AnyBus-S DeviceNet Fieldbus Appendix

AnyBus-S DeviceNet Fieldbus Appendix
Fieldbus Appendix
AnyBus-S DeviceNet
Rev. 2.05
HMS Industrial Networks AB
Germany +49- 721 - 96472 - 0
Japan
+81- 45 - 478 -5340
Sweden
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U.S.A
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[email protected]
[email protected]
Table of Contents
Table of Contents
Preface
About This Manual
How To Use This Manual .................................................................................................................. P-1
Important User Information .............................................................................................................. P-1
Related Documentation ...................................................................................................................... P-1
Revision List.......................................................................................................................................... P-1
Conventions used in this manual....................................................................................................... P-2
Support .................................................................................................................................................. P-2
Chapter 1
About the AnyBus-S DeviceNet
Features...................................................................................................................................................1-1
Compatible Products ............................................................................................................................1-1
EDS File .................................................................................................................................................1-1
Conformance Note ...............................................................................................................................1-1
Overview ................................................................................................................................................1-2
Connectors ....................................................................................................................................1-2
Indicators......................................................................................................................................1-3
Chapter 2
Configuration
General....................................................................................................................................................2-1
Network Settings ...................................................................................................................................2-1
Mac ID ........................................................................................................................................2-1
Baudrate.......................................................................................................................................2-1
Table of Contents II
Chapter 3
Memory Structure
Overview ................................................................................................................................................3-1
I/O Input and Output Data Areas.....................................................................................................3-2
Parameter Input and Output Data Areas ..........................................................................................3-2
Chapter 4
Implemented Objects
Identity Object, Class 01h....................................................................................................................4-2
Message router, Class 02h....................................................................................................................4-2
DeviceNet Object, Class 03h ..............................................................................................................4-3
Assembly Object, Class 04h ................................................................................................................4-4
DeviceNet Connection Object, Class 05h ........................................................................................4-5
Acknowledge Handler Object, Class 2Bh .........................................................................................4-9
I/O data Input Mapping Object, Class A0h...................................................................................4-10
I/O data Output Mapping Object, Class A1h................................................................................4-10
Diagnostic Object, Class AAh...........................................................................................................4-11
Parameter data Input Mapping Object, Class B0h.........................................................................4-12
Parameter data Output Mapping Object, Class B1h .....................................................................4-12
Chapter 5
Mailbox Interface
Summary .................................................................................................................................................5-1
Configuration Switch ............................................................................................................................5-2
Set DipSwitch (SET_DIPSWITCH).........................................................................................5-2
Set DipSwitch 2 (SET_DIPSWITCH_2).................................................................................5-3
Get DipSwitch (GET_DIPSWITCH).......................................................................................5-4
Mapping ..................................................................................................................................................5-5
Parameter Data Input Area Mapping (PARAMETER_INPUT_MAP) ...............................5-5
Parameter Data Output Area Mapping (PARAMETER_OUTPUT_MAP).........................5-7
I/O Data Input Area Mapping (IO_INPUT_MAP) ...............................................................5-9
I/O Data Output Area Mapping (IO_OUTPUT_MAP) ......................................................5-11
Other .....................................................................................................................................................5-13
Set Product Info (PRODUCT_INFO) .....................................................................................5-13
Set Product Code (PRODUCT_CODE)..................................................................................5-15
Set Product Info All (PRODUCT_INFO_ALL)...................................................................5-16
Chapter 6
Fieldbus Specific Area
Identity Status Attribute (Read Only)...........................................................................................6-1
Connection Status Registers (Read Only).......................................................................................6-2
Master Status (Read Only)...........................................................................................................6-2
Table of Contents III
Appendix A Electrical Characteristics
Supply Voltage ...................................................................................................................................... A-1
Power Consumption............................................................................................................................ A-1
PE Grounding ...................................................................................................................................... A-1
Galvanic Isolation ................................................................................................................................ A-1
Network Termination.......................................................................................................................... A-1
Appendix B Connectors
Application Interface ........................................................................................................................... B-1
Fieldbus Interface................................................................................................................................. B-1
Appendix C Environmental Specification
Temperature.......................................................................................................................................... C-1
Relative Humidity................................................................................................................................. C-1
EMC compliance.................................................................................................................................. C-1
Appendix D Mechanical Specification
Measurements, PCB.............................................................................................................................D-1
Measurements, Connectors & Switches ...........................................................................................D-2
Angled Switches & Connectors ....................................................................................................D-2
Straight Switches & Connectors...................................................................................................D-3
Preface
About This Manual
How To Use This Manual
This document is intended to be used in conjunction with the AnyBus-S Serial / Parallel Design Guide.
For general information about the AnyBus-S platform, consult the general AnyBus-S Serial / Parallel
Design Guide.
The reader of this document is expected to be familiar with hardware and software design as well as to
have basic knowledge in the DeviceNet fieldbus, and communication systems in general.
Important User Information
The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB,
reserve the right to modify our products in line with our policy of continuous product development. The
information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for
any errors that may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure
that all the necessary steps have been taken to verify that the application meets all performance and safety requirements including any applicable laws, regulations, codes, and standards.
AnyBus® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their respective holders.
Related Documentation
Document name
AnyBus-S Parallel Design Guide
AnyBus-S Serial Design Guide
DeviceNet Specification
Author
HMS
HMS
ODVA
Revision List
Revision
2.00
2.01
2.02
Date
2002-09-10
2003-03-19
2003-09-05
Author
PeP
TTh
PeP
2.03
2.04
2003-09-30 TTh
2003-09-30 TTh
Chapter
All
4
All
Appendix D
Electrical characteristics
Fieldbus specific area
2.05
2003-11-10 PeP
Implemented Objects
Description
Created
Corrected number of instances in assembly object
Various cosmetic updates
Updated measurements
Correction of the ‘Galvanic Isolation’ section
Connection status value of 02h is not used, should
be 03h
Added missing attributes in DeviceNet and Assembly Connection objects.
About This Manual P-2
Conventions used in this manual
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘module’ is used when referring to the AnyBus-S DeviceNet module
•
The term ‘application’ is used when referring to the hardware that is connected to the AnyBus
Application Connector
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
Support
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Phone:
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Online:
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Online:
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Chapter 1
About the AnyBus-S DeviceNet
The AnyBus-S DeviceNet module is implemented according to the ODVA specification for a communication adapter (profile no 12) and acts as a “group two only server” on the DeviceNet network.
Features
•
Both parallel and serial versions available
•
MacID and Baudrate can be set via onboard switches or application interface
•
Explicit Messaging
•
Polled I/O
•
Bit-strobed I/O
•
Change-of-state / Cyclic I/O
•
Galvanically isolated bus electronics
Compatible Products
This product is a member of the AnyBus concept of interchangeable fieldbus modules. This makes it
fully interchangeable with any fieldbus system supported by the AnyBus-S platform.
However, due to the nature of the DeviceNet fieldbus system, the AnyBus-S DeviceNet requires that
no mailbox commands are sent for at least 2 seconds after receiving the END_INIT response.
EDS File
Each device in a DeviceNet network is associated with an EDS file, containing all necessary information
about the device. This file is used by the network configuration tool during network configuration.
The latest version of EDS file can either be downloaded from HMS website (www.hms-networks.com)
or received by contacting HMS.
Conformance Note
The AnyBus-S DeviceNet has been tested standalone by ODVA’s authorized Independent Test Lab and
found to comply with ODVA Conformance Test Software Version A12.
However, according to ODVA’s conformance test policy, the final product must still be re-certified as
a complete product even if the AnyBus module is certified.
For more information regarding conformance testing, please contact HMS or ODVA.
About the AnyBus-S DeviceNet 1-2
Overview
1
5
3
2
#
1
2
3
4
5
4
Description
Application Connector
DeviceNet Connector
Configuration Switches
Status Indicators
AnyBus-S Watchdog
Connectors
Application Connector
The module exists in both parallel and serial versions.
•
Serial version
Standard AnyBus-S SCI serial interface.
For further information, please consult the general AnyBus-S Serial Design Guide.
•
Parallel version
Standard AnyBus-S DPM 2kbyte DPRAM interface
For further information, please consult the general AnyBus-S Parallel Design Guide.
DeviceNet Connector
The module supports both 5.08mm and 3.84mm pluggable screw connectors, as well as a 10 pin 2mm
board to board connector. For more information about connectors and pin assignments, see Appendix
B-1 “Connectors”
Configuration Switches
These switches can be used to set the DeviceNet Mac ID and baudrate settings, see 2-1 “Network Settings”. Note that these settings can also be configured via the application interface using mailbox commands, see 5-2 “Configuration Switch”.
About the AnyBus-S DeviceNet 1-3
Indicators
AnyBus-S Watchdog
(Consult the general AnyBus-S Design Guides for further information)
Status Indicators
These leds indicate run time status and errors to the user.
Led
1 - Reserved
2 - Network Status
3 - Module Status
4 - Reserved
State
Off
Green, steady
Green, flashing
Red, steady
Red, flashing
Off
Green, steady
Green, flashing
Red, steady
Red, flashing
-
Description
Reserved for future use
Not powered / Not online
Link OK, On line, Connected
On line, Not connected
Critical link failure
Connection timeout
No power to device
Device operational
Data size bigger than configured
Unrecoverable fault
Minor fault
Reserved for future use
1
2
4
3
Chapter 2
Configuration
General
A connection to the module is set up towards the Assembly object with a bus configuration tool or directly from a master.
Network Settings
On a DeviceNet network, each node must be assigned it’s own unique Mac ID. The Mac ID is a value
between 0 an 63 used to identify each node. The Mac ID and Baud rate settings can be set either using
a physical DIP-switch or via the application interface using mailbox commands (See 5-2 “Configuration
Switch”).
The DIP switches are numbered 1 through 8. Switch 1 and 2 are used to configure the Baud rate, and
switches 3 through 8 are used to configure the Mac ID.
Depending on how the module is mounted, it may be required to change the bit definition of the switch
in order to comply with the DeviceNet specification. (e.g. if the module is mounted vertically in a product). The module provides a set of mailbox commands for reading and setting the DIP switch value,
allowing the application to read out the physical value of the switch, alter it as required, and write it back
to the module.
Mac ID
Switches 3 though 8 are used to set the Mac ID
Mac ID
0
1
2
3
...
62
63
sw. 3 (MSB)
OFF
OFF
OFF
OFF
...
ON
ON
sw. 4
OFF
OFF
OFF
OFF
...
ON
ON
sw. 5
OFF
OFF
OFF
OFF
...
ON
ON
sw. 6
OFF
OFF
OFF
OFF
...
ON
ON
sw. 7
OFF
OFF
ON
ON
...
ON
ON
sw. 8 (LSB)
OFF
ON
OFF
ON
...
OFF
ON
Baudrate
There are three different baudrates for DeviceNet; 125k,
250k, 500kbit/s, see table on the right.
Baudrate
125k
250K
500K
(reserved)
sw. 1
OFF
OFF
ON
ON
sw. 2
OFF
ON
OFF
ON
Chapter 3
Memory Structure
Overview
The interface from the fieldbus towards the module is based on the standard DeviceNet objects and five
vendor specific objects. The vendor specific objects can be used to access different memory areas and
for diagnostics during development. However, most applications requires only the standard DeviceNet
objects.
For a complete description of the available objects, please see 4-1 “Implemented Objects”.
I/O input data mapping
object
I/O input data
P arameter input
data
P arameter input data
mapping object
I/O output data
P arameter output
data
I/O output data
mapping object
Mailbox in
P arameter output data
mapping object
Mailbox out
F ieldbus regis ters
C ontrol R egis ters
As s embly object
Hands hake
regis ters
Diagnos tic object
Mes s age router object
C onnection object
I/O connections
E xplicit
mes s ages
Identity object
Link Layer
DeviceNet Network
DeviceNet object
Memory Structure 3-2
I/O Input and Output Data Areas
The I/O in/out data is read/written through I/O connections or Explicit messages from the assembly
object.
Note: If other than the default Assembly instances should be used, those have to be instanciated with
mailbox commands during the initialization of the module.
Parameter Input and Output Data Areas
The Parameter in/out data can be accessed via Explicit messages through application objects mapped
by mailbox telegrams during the initialization.
Note: The Parameter data application objects have to be instanciated with mailbox commands during
start-up of the module.
Chapter 4
Implemented Objects
The following objects are implemented:
DeviceNet Objects
Object
Identity Object
Message Router Object
DeviceNet Object
Assembly Object
Connection Object
Acknowledge Handler Object
Class
01h
02h
03h
04h
05h
2Bh
Vendor Specific Objects
Object
I/O data Input Mapping Object
I/O data Output Mapping Object
Diagnostic Object
Parameter data Input Mapping Object
Parameter data Output Mapping Object
Class
A0h
A1h
AAh
B0h
B1h
Implemented Objects 4-2
Identity Object, Class 01h
Class Attributes
#
Attribute Name
01h Revision
Services
Description
Get_Attribute_Single Revision of the Identity Object.
Semantics
The Revision attribute, which consists of
Major and Minor.
Default,
Min,
Max
DataType
1,1,1
UINT
Default,
Min,
Max
DataType
Instance Attributes
#
Attribute Name
Services
Description
Semantics
01h Vendor Id
Get_Attribute_Single Identification of each vender by number
Vendor IDs are managed by ODVA. The
value zero is not valid
90,
90,
90
UINT
02h Device Type
Get_Attribute_Single Indication of the general type of product
The list of device types is managed by
12,
ODVA. It is used to identify the device pro- 12,
file that a particular product is using. Device 12
profiles define minimum requirements a
device must implement as well as common
options.
UINT
03h Product Code
Get_Attribute_Single This is a code assigned by the vendor to
describe the device
The vendor assigned Product Code identi- 12,
fies a particular product within a device
12,
type. Each vendor assigns this code to
12
each of its products. The Product Code typically maps to one or more catalog/model
numbers. Products shall have different
codes if their configuration and/or runtime
options are different. Such devices present
a different logical view to the network.
UINT
04h Revision
Get_Attribute_Single Revision of the item the Identity Object rep- The Revision attribute, which consists of
{1,1},
resents
Major and Minor Revisions, identifies the
{1,1},
Revision of the item the Identity Object is
{1,1}
representing. The value zero is not valid for
either the Major and Minor Revision
fields.The Major and Minor Revision are
typically displayed as major.minor. Minor
revisions shall be displayed as three digits
with leading zeros as necessary. The Major
Revision attribute is limited to 7 bits. The
eighth bit is reserved by DeviceNet and
must have a default value of zero.
Array of:
USINT
USINT
05h Status
Get_Attribute_Single Summary Status of the Device
This attribute represents the current status
of the entire device. Its value changes as
the state of the device changes.
0,
0,
255
WORD
06h Serial Number
Get_Attribute_Single Serial Number of the device
This attribute is a number used in conjunction with the Vendor ID to form a unique
identifier for each device on DeviceNet.
Each vendor is responsible for guaranteeing the uniqueness of the serial number
across all of its devices.
N/A,
N/A,
N/A
UDINT
07h Product Name
Get_Attribute_Single Human readable identification
This text string should represent a short
description of the product/product family
represented by the product code in attribute
3.
“AnyBus-S "SHORT_
DNET “,
STRING”
“AnyBus-S
DNET “,
“ANYBUSS DNET”
09h Config.Consist.Value Get_Attribute_Single Contents identify configuration of device
A product may automatically modify the
N/A,
Configuration Consistency Value whenever N/A
any non-volatile attribute is altered. The cli- N/A
ent node’s behaviour, upon detection of a
mismatch, is vendor specific.
UINT
Message router, Class 02h
Class Attributes
#
Attribute Name
Services
Description
1
Revision
Get_Attribute_Single Revision of the Identity Object.
Semantics
The Revision attribute, which consists of
Major and Minor.
Default,
Min,
Max
1,
1,
1
DataType
UINT
Implemented Objects 4-3
DeviceNet Object, Class 03h
Class Attributes
#
Attribute Name
01h Revision
Services
Description
Semantics
Get_Attribute_Single
Revision of the DeviceNet Object Class
The current value assigned to this attribute
Definition upon which the implementation is is two (2). If updates which require an
based
increase in this value are made, then the
value will be increased. Support of this
attribute is required.
Default,
Min,
Max
2,
2,
2
DataType
UINT
Instance Attributes
#
Attribute Name
Default,
Min,
Max
Services
Description
Semantics
DataType
01h MAC ID
Get_Attribute_Single
Node Address.
This attribute contains the MAC ID of this
Dip-switch, USINT
device. The range of values is 0 to 63 deci- 0,
mal.A device that uses switches to set the 63
MAC ID must return an Error Response
whose General Error Code is set to 0E
(Attribute not settable) in response to a
Set_Attribute_Single Request specifying
the MAC ID attribute. The exception to this
rule is that if the MAC ID switches are not
user accessible when the product is
installed, then the switch settings can be
overridden via a Set_Attribute_Single.The
MAC ID attribute is considered non-volatile
in that once configured the attribute must be
remembered after a power cycle or device
reset. If a device does not know what its
MAC ID is it should default to 63.The modification of the MAC ID requires a device to
delete all Connection Objects and re-execute the Network Access State Machine.
02h Baud Rate
Get_Attribute_Single
The baud rate of the device
The Baud Rate attribute indicates the
selected baud rate. Values are
00 - 125k
01 - 250k
02 - 500k
Dip-switch, USINT
0,
2
05h Allocation Information
Get_Attribute_Single
Allocation Choice Master’s Mac ID
Struct of:
BYTE: Allocation Choice
USINT: Master's Mac ID
N/A,
N/A,
N/A
Struct of:
BYTE
USINT
Implemented Objects 4-4
Assembly Object, Class 04h
Class Attributes
ID#
Attribute Name
Default,
Min,
Max
Services
Description
Semantics
01h Revision
Get_Attribute_All
Revision of the Assembly Object.
The revision attribute, which contains the
object revision.
02h Max Instance
Get_Attribute_Single
Maximum instance number of this object
The largest instance created by this object. N/A,
N/A,
N/A
1,
1,
1
DataType
UINT
UINT
DPRAM INPUT AREA, Instance 64h
ID#
Attribute Name
03h Data
Services
Description
Get_Attribute_Single
The data is produced from I/O I/O data input
object, attribute 1. Default is the data configured as I/O input data in the init command of the module. This can be
overwritten by mailbox telegrams during initialisation.
Semantics
Default,
Min,
Max
N/A,
N/A,
N/A
DataType
Array of
USINT
Note: If the I/O input data size is set to 0 this instance will NOT be initialised.
DPRAM INPUT AREA, Instance 65h - 69h
ID#
Attribute Name
03h Data
Services
Description
Get_Attribute_Single
The data is produced from I/O I/O data input
object, attribute 2-5. Those instances can
only be configured by mailbox telegrams
during initialisation.
Semantics
Default,
Min,
Max
N/A,
N/A,
N/A
DataType
Array of
USINT
Note: If the I/O input data size is set to 0 the instance will NOT be initialised.
DPRAM OUTPUT AREA, Instance 96h
ID#
Attribute Name
03h Data
Services
Description
Get_Attribute_Single
Set_Attribute_Single
The data is produced from I/O I/O data output object, attribute 1.Default is the data
configured as I/O output data in the init
command of the module. This can be overwritten by mailbox telegrams during initialisation.
Semantics
Default,
Min,
Max
N/A,
N/A,
N/A
DataType
Array of
USINT
Note: If the I/O output data size is set to 0 this instance will NOT be initialised.
DPRAM INPUT AREA, Instance 97h - 9Bh
ID#
Attribute Name
03h Data
Services
Description
Get_Attribute_Single
The data is produced from I/O I/O data output object, attribute 2-4.Those instances
can only be configured by mailbox telegrams during initialisation.
Semantics
Note: If the I/O input data size is set to 0 the instance will NOT be initialised.
Default,
Min,
Max
N/A,
N/A,
N/A
DataType
Array of
USINT
Implemented Objects 4-5
DeviceNet Connection Object, Class 05h
Class Attributes (0)
#
Attribute Name
01h Revision
Services
Description
Get_Attribute_Single
Revision of the DeviceNet Object
Semantics
Default,
Min,
Max
2,
2,
2
DataType
UINT
Explicit Connection Instance (1)
#
Attribute Name
Services
Description
Semantics
01h State
Get_Attribute_Single
State of the object
0=Nonexistent
1=Configuring
3=Established
4=Timed out
5=Deferred delete
02h Instance Type
Get_Attribute_Single
Default,
Min,
Max
DataType
1,
0,
5
USINT
Indicates either IO or messaging connection
0,
0,
0
USINT
03h Transport Class Trigger Get_Attribute_Single,
Set_Attribute_Single
Defines Behaviour of the connection
83h,
83h,
83h
BYTE
04h Produced Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
Placed in CAN Identifier Field when the
Connection Transmits
N/A,
N/A,
N/A
UINT
05h Consumed Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
CAN Identifier Field value that denotes
message to be received
N/A,
N/A,
N/A
UINT
06h Initial Comm Character- Get_Attribute_Single,
istics
Set_Attribute_Single
Defines the Message Group(s) across
which productions and consumptions associated with this
N/A,
N/A,
N/A
BYTE
07h Produced Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes transmitted
across this Connection
512
512,
512,
512
UINT
08h Consumed Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes received across 512
this Connection
512,
512,
512
UINT
09h Expected Packet Rate
Get_Attribute_Single,
Set_Attribute_Single
Defines timing associated with this Connec- Resolution is 10 ms
tion
N/A,
N/A,
N/A
UINT
12h Watchdog Timeout
Action
Get_Attribute_Single,
Set_Attribute_Single
Defines how to handle Inactivity/Watchdog
timeouts
N/A,
N/A,
N/A
USINT
13h Produced Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
produced_connection_path length attribute
0,
0,
0
UINT
14h Produced Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Application Obj. producing data on this connection
0,
0,
0
ARRAY
OF: USINT
15h Consumed Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
consumed_connection_path length attribute
0,
0,
0
UINT
16h Consumed Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Specifies the Application Object(s) that are
to receive the data consumed by this Connection Object
N/A,
N/A,
N/A
ARRAY
OF: 01
UINT
17h Production Inhibit Time
Get_Attribute_Single
Defines the minimum time between new
data production
0,0,0
UINT
0-Transition to time out
1-Auto Delete
2-Auto Reset
3-Deferred Delete
Implemented Objects 4-6
Polled I/O Connection Instance (2)
#
Attribute Name
Services
Description
Semantics
01h State
Get_Attribute_Single
State of the object
0=Nonexistent
1=Configuring
3=Established
4=Timed out
02h Instance Type
Get_Attribute_Single
Default,
Min,
Max
DataType
1,
0,
4
USINT
Indicates either IO or messaging connection
0,
0,
1
USINT
03h Transport Class Trigger Get_Attribute_Single,
Set_Attribute_Single
Defines Behaviour of the connection
N/A,
N/A,
N/A
BYTE
04h Produced Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
Placed in CAN Identifier Field when the
Connection Transmits
N/A,
N/A,
N/A
UINT
05h Consumed Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
CAN Identifier Field value that denotes
message to be received
N/A,
N/A,
N/A
UINT
06h Initial Comm Character- Get_Attribute_Single,
istics
Set_Attribute_Single
Defines the Message Group(s) across
which productions and consumptions associated with this
N/A,
N/A,
N/A
BYTE
07h Produced Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes transmitted
across this Connection
I/O in
length,
0,
I/O in
length
UINT
08h Consumed Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes received across
this Connection
I/O out
length,
0,
I/O out
length
UINT
09h Expected Packet Rate
Get_Attribute_Single,
Set_Attribute_Single
Defines timing associated with this Connection
N/A,
N/A,
N/A
UINT
12h Watchdog Timeout
Action
Get_Attribute_Single,
Set_Attribute_Single
Defines how to handle Inactivity/Watchdog
timeouts
N/A,
N/A,
N/A
USINT
13h Produced Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
produced_connection_path length attribute
6,
6,
6
UINT
14h Produced Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Application Obj. producing data on this connection
20 04 24
64 30 03,
N/A,
N/A
ARRAY
OF: USINT
15h Consumed Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
consumed_connection_path length attribute
6,
6,
6
UINT
16h Consumed Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Specifies the Application Object(s) that are
to receive the data consumed by this Connection Object
20 04 24
96 30 03,
N/A,
N/A
ARRAY
OF: UINT
17h Production Inhibit Time
Get_Attribute_Single
Defines the minimum time between new
data production
0,0,0
UINT
0-Transition to time out
1-Auto Delete
2-Auto Reset
3-Deferred Delete
Implemented Objects 4-7
Bit-Strobe Connection Instance (3)
#
Attribute Name
Services
Description
Semantics
01h State
Get_Attribute_Single
State of the object
0=Nonexistent
1=Configuring
3=Established
4=Timed out
02h Instance Type
Get_Attribute_Single
Default,
Min,
Max
DataType
1,
N/A,
N/A
USINT
Indicates either IO or messaging connection
1,
0,
1
USINT
03h Transport Class Trigger Get_Attribute_Single,
Set_Attribute_Single
Defines Behaviour of the connection
N/A,
N/A,
N/A
BYTE
04h Produced Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
Placed in CAN Identifier Field when the
Connection Transmits
N/A,
N/A,
N/A
UINT
05h Consumed Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
CAN Identifier Field value that denotes
message to be received
N/A,
N/A,
N/A
UINT
06h Initial Comm Character- Get_Attribute_Single,
istics
Set_Attribute_Single
Defines the Message Group(s) across
which productions and consumptions associated with this
N/A,
N/A,
N/A
BYTE
07h Produced Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes transmitted
across this Connection
N/A,
N/A,
N/A
UINT
08h Consumed Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes received across
this Connection
8,
8,
8
UINT
09h Expected Packet Rate
Get_Attribute_Single,
Set_Attribute_Single
Defines timing associated with this Connection
0,
0,
FFFFh
UINT
12h Watchdog Timeout
Action
Get_Attribute_Single,
Set_Attribute_Single
Defines how to handle Inactivity/Watchdog
timeouts
N/A,
N/A,
N/A
USINT
13h Produced Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
produced_connection_path length attribute
6,
6,
6
UINT
14h Produced Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Application Obj. producing data on this connection
20 04 24
65 30 03,
N/A,
N/A
ARRAY
OF: USINT
15h Consumed Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
consumed_connection_path length attribute
6,
6,
6
UINT
16h Consumed Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Specifies the Application Object(s) that are
to receive the data consumed by this Connection Object
20 04 24
97 30 03,
N/A,
N/A
ARRAY
OF: UINT
0-Transition to time out
1-Auto Delete
2-Auto Reset
3-Deferred Delete
Implemented Objects 4-8
Change of state / Cyclic (4) (Acknowledged)
#
Attribute Name
Services
Description
Semantics
01h State
Get_Attribute_Single
State of the object
0=Nonexistent
1=Configuring
3=Established
4=Timed out
02h Instance Type
Get_Attribute_Single
Default,
Min,
Max
DataType
1,
N/A,
N/A
USINT
Indicates either IO or messaging connection
1,
0,
1
USINT
03h Transport Class Trigger Get_Attribute_Single,
Set_Attribute_Single
Defines Behaviour of the connection
N/A,
N/A,
N/A
BYTE
04h Produced Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
Placed in CAN Identifier Field when the
Connection Transmits
N/A,
N/A,
N/A
UINT
05h Consumed Cnxn Id
Get_Attribute_Single,
Set_Attribute_Single
CAN Identifier Field value that denotes
message to be received
N/A,
N/A,
N/A
UINT
06h Initial Comm Character- Get_Attribute_Single,
istics
Set_Attribute_Single
Defines the Message Group(s) across
which productions and consumptions associated with this
N/A,
N/A,
N/A
BYTE
07h Produced Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes transmitted
across this Connection
0,
0,
N/A
UINT
08h Consumed Connection
Size
Get_Attribute_Single,
Set_Attribute_Single
Maximum number of bytes received across
this Connection
0,
0,
N/A
UINT
09h Expected Packet Rate
Get_Attribute_Single,
Set_Attribute_Single
Defines timing associated with this Connection
0,
0,
FFFFh
UINT
12h Watchdog Timeout
Action
Get_Attribute_Single,
Set_Attribute_Single
Defines how to handle Inactivity/Watchdog
timeouts
N/A,
N/A,
N/A
USINT
13h Produced Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
produced_connection_path length attribute
0,
0,
6
UINT
14h Produced Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Application Obj. producing data on this connection
20 04 24
66 30 03,
0,
N/A
ARRAY
OF: USINT
15h Consumed Connection
Path Length
Get_Attribute_Single,
Set_Attribute_Single
Number of bytes in the
consumed_connection_path length attribute
4,
4,
4
UINT
16h Consumed Connection
Path
Get_Attribute_Single,
Set_Attribute_Single
Specifies the Application Object(s) that are
to receive the data consumed by this Connection Object
20 2B 24
01,
20 2B 24
01,
20 2B 24
01
ARRAY
OF: UINT
0-Transition to time out
1-Auto Delete
2-Auto Reset
3-Deferred Delete
Implemented Objects 4-9
Acknowledge Handler Object, Class 2Bh
Class Attributes (0)
#
Attribute Name
Services
Description
Semantics
01h Revision
Get_Attribute_Single
Revision of the DeviceNet Object Class
The current value assigned to this attribute
Definition upon which the implementation is is two (2). If updates, which require an
based
increase in this value, are made, then the
value will be increased. Support of this
attribute is required.
02h Max Instance
Get_Attribute_Single
Maximum instance number of an object cur- The largest instance number of a created
rently created in this class level of the
object at this class hierarchy level.
device.
Default,
Min,
Max
1,
1,
1
DataType
UINT
UINT
Instance Attributes (1)
#
Attribute Name
Default,
Min,
Max
Services
Description
Semantics
DataType
01h Acknowledge Timer
Get_Attribute_Single,
Set_Attribute_Single
Time to wait for acknowledge before
resending
Range 1-65535 ms (0 invalid) default=16
16,
1,
65535
UINT
02h Retry Limit
Get_Attribute_Single,
Set_Attribute_Single
Number of Ack Timeouts to wait before
informing the producing application of a
Retry-Limit_Reached event.
Range 0-255 default.
1,
0,
255
USINT
03h COS Producing Connection Instance
Get_Attribute_Single,
Set_Attribute_Single
Connection Instance which contains the
Connection instance Id
path of the producing I/O application object
a which will be notified of Ack Handler
events.
N/A
UINT
04h Ack List Size
Get_Attribute_Single
Maximum number of members in Ack List
0=Dynamic
05h Ack List
Get_Attribute_Single
List of active connection instances, which
are receiving Acks.
Number of members followed by list of:
Connection Instance ID
N/A
BYTE
Array of
USINT
06h Data with Ack Path List
Size
Get_Attribute_Single
Maximum number of members in Data with 0=Dynamic
Ack Path List.
07h Data with Ack Path List
Get_Attribute_Single
List of connection instance/consuming
application object pairs. This attribute is
used to forward data received with acknowledgment.
List of connection instance/consuming
N/A
application object pairs. This attribute is
used to forward data received with acknowledgments
BYTE
Array of
UINT
USINT
Array of
USINT
Implemented Objects 4-10
I/O data Input Mapping Object, Class A0h
Class Attributes
ID#
Attribute Name
01h Revision
Services
Description
Semantics
Get_Attribute_All
Revision of the Parameter data input object. The revision attribute, which contains the
object revision.
Default,
Min,
Max
1,
1,
1
DataType
UINT
Instance Attribute, 01h
Services
Description
Semantics
Default,
Min,
Max
01h Data
Get_Attribute_Single
Data that is read
In bytes
N/A
Array of
USINT
02h Data
Get_Attribute_Single
Data that is read
In bytes
N/A
Array of
USINT
ID#
…
Attribute Name
…
06h Data
DataType
…
…
…
…
…
Get_Attribute_Single
Data that is read
In bytes
N/A
Array of
USINT
Note: Which attributes that exist are depending on which attributes that are initialised from the
DPRAM during initialisation.
I/O data Output Mapping Object, Class A1h
Class Attributes
ID#
Attribute Name
01h Revision
Services
Description
Semantics
Get_Attribute_All
Revision of the Parameter data output
object.
The revision attribute, which contains the
object revision.
Default,
Min
Max
1,
1,
1
DataType
UINT
Instance Attributes, Instance 01h
Services
Description
Semantics
Default,
Min,
Max
01h Data
Get_Attribute_Single,
Set_Attribute_Single
Data that is read or written
In bytes
N/A
Array of
USINT
02h Data
Get_Attribute_Single,
Set_Attribute_Single
Data that is read or written
In bytes
N/A
Array of
USINT
…
…
…
…
…
Get_Attribute_Single,
Set_Attribute_Single
Data that is read or written
In bytes
N/A
Array of
USINT
ID#
…
Attribute Name
…
06h Data
DataType
Note: Which attributes that exist are depending on which attributes that are initialised from the
DPRAM during initialisation.
Implemented Objects 4-11
Diagnostic Object, Class AAh
Class Attributes
ID#
Attribute Name
01h Revision
Default,
Min,
Max
Services
Description
Semantics
Get_Attribute_All
Revision of the Diagnostic Object.
The revision attribute, which contains the
object revision.
Description
Semantics
1,
1,
1
DataType
UINT
Diagnostic Instance 01h
ID#
Attribute Name
Services
Default,
Min,
Max
Data type
DPM
SCI
01h Module serial number
Get_Attribute_Single
Serial number
UDINT
*
*
02h Vendor ID
Get_Attribute_Single
Manufacture ID
UINT
*
*
03h Fieldbus type
Get_Attribute_Single
Fieldbus type
UINT
*
*
04h Module software version
Get_Attribute_Single
Software version
UINT
*
*
05h Interrupt count
Get_Attribute_Single
Counter incremented each handshake
interrupt
UINT
06h Watchdog counter in
Get_Attribute_Single
Not implemented
UINT
07h Watchdog counter out
Get_Attribute_Single
Counter incremented each 1ms
UINT
08h Access method status
Get_Attribute_Single
Access method state for areas IN, OUT, FB
spec/Control
STRUCT
of {USINT,
USINT,
USINT,
USINT}
09h LED status
Get_Attribute_Single
LED indication status 1byte / LED
STRUCT
of {USINT,
USINT,
USINT,
USINT,
USINT,
USINT}
*
*
0Ah Module type
Get_Attribute_Single
Module type
UINT
*
*
0Bh Module status
Get_Attribute_Single
Bit information, Freeze, clear, etc.
WORD
*
*
0Ch New data field
Get_Attribute_Single
Array of new data flags for 8 bytes area
LWORD
*
*
0Dh Interrupt cause
Get_Attribute_Single
Interrupt cause register
WORD
0Eh Interrupt notification
Get_Attribute_Single
Interrupt notification setting register
WORD
0Fh IN cyclic I/O length
Get_Attribute_Single
Size of I/O IN data (bytes)
UINT
10h IN DPRAM length
Get_Attribute_Single
Number of valid IN bytes in DPRAM
UINT
11h
IN total length
Get_Attribute_Single
Total number of IN bytes supported
UINT
*
*
12h OUT cyclic I/O length
Get_Attribute_Single
Size of I/O OUT (bytes) data
UINT
*
*
13h OUT DPRAM length
Get_Attribute_Single
Number of valid OUT bytes in DPRAM
UINT
14h OUT total length
Get_Attribute_Single
Total number of OUT bytes supported
UINT
*
*
15h Reserved
Get_Attribute_All
Reserved for future 16-bit compatibility
UINT
*
*
16h Application indication
Get_Attribute_Single
Application indication register
USINT
*
17h AnyBus indication
Get_Attribute_Single
AnyBus indication register
USINT
*
Implemented Objects 4-12
Parameter data Input Mapping Object, Class B0h
Class Attributes
ID#
Attribute Name
01h Revision
Services
Description
Semantics
Get_Attribute_All
Revision of the Parameter data input object. The revision attribute, which contains the
object revision.
Default,
Min,
Max
1,
1,
1
DataType
UINT
Instance Attributes, Instance 01h
Services
Description
Semantics
Default,
Min,
Max
01h Data
Get_Attribute_Single
Data that is read
In bytes
N/A
Array of
USINT
02h Data
Get_Attribute_Single
Data that is read
In bytes
N/A
Array of
USINT
ID#
…
Attribute Name
…
32h Data
DataType
…
…
…
…
…
Get_Attribute_Single
Data that is read
In bytes
N/A
Array of
USINT
Note: Which attributes that exist are depending on which attributes that are initialised from the
DPRAM during initialisation.
Parameter data Output Mapping Object, Class B1h
Class Attributes
ID#
Attribute Name
01h Revision
Services
Description
Semantics
Get_Attribute_All
Revision of the Parameter data output
object.
The revision attribute, which contains the
object revision.
Default,
Min,
Max
1,
1,
1
DataType
UINT
Instance Attributes, Instance 01h
Services
Description
Semantics
Default,
Min,
Max
01h Data
Get_Attribute_Single,
Set_Attribute_Single
Data that is read or written
In bytes
N/A
Array of
USINT
02h Data
Get_Attribute_Single,
Set_Attribute_Single
Data that is read or written
In bytes
N/A
Array of
USINT
…
…
…
…
…
Get_Attribute_Single,
Set_Attribute_Single
Data that is read or written
In bytes
N/A
Array of
USINT
ID#
…
Attribute Name
…
32h Data
DataType
Note: Which attributes that exist are depending on which attributes that are initialised from the
DPRAM during initialisation.
Chapter 5
Mailbox Interface
This chapter describes the fieldbus specific mailbox commands in the module. Consult the AnyBus-S
Design Guide for more information regarding mailbox functionality.
Summary
Name
SET_DIPSWITCH
SET_DIPSWITCH_2
GET_DIPSWITCH
PARAMETER_INPUT_MAP
PARAMETER_OUTPUT_MAP
IO_INPUT_MAP
IO_OUTPUT_MAP
PRODUCT_INFO
PRODUCT_CODE
PRODUCT_INFO_ALL
Description
Set DIP Switch value, cannot override physical setting
Set DIP Switch value, overrides physical setting
Read DIP switch value
Map attributes in the Parameter Data Input Mapping Object
Map attributes in the Parameter Data Output Mapping Object
Map instances in the Assembly Object
Map instances in the Assembly Object
Customize Vendor ID, Product Code, and Product Name
Customize Product Code
Customize Vendor ID, Device Type, Product Code, Major Revision,
Minor Revision and Product Name
Page
5-2
5-3
5-4
5-5
5-7
5-9
5-11
5-13
5-15
5-16
Mailbox Interface 5-2
Configuration Switch
Set DipSwitch (SET_DIPSWITCH)
Description
The SET_DIPSWITCH telegram is used to set the MAC ID and baudrate from the application instead
of using the dip switch mounted on the module. This is useful in embedded applications, where the
switches may be inaccessible. Note that all DIP switches must be set to ‘ON’ in order for this command
to work.
When using this method to set the MAC ID and the baudrate the dip switch should not be visible to the
end user.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
SET_DIPSWITCH
02h
0001h
No
New DIP switch value. ON=1, OFF=0
If the value is out of range this will force the module to stay off-line
Command and response layout:
Command
(ID)
4002h
0001h
0001h
0001h
0001h
0000h
0000h
Configuration byte
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data byte 1
Expected response
(ID)
0002h
0001h
0001h
0001h
0001h
0000h
0000h
Configuration byte
Configuration byte:
Switch:
Bit:
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
0
SET_DIPSWITCH
00h=On line, 01h=Off line
Mailbox Interface 5-3
Set DipSwitch 2 (SET_DIPSWITCH_2)
Description
This command is an updated version of the SET_DIPSWITCH command and is identical except that
it overrides the physical DIP switch settings completely, i.e it is not required to set all switches to ‘ON’.
The old SET_DIPSWITCH command has been kept for backwards compatibility.
This command can only be sent during the module initialisation.
This command in conjunction with GET_DIPSWITCH can be used to alter the meaning of the DIP
switches. This is useful if the module is mounted e.g upside down or vertical, as this changes the position
of the switches in a way that does not comply with the DeviceNet specification.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
SET_DIPSWITCH_2
02h
000Ah
No
New DIP switch value. ON=1, OFF=0
If the value is out of range this will force the module to stay off-line
Command and response layout:
Command
(ID)
4002h
000Ah
0001h
0001h
0001h
0000h
0000h
Value
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data byte 1
Expected response
(ID)
0002h
000Ah
0001h
0001h
0001h
0000h
0000h
Value
Value:
Switch:
Bit:
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
0
SET_DIPSWITCH_2
Mailbox Interface 5-4
Get DipSwitch (GET_DIPSWITCH)
Description
This command is used to read out the physical setting of the DIP switch. In conjunction with
SET_DIPSWITCH_2, this command can be used to alter the meaning of the DIP switches. This is useful if the module is mounted e.g upside down or vertical, as this changes the position of the switches in
a way that does not comply with the DeviceNet specification.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
GET_DIPSWITCH
02h
0008h
No
The response contains the physical DIP switch setting. ON=1, OFF=0
Command and response layout:
Command
(ID)
4002h
0008h
0000h
0001h
0001h
0000h
0000h
-
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data byte 1
Expected response
(ID)
0002h
0008h
0001h
0001h
0001h
0000h
0000h
Value of dipswitch
DIP Switch Value:
Switch:
Bit:
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
0
GET_DIPSWITCH
Mailbox Interface 5-5
Mapping
Parameter Data Input Area Mapping (PARAMETER_INPUT_MAP)
Description
This command makes it possible to map attributes in the “Parameter data input mapping object”, Class
B0h. By mapping data a Get_Attribute_Single command from the fieldbus to the “Parameter data input
mapping object” can return a specified block of data. Up to 50 attributes can be mapped.
Attributes are mapped with start of attribute 1. Offset is set from the start of the Parameter data input
area and length specifies the amount of bytes to map. After attribute 1 in the telegram attribute 2 follows
and then all attributes to attribute 50. If length is set to zero the attribute will not exist. It is for example
possible to map only object 1 and 10 by letting the length of attributes 2-9 be zero. It is only necessary
to include information in the telegram for attributes up to the last attribute number used.
If any offset or length is invalid, the length and offset will be set to zero in the mailbox answer and the
attribute will not be mapped
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
PARAMETER_INPUT_MAP
02h
0004h
No
Offset and length of the attributes to map.
The response indicates if the message was accepted.
Mailbox Interface 5-6
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data word 1
Message data word 2
Message data word 3
Message data word 4
Message data word 5
Message data word 6
Message data word 7
Message data word 8
Message data word 9
Message data word 10
Command
(ID)
4002h
0004h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Expected response
(ID)
0002h
0004h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
Note: Example when only setting attribute 1-5.
PARAMETER_INPUT_MAP
Offset from parameter data
input area start
Mailbox Interface 5-7
Parameter Data Output Area Mapping (PARAMETER_OUTPUT_MAP)
Description
This command makes it possible to map attributes in the “Parameter data output mapping object”, Class
B1h. By mapping data a Get_Attribute_Single command or a Set_Attribute_Single command from the
fieldbus to the “Parameter data output mapping object” can return a specified block of data or write a
block of data. Up to 50 attributes can be mapped.
Attributes are mapped with start of attribute 1. Offset is set from the start of the Parameter data input
area and length specifies the amount of bytes to map. After attribute 1 attribute in the telegram attribute
2 follows and then all attributes to attribute 50. If length is set to zero the attribute will not exist. It is
for example possible to map only object 1 and 10 by letting the length of attributes 2-9 be zero. It is only
necessary to include information in the telegram for attributes up to the last attribute number used.
If any offset or length is invalid the length and offset will be set to zero in the mailbox answer and the
attribute will not be mapped.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
PARAMETER_OUTPUT_MAP
02h
0005h
No
Offset and length of the attributes to map.
The response indicates if the message was accepted.
Mailbox Interface 5-8
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data word 1
Message data word 2
Message data word 3
Message data word 4
Message data word 5
Message data word 6
Message data word 7
Message data word 8
Message data word 9
Message data word 10
Command
(ID)
4002h
0005h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Expected response
(ID)
0002h
0005h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
Note: Example when only setting attribute 1-5.
PARAMETER_OUTPUT_MAP
Offset from parameter data output area start
Number of bytes to map
Mailbox Interface 5-9
I/O Data Input Area Mapping (IO_INPUT_MAP)
Description
This command makes it possible to map instances in the Assembly Object, Class 04h. Attributes are
mapped with start at Instanced 100. Offset is set from the start of the I/O data input area and length
specifies the amount of bytes to map. After attribute 100 in the telegram attribute 101 follows and then
all instances to up to 104. If length is set to zero the instance will not be instantiated. It is for example
possible to map only object 100 and 104 by letting the length of instances 101-103 be zero. It is only
necessary to include information in the telegram for instances up to the last instance number used.
If any offset or length is invalid the length and offset will be set to zero in the mailbox answer and the
attribute will not be mapped
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
IO_INPUT_MAP
02h
0006h
No
Offset and length of the instance to map.
The response indicates if the message was accepted.
Mailbox Interface 5-10
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data word 1
Message data word 2
Message data word 3
Message data word 4
Message data word 5
Message data word 6
Message data word 7
Message data word 8
Message data word 9
Message data word 10
Command
(ID)
4002h
0006h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
Note: Example when only setting attribute 1-5.
Expected response
(ID)
0002h
0006h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
IO_INPUT_MAP
Offset from I/O input area start
Number of bytes to map
Mailbox Interface 5-11
I/O Data Output Area Mapping (IO_OUTPUT_MAP)
Description
This command makes it possible to map instances in the Assembly Object, Class 04h. Attributes are
mapped with start at Instanced 150. Offset is set from the start of the I/O data input area and length
specifies the amount of bytes to map. After attribute 150 in the telegram attribute 151 follows and then
all instances to up to 150. If length is set to zero the instance will not be instantiated. It is for example
possible to map only object 150 and 154 by letting the length of instances 151-153 be zero. It is only
necessary to include information in the telegram for instances up to the last instance number used.
If any offset or length is invalid the length and offset will be set to zero in the mailbox answer and the
attribute will not be mapped
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
IO_OUTPUT_MAP
02h
0007h
No
Offset and length of the attributes to map.
The response indicates if the message was accepted.
Mailbox Interface 5-12
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data word 1
Message data word 2
Message data word 3
Message data word 4
Message data word 5
Message data word 6
Message data word 7
Message data word 8
Message data word 9
Message data word 10
Command
(ID)
4002h
0007h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
Note: Example when only setting attribute 1-5.
Expected response
(ID)
0002h
0007h
0014h
0001h
0001h
0000h
0000h
Offset for Attribute 1
Length for Attribute 1
Offset for Attribute 2
Length for Attribute 2
Offset for Attribute 3
Length for Attribute 3
Offset for Attribute 4
Length for Attribute 4
Offset for Attribute 5
Length for Attribute 5
IO_OUTPUT_MAP
Offset from I/O output area start
Number of bytes to map
Mailbox Interface 5-13
Other
Set Product Info (PRODUCT_INFO)
Description
Set Product Info is used to change Vendor ID, Product Code and Product Name in the Identity object
to customise your product.
This command can only be sent during module initialisation.
Note: To change the identity object information, a Vendor ID from ODVA international MUST have
been received.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
PRODUCT_INFO
02h
0001h
No
Vendor ID, product code, Name length and Name.
The response indicates if the message was accepted.
Mailbox Interface 5-14
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data byte 1
Message data byte 2
Message data byte 3
Message data byte 4
Message data byte 5
Message data byte 6
Message data byte 7
...
Message data byte N
Command
(ID)
4002h
0002h
N
0001h
0001h
0000h
0000h
Vendor ID (msb)
Vendor ID (lsb)
Product Code (msb)
Product Code (lsb)
Product Name Length
Product Name (1st char.)
Product Name (2nd char.)
...
Product Name (last char.)
Expected response
(ID)
0002h
0002h
N
0001h
0001h
0000h
0000h
Vendor ID (msb)
Vendor ID (lsb)
Product Code (msb)
Product Code (lsb)
Product Name Length
Product Name (1st char.)
Product Name (2nd char.)
...
Product Name (last char.)
PRODUCT_INFO
Data size N
Maximum 32 characters
Mailbox Interface 5-15
Set Product Code (PRODUCT_CODE)
Description
This command makes it possible for a configuration tool to identify your product on a Network as a
special implementation and not as a general AnyBus-S module, by changing the high byte to the Product
code. This is implemented to give the opportunity for developers to make EDS files specific for their
AnyBus-S implementations.
Note: To be able to use this function, a unique number from HMS must be requested for. This service
is for free.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
PRODUCT_CODE
02h
0003h
No
Unique number given by HMS
The response indicates if the command was accepted.
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data byte 1
Command
(ID)
4002h
0003h
0001h
0001h
0001h
0000h
0000h
Configuration byte
Expected response
(ID)
0002h
0003h
0001h
0001h
0001h
0000h
0000h
Configuration byte
PRODUCT_CODE
00h=On line, 01h=Off line
Mailbox Interface 5-16
Set Product Info All (PRODUCT_INFO_ALL)
Description
Set Product Info All is used to change Vendor ID, Device Type, Product Code, Major Revision, Minor
Revision and Product Name in the Identity object to customise the developed product. The EDS file
also need to be modified accordingly in order to fit the product.
This command can only be sent during the module initialisation.
Note: To change the identity object information, a VendorID, a Device Type number and a Product
code number will be needed from ODVA international.
Parameter
Command initiator
Command Name
Message type
Command number
Fragmented
Extended Header data
Command data
Response data
Description
Application
PRODUCT_INFO_ALL
02h
0009h
No
Vendor ID, Device Type, Product Code, Major revision, Minor revision, Name length and
Name (ascii values)
The response indicates if the message was accepted.
Mailbox Interface 5-17
Command and response layout:
Message ID
Message information
Command
Data size
Frame count
Frame number
Offset high
Offset low
Extended word 1
Extended word 2
Extended word 3
Extended word 4
Extended word 5
Extended word 6
Extended word 7
Extended word 8
Message data byte 1
Message data byte 2
Message data byte 3
Message data byte 4
Message data byte 5
Message data byte 6
Message data byte 7
Message data byte 8
Message data byte 9
Message data byte 10
Message data byte 11
...
Message data byte N
Command
(ID)
4002h
0009h
n
0001h
0001h
0000h
0000h
Vendor ID (msb)
Vendor ID (lsb)
Device Type (msb)
Device Type (lsb)
Product Code (msb)
Product Code (lsb)
Major revision
Minor revision
Product Name Length
Product Name (1st char.)
Product Name (2nd char.)
...
Product Name (last char.)
Expected response
(ID)
0002h
0009h
n
0001h
0001h
0000h
0000h
Vendor ID (msb)
Vendor ID (lsb)
Device Type (msb)
Device Type (lsb)
Product Code (msb)
Product Code (lsb)
Major revision
Minor revision
Product Name Length
Product Name (1st char.)
Product Name (2nd char.)
...
Product Name (last char.)
PRODUCT_INFO_ALL
Maximum 32 characters
Product name, 1st character
Product name, last character
Chapter 6
Fieldbus Specific Area
This area holds runtime status information from the DeviceNet network. The information that can be
read from this area is specified below:
DPRAM
Address:
Modbus
Address:
640h - 641h
2120h
642h
643h
644h
645h
646h
647h
2121h (high)
2121h (low)
2122h (high)
2122h (low)
2123h (high)
2123h (low)
648h - 7BFh
2124h -21DFh
Area
Description
Identity Status Attribute
(see below)
Explicit Connection Status
Polled I/O Connection Status
Strobed Connection Status
Change of state / Cyclic Connection Status
(reserved)
Master Status
(reserved)
See Connection Status below.
See Connection Status below.
See Connection Status below.
See Connection Status below.
DeviceNet master status
-
Identity Status Attribute (Read Only)
Bit(s)
Name
0
Owned
1
-
2
Configured
3 ... 7
-
8
Minor Recoverable Fault
9
Minor Unrecoverable Fault
10
Major Recoverable Fault
11
Major Unrecoverable Fault
12 ... 15 -
Definition
TRUE indicates that the device (or and object within the device) has an
owner. Within the Master / Slave paradigm the setting of this bit means that
the Predefined Master/Slave Connection Set has been allocated to a master.
(reserved)
TRUE indicates that the application of the device has been configured to do
something different than the “out-of-box” default.
(This does not include communication settings)
(reserved)
TRUE indicates that the device has detected a problem with itself, which is
thought to be recoverable. The problem does not cause the device to go
into one of the faulted states.
TRUE indicates that the device has detected a problem with itself, which is
thought to be unrecoverable. The problem does not cause the device to go
into one of the faulted states.
TRUE indicates that the device has detected a major problem with itself,
which has caused the device to go into the “Major Recoverable Fault” state.
TRUE indicates that the device has detected a major problem with itself,
which has caused the device to go into the “Major Unrecoverable Fault”
state.
(reserved)
Fieldbus Specific Area 6-2
Connection Status Registers (Read Only)
This register indicates the connection status. Possible values of these registers:
Value
00h
01h
02h
03h
04h
05h
Meaning
Nonexistent
Configuring
(not used)
Established
Timed out
Deferred delete
Master Status (Read Only)
This register indicates the status of the master on the network. Possible values are:
Value
00h
01h
02h
Meaning
Master not initialized to send data
Master is Running
Master is Idle
Note: If the master is not initialised to send data to the slave, it is not possible to tell if the master is in
Run or Idle mode
Appendix A
Electrical Characteristics
Supply Voltage
Application Interface
Both the module electronics and the fieldbus interface requires a regulated 5V DC power supply. For
more information regarding power requirements, consult the AnyBus-S Design Guides.
Bus
The bus interface shall be supplied with 24V DC +/- 10% on the fieldbus connector.
Power Consumption
Symbol
IINMOD
IINBUS
Description
Supply current, module electronics
Min.
-
Typ.
170
Max
200
Unit
mA
Supply current, bus interface
-
25
30
mA
PE Grounding
A PE-connection is included on one of the mounting holes according to the AnyBus-S specification.
Galvanic Isolation
The bus interface power is taken from the DeviceNet connector. The send and receive signals are isolated via opto couplers.
Network Termination
DeviceNet uses termination resistors at each physical end of the bus. The termination resistor should
be 121 ohm. This should be connected between CAN_H and CAN_L on the bus.
Appendix B
Connectors
Application Interface
The module is available in both serial and parallel versions.
•
Serial Version
Consult the general AnyBus-S Serial Design Guide
•
Parallel Version
Consult the general AnyBus-S Parallel Design Guide
Fieldbus Interface
Pluggable Screw (5.08 and 3.84 mm)
Pin
1
Signal
V-
2
3
4
5
CAN_L
SHIELD
CAN_H
V+
Description
Negative supply voltagea
CAN_L bus line
Cable shield
CAN_H bus line
1
5
Positive supply voltagea
a. DeviceNet bus power. See Appendix A-1 “Electrical Characteristics”
2mm Board to Board
Pin
1
2
3
4
Signal
SHIELD
CAN_L
V-
5
6
CAN_H
V-
7
8
V+
9
10
SHIELD
Description
Cable shield
CAN_L bus line
Negative supply voltage
CAN_H bus line
1
a
Negative supply voltagea
Positive supply voltagea
Cable shield
a. DeviceNet bus power. See Appendix A-1 “Electrical Characteristics”
10
Appendix C
Environmental Specification
Temperature
Operating
+0 to +70 degrees Celsius
Test performed according to IEC-68-2-1 and IEC 68-2-2.
Non Operating
-15 to +85 degrees Celsius
Test performed according to IEC-68-2-1 and IEC 68-2-2.
Relative Humidity
The product is designed for a relative humidity of 5 to 95% non-condensing.
Test performed according to IEC 68-2-30.
EMC compliance
Emission
According to EN 50 081-2:1993
Tested per 55011:1990, class A, radiated
Immunity
According to EN 61000-6-2:1999
Tested per
EN 61000-4-2:1995
EN 61000-4-3:1996
EN 61000-4-4:1995
EN 61000-4-5:1995
EN 61000-4-6:1996
Appendix D
Mechanical Specification
This section contains mechanical drawings of the module. The fieldbus interface can be either top or
side mounted.
The mechanical drawings describe the standard configuration of the module.
Part no. for parallel version: AB4004
Part no. for serial version:
AB4026
For more information regarding other connectors, please contact HMS marketing department.
Measurements, PCB
The PCB is designed to fulfil the AnyBus-S requirements.
2,0
37,3
2,0
54,0
0,8
5,8
0,75
0
A
3x 3,2
A
0,9
6,2
2,54
2,54
0,8
12,9
2,0
0
1,0
71,8
2,0
14,3
86,0
1,6
55,5
7,0
0
4,0
A-A
Mechanical Specification D-2
Measurements, Connectors & Switches
Angled Switches & Connectors
27,4
25,4
9,2
21,7
15,2
2,9
4,6
9,7
8,4
5,0
9,7
6,4-12,2mm
16,2
9,7
13,7
14,1 15,6
8,1
25,5
75,7
45,5
12,1
0
21,2
15,8
Mechanical Specification D-3
Straight Switches & Connectors
27,4
25,4
21,7
21,3
12,0
8,1
5,5
10,2
6,4-12,2mm
9,2
2,9
15,2
8,4
4,6
14,1
5,0 9,7
75,7
45,5
12,1
9,6
0
10,0
13,6
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