in the following way:

UDINT

First UINT

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Second UINT

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

19.5 Data to Pluto

Unit Identifier 1: for read/write data to Pluto system.

8

9

6

7

10

11

12

13

Modbus register

0

1

2

3

4

5

Data Name

Reserved – will not be used


Area 0, Bits

Area 0, Register 0

Area 0, Register 1

Area 1, Bits

Area 1, Register 0

Area 1, Register 1

Area 2, Bits

Area 2, Register 0

Area 2, Register 1

Area 3, Bits

Area 3, Register 0

Area 3, Register 1

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

19.6 Gateway Configuration

Unit Identifier 4: to write configuration to the gateway.

Note: This data is common for all connected clients. E.g. valid configuration will be the data written by the last client writing data to this slave address.

Modbus register

0

1

2

3

5

6

Note: For additional data Pluto number and IO-type shall be set to zero if data area is not used.

Data Name


Enable Data to Pluto

(0 = Disabled; 1 = Enabled)

- bit 0 – Data To Pluto Area 0




Data to Pluto Timeout (ms)

0 = Timeout disabled (default).

1 – 65535 ms.


Additional Data Area 0


UNIT

UINT

UINT

UDINT

UINT

UINT

RW

RW

RW

RW

UINT read/write data is truncated to byte size.

RW Format see note below.


150

2TLC172285M0203_C

24

25

26

27

28

20

21

22

23

29

30

31

32

33

34

35

36

37

Modbus register

7

8

9

10

11

12

13

14

15

16

17

18

19

38

39

40

41

Data Name































Data to Pluto Cycle time (ms)

0 – 255 ms, default 100 ms




Gateway Node number (0-16)

0 = Read from DIP switch

1 = Gateway node number 0


…


For more see chapter 6.1.4.1.

The UINT configuration data is allocated as following:

UINT

Byte 1 (high byte)

Pluto node number, range 0 – 31.

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

Byte 0 (low byte)

IO-typ, range 0 – 255.































RW UINT read/write data is truncated to byte size.

RW

RW

RW

RW UINT read/write data is truncated to byte size.

151

2TLC172285M0203_C

Data Name

Pluto node status

Global data Pluto 0

Global data Pluto 1

Global data Pluto 2

Global data Pluto 3

Global data Pluto 4

Global data Pluto 5

Global data Pluto 6

Global data Pluto 7

Global data Pluto 8

Global data Pluto 9

Global data Pluto 10






















Additional data 0

Additional data 1

Additional data 2

Additional data 3

Additional data 4

Additional data 5

Additional data 6

Additional data 7

Additional data 8

Additional data 9

Additional data 10

Additional data 11

Additional data 12

Additional data 13

Additional data 14

Additional data 15

19.7 Data to/from Pluto

Unit Identifier 10: Read global data from Pluto and write data to Pluto

66

68

70

72

74

76

78

50

52

54

56

58

60

62

64

80

82

84

86

88

90

92

94

96

Modbus register

0

2

4

6

8

10

12

14

16

18

20

22

24

38

40

42

44

46

48

26

28

30

32

34

36

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

152

2TLC172285M0203_C

205

206

207

208

209

210

211

200

201

202

203

204

Modbus register

98

100

102

104

106

108

110

112

114

116

118

120

122

124

126

128

Data Name

Additional data 16

Additional data 17

Additional data 18

Additional data 19

Additional data 20

Additional data 21

Additional data 22

Additional data 23

Additional data 24

Additional data 25

Additional data 26

Additional data 27

Additional data 28

Additional data 29

Additional data 30

Additional data 31

Area 0, Bits

Area 0, Register 0

Area 0, Register 1

Area 1, Bits

Area 1, Register 0

Area 1, Register 1

Area 2, Bits

Area 2, Register 0

Area 2, Register 1

Area 3, Bits

Area 3, Register 0

Area 3, Register 1

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

Not mapped

19.8 Data from Pluto

Unit Identifier 33 and 36: for read Pluto node status, global data from each Pluto and also additional data from the Pluto system.

Note: Note that UI 33 and UI36 has different layout of the UDINT

(see 19.4). The UI33 is implemented for compatibility with the

GATE-E2 and new usage shall use the UI36 with the

standard format of UDINT for Modbus TCP (see 19.2).

Note: Only 100 words can be read in one request!

If more data is needed divide them in two or more request with selected start/end address in the request. For example a request with start 1 and end 66 will give node status and Pluto global data.

A request with start 67 and end 130 will give additional data.

Data Name Modbus register

0

1

3


Pluto node status

Global data Pluto 0

UINT

UDINT

UDINT

RO

RO

RO

153

2TLC172285M0203_C

Data Name

Global data Pluto 1

Global data Pluto 2

Global data Pluto 3

Global data Pluto 4

Global data Pluto 5

Global data Pluto 6

Global data Pluto 7

Global data Pluto 8

Global data Pluto 9























Additional data 0

Additional data 1

Additional data 2

Additional data 3

Additional data 4

Additional data 5

Additional data 6

Additional data 7

Additional data 8

Additional data 9

Additional data 10

Additional data 11

Additional data 12

Additional data 13

Additional data 14

Additional data 15

Additional data 16

Additional data 17

Additional data 18

Additional data 19

Additional data 20

Additional data 21

39

41

43

45

47

31

33

35

37

49

51

53

55

57

59

61

63

65

Modbus register

5

7

9

11

13

15

17

19

21

23

25

27

29

85

87

89

91

93

95

97

99

101

103

105

107

109

75

77

79

81

83

67

69

71

73

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

154

2TLC172285M0203_C

Modbus register

111

113

115

117

119

121

123

125

127

129

Data Name

Additional data 22

Additional data 23

Additional data 24

Additional data 25

Additional data 26

Additional data 27

Additional data 28

Additional data 29

Additional data 30

Additional data 31

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

UDINT

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

155

2TLC172285M0203_C

Contact information

Australia

ABB Australia Pty Limited

Low Voltage Products

Tel: +61 (0)1300 660 299

Fax: +61 (0)1300 853 138

Mob: +61 (0)401 714 392

E-mail: [email protected]

Web: www.abbaustralia.com.au

Austria


Tel: +43 (0)1 601 09-6204

Fax: +43 (0)1 601 09-8600


Web: www.abb.at

Belgium

ABB N.V.

Tel: +32 27186884

Fax: +32 27186831


Brazil

ABB Ltda

Produtos de Baixa Tensão

ABB Atende: 0800 014 9111

Fax: +55 11 3688-9977

Web: www.abb.com.br

Canada

ABB Inc.

Tel: +1 514 420 3100 Ext 3269

Fax: +1 514 420 3137

Mobile: +1 514 247 4025


Web: www.abb.com

China

ABB (China) Limited

Tel: 86-21-23287948

Telefax: 86-21-23288558

Mobile: 86-186 2182 1159


Czech Republic


Tel: +420 543 145 482

Fax: +420 543 243 489


Web: www.abb.cz

Denmark

JOKAB SAFETY DK A/S

Tel: +45 44 34 14 54

Fax: +45 44 99 14 54


Web: www.jokabsafety.dk

ABB A/S

Tel: +45 4450 4450

Fax: +45 4359 5920


Web: www.abb.dk

Finland

ABB Oy

Web: www.abb.fi

France

ABB France

Division Produits Basse Tension

Tel: 0825 38 63 55

Fax: 0825 87 09 26

Web: www.abb.com

Germany

ABB STOTZ-KONTAKT GmbH

Tel: +49 (0) 7424-95865-0

Fax: +49 (0) 7424-95865-99


Web: www.jokabsafety.com

Greece

ΑΒΒ SA

Tel: +30 210.28.91.900

Fax: +30 210.28.91.999


[email protected]

Web: www.abb.com

Ireland

ABB Ltd.

Tel +353 1 4057 381

Fax: +353 1 4057 312

Mobile: +353 86 2532891


Israel

ABB Technologies Ltd.

Tel: +972 4 851-9204

Mobile: +972 52 485-6284


Web: www.abb.co.il

Italy

ABB S.p.A.

Tel. +39 02 2414.1

Fax +39 02 2414.2330

Web: www.abb.it

Korea

ABB KOREA

Low-voltage Product

Tel: +82 2 528 3177

Fax: +82 2 528 2350

Web: www.jokabsafety.co.kr

Malaysia

ABB Malaysia

Tel: +60356284888 4282


Netherlands

ABB b.v.

Tel:+31 (0) 10 - 4078 947

Fax: +31 (0) 10 – 4078 090


Web: www.abb.nl

Norway

ABB AS

Tel: +47 03500

Fax: +47 32858021

Mobile: +47 40918930


Web: www.abb.no

Poland

ABB Sp. z.o.o

Tel: +48 728 401 403

Fax: 22 220 22 23


, [email protected]

Web: www.abb.pl

Portugal

Asea Brown Boveri S.A.

Low Voltage Products - Baixa Tensão

Tel: +35 214 256 000

Fax: +35 214 256 390

Web: www.abb.es

Slovenia

ABB d.o.o.

Tel: +386 1 2445 455

Fax: +386 1 2445 490


Spain

Asea Brown Boveri S.A.

Tel: +34 93 4842121

Fax: +34 93 484 21 90

Web: www.abb.es

South Africa

ABB

Tel: +27 10 202 5906

Fax: +27 11 579 8203

Mobile: +27 82 500 7990


Sweden


Varlabergsvägen 11

SE-434 39 Kungsbacka

Tel: +46 21 32 50 00

Fax: +46 40 67 15 601


Web: www.abb.com/jokabsafety

Switzerland

ABB Schweiz AG

Industrie- und Gebäudeautomation

Tel: +41 58 586 00 00

Fax: +41 58 586 06 01


Web: www.abb.ch

Turkey

ABB Elektrik Sanayi A.

Ş

Tel: 0216 528 22 00

Fax: 0216 365 29 44

United Kingdom

ABB Ltd/JOKAB SAFETY UK

Tel: +44 (0) 2476 368500

Fax: +44 (0) 2476 368401


Web: www.jokabsafety.com

USA/Mexico

ABB Jokab Safety North America

Tel: +1 519 735 1055

Fax: +1 519 7351299


Web: www.jokabsafetyna.com

156

2TLC172285M0203_C

ABB Pluto Ethernet Gateway Instructions

PLUTO Ethernet Gateway

User Manual

GATE-EIP EtherNet/IP™

GATE-EC EtherCAT

®

GATE-PN PROFINET

®

Table of contents:

1 Version information

2 Cyber security disclaimer

3 Cyber security deployment guideline

3.1 Network installation

3.2 Limit network connections

3.3 Pluto remote handling

3.4 PC port usage (only local access)

4 General

4.1 Installation

Mounting

Electrical installation

4.2 Maintenance and service

4.3 GATE-E2 replacement

5 Hardware

5.1 Connection, indication and switches

Top side

Front panel

Bottom side

6 Common configuration

6.1 Pluto bus

Connection

Baud rate detection

Status indication

Gateway node number

6.2 IP address assignment

6.3 Network services

ICMP Ping command

Industry Ethernet Protocol

Remote server

6.4 Verification of configuration

6.5 Terminal commands

bg – gateway network status

bs – Pluto bus status

bc – gateway configuration status

bw – industry Ethernet protocol status

v – version information

h – help

exit – exit

View Pluto data

View gateway data

pl/pkl – Download Pluto project

6.6 Terminal commands (only PC port)

time – get run time

cn – change gateway node number

addc – clear additional data configuration

adds – configure additional data

ctp – configure “Data to Pluto”

ipaddr – change IP address

remote – enable/disable remote operation of Pluto system

name – change the device station name (GATE-PN)

reset – restart the unit

sys – firmware update of the unit

def – restore factory settings

dout – disconnect remote clients

test – test command

6.7 Silent commands

6.8 Firmware update

Firmware update via PC port using Pluto Manager

Firmware update via PC port

7 GATE-EIP, EtherNet/IP

7.1 Ethernet Connection

7.2 IP address configuration

7.3 Status indication

Module Status

Network Status

7.4 Service port information

7.5 Rockwell integration

8 GATE-EC, EtherCAT

8.1 Ethernet Connection

8.2 IP address configuration

8.3 Status indication