ICP DAS USA I-7242D - DeviceNet to Modbus RTU Gateway User Manual

I-7242D user manual
I-7242D
DeviceNet / Modbus RTU Gateway
User’s Manual
Warranty
All products manufactured by ICP DAS are warranted
against defective materials for a period of one year from
the date of delivery to the original purchaser.
Warning
ICP DAS assumes no liability for damages consequent
to the use of this product. ICP DAS reserves the right to
change this manual at any time without notice. The
information furnished by ICP DAS is believed to be
accurate and reliable. However, no responsibility is
assumed by ICP DAS for its use, or for any infringements
of patents or other rights of third parties resulting from its
use.
Copyright
Copyright 2005 by ICP DAS Co., LTD. All rights are
reserved worldwide.
Trademark
The names used for identification only may be
registered trademarks of their respective companies.
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Table of Contents
1
Introduction..........................................................................................................5
1.1
Overview........................................................................................................5
1.2
DeviceNet Applications .................................................................................7
1.3
Hardware Features .........................................................................................8
1.4
DeviceNet Features........................................................................................9
1.5
Modbus RTU Features...................................................................................9
1.6
Utility Features...............................................................................................9
2
Hardware Specification .....................................................................................10
2.1
Hardware Structure ......................................................................................10
2.2
Wire Connection ..........................................................................................11
2.2.1
CAN bus wire connection....................................................................11
2.2.2
Digital input/output wire connection ...................................................14
2.3
Power LED...................................................................................................16
2.4
DeviceNet Indicator LED ............................................................................17
2.4.1
MS LED ...............................................................................................17
2.4.2
NS LED................................................................................................17
2.4.3
IO LED.................................................................................................18
2.5
Five 7-Segment LED Displays ....................................................................19
2.6
Modbus Devices Support.............................................................................22
3
DeviceNet System ...............................................................................................23
3.1
DeviceNet network Introduction..................................................................23
3.2
Predefined Master/Slave Connection Messages ..........................................27
3.2.1
Explicit Response/Request Messages ..................................................27
3.2.2
I/O Poll Command/Response Messages ..............................................28
3.2.3
I/O Bit-Strobe Command/Response Messages....................................29
3.2.4
I/O Change of State/Cyclic Messages..................................................30
3.3
EDS file........................................................................................................31
4
DeviceNet Profile Area ......................................................................................32
4.1
Introduction to the DeviceNet Objects of I-7242D......................................32
4.2
DeviceNet Statement of Compliance...........................................................33
4.3
List of the I-7242D’s DeviceNet Object......................................................34
4.4
Identity Object (Class : 0x01 ) .....................................................................35
4.5
Message Router Object ( Class : 0x02 ).......................................................36
4.6
DeviceNet Object ( Class : 0x03 ) ...............................................................37
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4.7
4.8
4.9
4.10
4.11
Assembly Object ( Class : 0x04 ) ................................................................38
Connection Object ( Class : 0x05 ) ..............................................................39
Acknowledge Handler Object ( Class 0x2B )..............................................43
User-defined Modbus Device Object ( Class : 0x64 ) .............................44
User-defined Modbus Command Object ( Class : 0x65 )........................45
5
The components of Assembly Object ...............................................................46
5.1
Components of Assembly Object ................................................................46
5.2
Examples of Assembly Object in I-7242D ..................................................47
6
Configuration & Getting Started .....................................................................52
6.1
Configuration Flowchart..............................................................................52
6.2
The DNS_MRU Utility Overview ...............................................................53
6.3
Install & Uninstall the DNS_MRU Utility ..................................................54
6.4
Steps of the DNS_MRU Utility ...................................................................60
7
DeviceNet Communication Set .........................................................................70
7.1
DeviceNet Communication Set Introduction...............................................70
7.2
Examples on the DeviceNet Communication Set........................................73
7.2.1
Request the use of Predefined Master/Slave Connection Set ..............73
7.2.2
How to apply the Poll Connection .......................................................74
7.2.3
The Bit-Strobe Connection example....................................................76
7.2.4
Change of State/Cyclic Connection example (Acknowledged)...........78
7.2.5
Change of State/Cyclic Connection example (Unacknowledged).......82
7.2.6
Change MAC ID example ...................................................................84
7.2.7
Change CAN Baud Rate on-line example ...........................................87
7.2.8
Reset Service........................................................................................89
7.2.9
Device Heartbeat..................................................................................91
7.2.10
Offline Connection Set ........................................................................93
7.2.11
7.2.12
8
Fragmentation example........................................................................95
User-defined Modbus commands example..........................................99
Modbus Commands .........................................................................................106
8.1
“Read Coil Status” Command (0x01)........................................................108
8.2
“Read Input Status” Command (0x02) ......................................................108
8.3
“Read Holding Registers” Command (0x03) ............................................109
8.4
“Read Input Registers” Command (0x04) .................................................109
8.5
“Force Multiple Coils” Command (0x0F) .................................................110
8.6
“Preset Multiple Registers” Command (0x10) ..........................................111
8.7
Exception Responses .................................................................................112
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9
Application with PISO-CAN 200/400-T.........................................................113
9.1
Application 1..............................................................................................117
9.2
Application 2..............................................................................................120
Appendix A: Dimension and Mounting .................................................................123
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1 Introduction
1.1
Overview
The CAN (Controller Area Network) is a serial communication protocol,
which efficiently supports distributed real-time control with a very high level of
security. It is an especially suited for networking "intelligent" devices as well as
sensors and actuators within a system or sub-system. In CAN networks, there
is no addressing of subscribers or stations in the conventional sense, but
instead, prioritized messages are transmitted. DeviceNet is one kind of the
network protocols based on the CAN bus and mainly used for machine control
network, such as textile machinery, printing machines, injection molding
machinery, or packaging machines, etc. DeviceNet is a low level network that
provides connections between simple industrial devices (sensors, actuators)
and higher-level devices (controllers), as shown in Figure 1.1.
Figure 1.1 Architecture of the DeviceNet network
DeviceNet is a cost effective solution to one kind application of control
area network. It reduces the connection wires between devices and
provides rapid troubleshooting rejection function. The transfer rate can be
up to 500Kbps within 100 meters. The transfer distance can be up to 500
meters in 125Kbps (See Table 1.1). It allows direct peer to peer data
exchange between nodes in an organized and, if necessary, deterministic
manner. Master/Slave connection model can be supported in the same
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network. Therefore, DeviceNet is able to facilitate all application
communications based on a redefine a connection scheme. However,
DeviceNet connection object stands as the communication path between
multiple endpoints, which are application objects that is needed to share
data.
Table 1.1 The Baud rate and the Bus length
Baud rate (bit/s)
Max. Bus length (m)
500 K
100
250 K
250
125 K
500
The I-7242D is one of CAN bus products in ICP DAS and stands as a
DeviceNet slave/Modbus RTU master Gateway device. It allows a master
located on a DeviceNet network to enter a dialogue with slave devices on the
Modbus RTU network. In DeviceNet network, it functions as a Group 2 Only
Slave device, and supports “Predefined Master/slave Connection Set”. In
Modbus RTU network, I-7242D represents the master device and responses
to access the Modbus RTU slave device by DeviceNet object definition. In
order to simplify the protocol converting mechanism, we also provide the
DNS_MRU Utility software for users to configure the device parameters and
build EDS file for the DeviceNet slave device. Users can easily apply Modbus
RTU devices in DeviceNet applications through the I-7242D. The application
architecture is depicted as figure 1-2. Users can connect the Modbus RTU
devices to the DeviceNet network via the I-7242D.
Figure 1-2 Application architecture
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1.2
DeviceNet Applications
DeviceNet is the standardized network application layer optimized for
factory automation. It is mainly used in low- and mid-volume automation
systems. Some users have implemented DeviceNet protocol in machine
control systems. The main DeviceNet application fields are demonstrated
the following area. (For more information, please refer to www.odva.org):
● Production cell builds and tests CPUs
● Dinnerware production
● Beer brewery
● HVAC module production
● Equipment for food packing
● HVAC module production
● Fiberglass twist machine
● Trawler automation system
● Sponge production plant
● LCD manufacturing plant
● Sponge production plant
● Rolling steel door production
● Overhead storage bin production
● Bottling line
● Pocket-bread bakery
● Tight manufacturing
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1.3
Hardware Features
System
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
z
CPU: 80188 40MHz
Philip SJA1000 CAN controller
Philip 82C250 CAN transceiver
SRAM: 512K bytes
Flash Memory: 512K bytes
EEPROM: 2K bytes
Real Time Clock
Built-in Dual-Watchdog
16-bit Timer
2500 Vrms isolation on CAN side
Power Consumption: 2.8 W
Unregulated +10VDC to +30VDC
Operating Temperature: -25°C to +75°C
Storage Temperature: -30°C to +85°C
Humidity: 5%~95%
NS, MS and IO Led indicator
COM1
z
z
z
RS-232: TXD, RXD, RTS, CTS, GND
Communication speed: 1200, 2400, 4800, 9600, 19200, 38400,
57600 or 115200 bits/s
Used as configuration tool connection
COM2
z
z
z
RS-485: D2+, D2Communication speed: 1200, 2400, 4800, 9600, 19200, 38400,
57600 or 115200 bits/s
Connect to Modbus RTU devices
Display
z
Five 7-segmemt displays to show the information of operation
mode, Node ID, CAN baud rate, RS-485 baud rate and device
error code in sequence loop ways.
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1.4
DeviceNet Features
z
Comply with DeviceNet specification Volume I, Release 2.0 & Volume II,
Release 2.0.
z
“Group 2 only server” DeviceNet subscriber
z
Dynamic Assembly Objects Mapping by Utility
z
On-line change baud rate and MAC ID of CAN
z
MS̀̀、NS and IO LED indicators
z
Five 7-segmemt displays show the information of operation mode, MAC ID,
baud rate and error code
z
Connection supported:
1 “Explicit Connection”
1 “Polled Command/Response” connection
1 ”Bit Strobed Command/Response” connection
1 ”Cnange-of-State/Cyclic” connection
z
Configuration facilitated by the use of specific EDS files.
z
Configure user-defined Modbus RTU message by Explicit connection
1.5
Modbus RTU Features
z
Maximum number of devices: 10 Modbus devices
z
Communication speed: 1200、2400、4800、9600、19200、38400、57600
or 115200 bits/s, configured by using Utility.
z
Data bits: 8 bits, configured by using Utility
z
Parity bits: None, even or odd, configured by using Utility
z
Stop bits: 1 or 2 bits, configured by using Utility
z
Support Modbus devices communication error alarm.
z
Support Modbus function codes: 0x01，0x02，0x03，0x04，0x0F and 0x10.
1.6
Utility Features
z
Support DeviceNet node ID, baud rate setting
z
Support com port communication setting
z
Support Modbus RTU communication parameters setting according to
specific devices
z
Support DeviceNet Polling, Bit-Strobe and COS/Cyclic I/O connection path
setting
z
Show Modbus RTU devices configuration
z
Show DeviceNet application and assembly objects configuration
z
Dynamic produce EDS file
Please refer to Appendix A to know how to mount I-7242D
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2 Hardware Specification
2.1
Hardware Structure
CAN Bus
Connector
Bypass CAN
Bus Connector
DeviceNet
Status LED
Power LED
7-segment
LED displays
Power Input
Alarm Output
Clear Alarm
RS-485 Port
(Reserved for
future use)
RS-485 Port
(Connect to Modbus
devices)
RS-232 Port
(connect to PC)
INIT * pin
Figure 2-1 Hardware Structure of the I-7242D
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2.2
Wire Connection
2.2.1
CAN bus wire connection
In order to minimize reflection effects on the CAN bus line, the CAN bus
lines have to be terminated at both ends by two terminal resistances. Based on
the ISO 11898-2 spec, each terminal resistance is 120Ω (or between
108Ω~132Ω). The length related resistance should have 70 mΩ/m. Users
should check the resistances of their CAN bus, before they install a new CAN
network as figure 2-2.
Figure 2-2 CAN Bus Wire Connections
Moreover, to minimize the voltage drop on long distance, the terminal
resistance should be higher than the value defined in the ISO 11898-2. Table
2-1 may be used as a reference.
Table 2-1 Relation between bus cable and length
Bus
Length
(meter)
Bus Cable Parameters
Terminal
Resistance
(Ω)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
0~40
70
0.25(23AWG)~
0.34mm2(22AWG)
124 (0.1%)
40~300
< 60
0.34(22AWG)~
0.6mm2(20AWG)
127 (0.1%)
300~600
< 40
0.5~0.6mm2
(20AWG)
150~300
< 20
0.75~0.8mm2
(18AWG)
150~300
600~1K
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The CAN bus baud rate has the high relationship with the bus length.
Table 2-2 indicates the corresponding bus length for every kind of baud rate in
DeviceNet network.
Table 2-2 Baud rate and bus length for DeviceNet network
Baud rate (bit/s)
Max. Bus length (m)
500 K
100
250 K
250
125 K
500
In order to provide an easy CAN bus wiring, the I-7242D supplies one
CAN port with two CAN bus connector interfaces. Each connecter built on the
I-7242D looks like as figure 2-3 and table 2-3.
Figure 2-3 CAN bus connector of I-7242D
Table 2-3 Connector pins of I-7242D
Pin No.
Signal
Description
1
No used
2
CAN_L
CAN_L bus line (dominant low)
3
CAN_SHLD
Optional CAN Shield
4
CAN_H
CAN_H bus line (dominant high)
5
No used
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Note that the bypass CAN bus connector is not another CAN channel. It
is designed for connecting to another DeviceNet device conveniently. The
structure of the inside electronic circuit is displayed as figure 2-4.
Figure 2-4 Electronic circuit of CAN bus connector
The jumper-selected termination resistor (J3) is positioned as the figure
2-5. And about the J3 jumper setting, please refer the table 2-4.
Figure2-5
XC100 I/O expansion board LAYOUT
Table 2-4 J3 Jumper Selection
Apply the termination
resistor(120Ω)
Don’t apply the termination
resistor
1 2 3
1 2 3
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2.2.2
Digital input/output wire connection
The DO and DI in the I-7242D are used for Modbus communication alarm.
If the number of Modbus communication error exceeds 100, the DO value will
be set as 1. And the DO status is OFF. Users can apply this to have a clear
warning. Then users can clear the alarm signal by setting the DI value as 0.
After setting the DI to ON state, the data lose counter of each device
would be adjusted to zero. The wire connection of digital input is as figure 2-6.
„
Digital Input level
Dry Contact:
Logical level 0: closed to GND
Logical level 1: open
Wet contact:
Logical level 0: +1V
Logical level 1: +3.5V to +30V
Figure 2-6 Digital Input Wire Connection
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When the number of data-lose counter exceeds 100, the DO would be in
OFF state. Users can use the DO as the alarm of Modbus communication.
The wire connection of digital output is as figure 2-7.
Digital output level
Open collector to 30V Max.
Output current: 100mA
Figure 2-7 Digital Output Wire Connection
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2.3
Power LED
After connecting the I-7242D with the electronic power (the range of input
voltage is 10~30VDC). The Power LED will be turn on. If the Power LED is off
after giving the proper voltage, please check the power and load of power
supply firstly. If the situation is not improved, please communicate your local
distributor to solve this problem. The corresponding conditions are given in
table 2-5 and the location is shown in Figure 2.1.
Table 2-5 Power led conditions
Condition
Status
Description
Off
No power
No power supply
Solid red
Normal
Device is working
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2.4
DeviceNet Indicator LED
The I-7242D includes three single-color LED displays to indicate the
status of module, network and I/O device. They are MS LED (it is red), NS LED
(it is green), and IO LED (it is red). The Indicators assist maintenance
personnel in quickly identifying a problem unit. The LED test is to be performed
at power–up. When the DeviceNet communication events occur, these
indicators will be triggered to glitter with different conditions.
2.4.1
MS LED
This LED provides device status and indicates whether or not the device
is operating properly. Table 2-6 shows the conditions of MS status. Therefore,
when the device is operated normally, the MS-LED must be turned off.
Table 2-6 MS led conditions
Condition
Status
Description
Red
Critical fault
Device has unrecoverable fault
Flashing red
Non-critical fault
Device
has
recoverable
fault;
to
recover:
Reconfigure device
Reset device
Perform error recovery
2.4.2
NS LED
This LED indicates the status of the communication link for the device.
Table 2-7 shows the conditions of NS status. Therefore, when the device is
correctly communicating in the network, the NS-LED is normally turned on.
Table 2-7 NS led conditions
Condition
Status
Description
Off
Off line
DeviceNet is off line
Flashing green On line
DeviceNet
is
on
line,
but
not
communicating
The device has detected an error that
has
Init solid green Link failed
rendered
communicating
it
on
incapable
the
link;
of
for
example, detected a duplicate node
address or network configuration error
Solid green
On line, communicating
DeviceNet is on communication
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2.4.3
IO LED
This LED provides the information of inputs or outputs access status.
When Master get/set input/output data of Modbus devices via the I-7242D, the
LED would be flashed. Table 2-8 shows the conditions for IO status. Therefore,
when the device IO-function is working, the IO-LED should be flashed.
Table 2-8 IO led conditions
Condition
Status
Off
No data
Flashing red
Communicating
Description
No
data
is
being
transmitted
or
received
Data is being transmitted or received
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2.5
Five 7-Segment LED Displays
The I-7242D provides five 7-Segment LED displays to show the current
information of I-7242D in a sequence steps to represent the DeviceNet and
Modbus network status.
Step 1. These LED displays show the string “-DEV-” in the first step.
Step 2. Then, they change to the next form, described as follows.
c
c:
d
e
f
Show the operation state of the I-7242D. If it works normally, the LED
display shows the character ‘n’. If not, the LED display shows the error
character. Table 2-9 shows the meaning of this LED.
Table 2-9
7-Segment LED Number
Error
‘n’
Normal operation
‘E’
I-7242D Hardware error
Default setting:
Node ID=1
‘d’
CAN baud 125K
All I/O connection path=0
d:
These two LED displays indicate the DeviceNet node ID of I-7242D in hex
format. For example, if the DeviceNet node ID of I-7242D is 31, these two
LEDs will show “1F”.
e:
This LED display shows the CAN bus baud rate of I-7242D by number
0~2. The meanings of these numbers are described in table 2-10.
Table 2-10
7-Segment LED Number
Baud rate (K bps)
0
125
1
250
2
500
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f:
The RS-485 baud rate of Modbus RTU in I-7242D is indicated on this
LED display. The mapping table between LED number and RS-485 baud
rate is displayed in table 2-11.
Table 2-11
7-Segment LED Number
Baud rate (bps)
0
1200
1
2400
2
4800
3
9600
4
19200
5
38400
6
57600
7
115200
Step 3. The first three LED displays show the string “ER-“ and others display
the error code. The error code is described in table 2-12.
Table 2-12
Error code
Description
00
No Error
01
EEPROM data error. Use default setting
02
CAN Hardware Initial Error
If any message sent from I-7242D to Modbus devices has been lost, the
LED display will be changed and display as the following form. Table 2-13
shows the meaning of these LED displays.
c
d
e
Table 2-13
7-segment Num
c
d
Device address
e
Data-lose counter
“E”
Description
Character ‘E’ means Error
Modbus device address in hex format.
Number of Data-lose of Modbus devices
in hex format.
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There are two examples of the 7-Segment LED displays in the active status.
Example1:
Step1. Display the string “-DEV-”
Step2. It means that I-7242D is in
the normal operation mode. Its
MAC ID is 0x01. CAN baud rate is
125Kbps and RS-485 baud rate is
9600bps.
Step3. It means that no error
occurs in Modbus communication.
Example 2:
Step1. Display the string “-DEV-”
Step2. It means that the I-7242D
is in the normal operation mode.
Its MAC ID is 0x03. CAN baud
rate is 125 Kbps and RS-485
baud rate is 115.2 Kbps.
Step3. It means that there is one
message lost from I-7242D to
Modbus device which device
address is 0x01. The number
format is hex.
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2.6
Modbus Devices Support
The I-7242D supports many kinds of Modbus commands. When users
want to use Modbus RTU devices on the DeviceNet network, they must pay
attention that their Modbus RTU devices can support what kind of the Modbus
function codes described in chapter 8. However, I-7242D also supports special
Modbus commands by the specific “User-defined Modbus Command” object
(Class ID: 0x65). The Modbus functions supported in the I-7242D are as Table
2-14.
Table 2-14 Modbus functions supported in the I-7242D
Function Code
Modbus Command
0x01
Read Coil Status
0x02
Read Input Status
0x03
Read Holding Registers
0x04
Read Input Registers
0x0F
Force Multiple Coils
0x10
Preset Multiple Registers
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3 DeviceNet System
3.1
DeviceNet network Introduction
DeviceNet is one of the kinds of the network protocols based on the CAN
bus which are mainly used for machine control in embedded network, such as
in textile machinery, printing machines, injection molding machinery, or
packaging machines. DeviceNet is a low level network that provides
connections between simple industrial devices (sensors, actuators) and
higher-level devices (controllers). It allows direct peer to peer data exchange
between nodes in an organized and, if necessary, deterministic manner. The
network management functions specified in DeviceNet simplifies project
design, implementation and diagnosis by providing standard mechanisms for
network start-up and error management. DeviceNet defines a
connection-based scheme to facilitate all application communications. A
DeviceNet connection provides a communication path between multiple
endpoints. The endpoints of a connection are applications that need to share
data. The figure 3-11 shows the DeviceNet layer in the control and information
layers.
Figure 3-1 DeviceNet layer
The DeviceNet Communication Protocol is based on the concept of
connections. One must establish a connection with a device in order to
exclude information with that device. To establish a connection, each gateway
implements Predefined Master/Slave Connection Set through the DeviceNet
network. After establishing the explicit connections, the connection is then
used to move information from one node to the other. Once IO connections
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have been established, I/O data may be moved among devices in the network.
The 11-bit CAN identifier is used to identify the connection. DeviceNet
defines four separate groups of 11-bit CAN identifiers: Group 1, Group 2,
Group 3, and Group 4 described in the Table 3-1. With respect to Connection
Based Messages, the Connection ID is placed within the CAN Identifier Field.
With this in mind, the below figure also describes the components for a
DeviceNet Connection ID. Because of the arbitration scheme defined by CAN,
Group 1 messages have a higher priority than group 2 messages and group 2
messages have higher priority than group 3 messages and so on. This
prioritization must be taken into consideration when establishing connections.
Table 3-1 DeviceNet’s Use of the CAN Identifier Field
IDENTIFIER BITS
10
0
9
8
7
6
Group 1
Message ID
1 0
MAC ID
1 1
Group 3
Message ID
1 1 1 1 1
5
4
3
2
1
Source MAC ID
0
IDENTITY USAGE
Group 1 Messages
Group 2
Group 2 Messages
Message ID
HEX
RANGE
000 –
3ff
400 –
5ff
Source MAC ID
Group 3 Messages
600-7bf
Group 4 Message ID
Group 4 Messages
7c0–7ef
The I-7242D provides the Predefined Master/slave Connection Set for
users to establish connections. The Predefined Master/Slave Connection Set
is a set of Connections that facilitate communications typically seen in a
Master/Slave relationship. Many of the steps involved in the creation and
configuration of an Application connection have been removed within the
Predefined Master/Slave Connection Set definition. This, in turn, presents the
means by which a communication environment can be established using less
network and device resources. The CAN Identifier Fields associated with the
Predefined Master/Slave Connection Set are shown in the table 3-2. The table
defines the Identifiers that are to be used with all connection based message
involved in the Predefined Master/Slave Connection Set and, as such, it also
illustrates the produced_connection_id and consumed_connection_id
attributes associated with Predefined Master/Slave Connection Objects.
Note: The Master is the device that gathers and distributes I/O data for the
process controller. Slaves are the devices from which the Master gathers I/O
data and to which the Master distributes I/O data.
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Table 3-2 Predefined Master/Slave Connection Set Identify Fields
IDENTIFIER BITS
10
0
9
8
7
6
Group 1
5
4
3
2
1
0
Source MAC ID
HEX
IDENTITY USAGE
RANGE
Group 1 Messages
000 –
Message ID
3ff
0 1 1 0 0
Source MAC ID
Slave’s Multicast Poll Response
0 1 1 0 1
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
0 1 1 1 0
Source MAC ID
Slave’s I/O Bit–Strobe Response Message
0 1 1 1 1
Source MAC ID
Slave’s I/O Poll Response or Change of
State/Cyclic Acknowledge Message
1 0
MAC ID
Group 2
Group 2 Messages
400 –
Message ID
5ff
1 0
Source MAC ID
0 0 0
Master’s I/O Bit–Strobe Command Message
1 0
Multicast MAC ID
0 0 1
Master’s I/O Multicast Poll Command Message
1 0
Destination MAC ID
0 1 0
Master’s Change of State or Cyclic Acknowledge
Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response
Messages/ Device Heartbeat Message/ Device
Shutdown Message
1 0
Destination MAC ID
1 0 0
Master’s Explicit Request Messages
1 0
Destination MAC ID
1 0 1
Master’s I/O Poll Command/Change of State/Cyclic
Message
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages (reserved)
1 0
Destination MAC ID
1 1 1
Duplicate MAC ID Check Messages
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A device within a DeviceNet network is represented by the below object
model. The object model provides a template for organizing and implementing
the Attributes (data), Services (methods or procedures) and behaviors of the
components within a DeviceNet product. The figure 3-2 depicts the object
model for I-7242D (Group 2 Only Server). The next section would explain
these objects. The detail information about Predefined Master/Slave
Connection Set is described in the next section.
Figure 3-2 Object model of I-7242D
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3.2
Predefined Master/Slave Connection Messages
The I-7242D provides “Predefined Master Slave Connection Set” device.
Users must understand these connection set to know how to operate the
device. The following section explains what the “Predefined Master Slave
Connection Set” is.
With the Predefined Master Slave Connection Set, DeviceNet allows
devices with fewer resources to take part in DeviceNet network communication.
For this reason a set of identifiers has been reserved within the Message
Group 2 to simplify the movement of I/O and configuration data typically seen
in Master/Slave relationships. The steps, which are necessary to create and
configure a connection between devices, have been removed within the
Predefined Set. The Predefined Master/Slave Connection Set allows for the
establishment of a DeviceNet communication environment using less network
and Device resources. The Predefined Connection Set contains one Explicit
Messaging Connection and allows several different I/O Connections which
include a Bit Strobe Command/Response, Poll Command/Response, Change
of State and Cyclic. The following type of messages are processed by a
DeviceNet Slave
3.2.1
Explicit Response/Request Messages
Explicit Request Messages are used to perform operations such as
reading and writing attributes. Explicit response Messages indicate the results
of the slaves answer to attempt to service an Explicit Request massage. Within
a Slave Explicit Request and Response messages are received/transmitted by
a single Connection Object. The architecture is as figure 3-3.
Figure 3-3 Architecture of Explicit message
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3.2.2
I/O Poll Command/Response Messages
The Poll Command Message is a command that is transmitted by the
Master. A Poll Command is directed towards a single, specific Slave
(point-to-point connection). A Master must transmit a separate Poll command
message for each one of its Slaves that will be polled. The Poll Response
Message is an I/O message that the Slave transmits back to the Master when
a Poll Command is received. Within a Slave the two messages are
received/transmitted by a single Connection Object. The architecture is as
figure 3-5.
Figure 3-5 Architecture of IO poll message
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3.2.3
I/O Bit-Strobe Command/Response Messages
The Bit-Strobe Command Message is an I/O message that is transmitted
by the Master. A Bit-Strobe Command has multicast capabilities. Multiple
Slaves can receive and react to the same Bit Strobe Command. The Bit-Strobe
response is an I/O message that a Slave transmits back to the Master when
the Bit-Strobe Command has been received. Within a Slave the two messages
are received/ transmitted by a single Connection Object. The architecture is as
figure 3-5.
Figure 3-5 Architecture of IO bit strobe message
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3.2.4
I/O Change of State/Cyclic Messages
The Change of State/Cyclic Message is transmitted by either the Master or
the Slave. A Change of Sate/Cyclic is directed towards a single specific node
(point-to-point). An Acknowledge Message may be returned in response to this
message. Within either the Master or the Slave the producing Change of State
Message and consuming Acknowledge Message are received/transmitted by
one Connection Object. The consuming Change of State and producing
Acknowledge Message are received/transmitted by a second Connection
Object. The architecture is as figure 3-6 and figure 3-7.
Figure 3-6 Architecture of IO COS message
Figure 3-7 Architecture of IO Cyclic message
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3.3
EDS file
An Electronic Data Sheet is an external disk that contains information
about configurable attributes for devices, including the object addresses of
each parameter. The following figure shows that the configuration tool uses the
EDS file to configure those Modbus RTU devices. The application objects in
these devices represent the destination addresses for the configuration data.
These addresses are encoded in the EDS. ICP DAS provides users with
DNS_MRU Utility software to create the suitable EDS file. The EDS file system
architecture is as figure 3-8.
Figure 3-8 Architecture of EDS file
EDS provides information about the device’s configuration data in terms of the
following:
‧ context
‧ content
‧ format
The information in an EDS allows configuration tools to provide informative
screens that guide a user through the steps necessary to configure a device.
ICP DAS provides CAN utilities, so that users can setup their own EDS file.
You can use the EDS file in the DeviceNet Master to access DeviceNet Slave
devices. The DNS_MRU Utility is a very powerful tool for the DeviceNet
network. It provides DeviceNet Slave information and supports the graph
interface for users to make up the EDS file of their own system. For more detail
information on this topic, please refer to the next session.
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4 DeviceNet Profile Area
This chapter is for users who want to understand more detailed information
related to the I-7242D device when using the DeviceNet protocol. This section
documents the detailed functions for each object class that is implemented in
the DeviceNet network
4.1
Introduction to the DeviceNet Objects of I-7242D
The I-7242D has been developed in accordance with the Object
Modeling from the DeviceNet protocol. This model leads to a method used for
addressing the I-7242D’s data made up of four separate values: MAC ID、
Class ID、Instance ID and Attribute ID. An address made up in this way is
known as a “Path”. The Connection by Explicit Messaging, for example, uses
paths of this sort to exchange data from one node to another on a DeviceNet
network. See table 4-1 to know the address field of I-7242D.
Table 4-1 Address field of I-7242D
Address
Min. - Max.
Node
0-63
Class
1-65535
Instance
0-65535
Description
This field allows you to address one subscriber out of the series of
subscribers on a DeviceNet network using its MAC ID.
All objects sharing the same characteristics belong to the same class,
characterized by its Class ID.
All instances from one class share the same attributes but each of
them has its own set of values for these attributes.
It is assigned some sort of value (byte, unsigned integer, character
Attribute
1-255
string, etc.) in order to supply information about the subscriber’s status
or to make settings on the subscriber’s behaviors
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4.2
DeviceNet Statement of Compliance
General Device Data
Conforms to DeviceNet Specification
Volume I, II Release 2.0
Vendor Name
ICP DAS
Device Profile Name
ICPDAS-I7242D
Production Revision
1.02
DeviceNet Physical Conformance Data
Network Power Consumption (Max)
Open-Hardwired
Isolated Physical Layer
Yes
LED Supported
Yes
MAC ID Setting
Software
Device MAC ID
Software (Default is 0x01)
Communication Rate Setting
Software (Default is 125k bits/s)
Predefined Master/Slave Connection Group 2 Only Server
Set
Connection supported
1 “Explicit Connection”
1 “Polled Command/Response”
Connection
1 ”Bit Strobed Command/Response”
Connection
1 ”Cnange-of-State/Cyclic” Connection
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4.3
List of the I-7242D’s DeviceNet Object
The I-7242D supports the following DeviceNet object classes.
Object Type
Class Code Instances
Interfaces
Identity
01 (0x01)
1
Message Router
Message Router
02 (0x02)
1
Explicit message connection
DeviceNet
03 (0x03)
1
Message Router
Assembly
04 (0x04)
Connection
05 (0x05)
4 (2)
Acknowledge handler object
43 (0x2B)
1
User-Defined Modbus Device
100 (0x64)
10 (max)
Message Router
User-Defined Modbus Command 101 (0x65)
3 (max)
Message Router
4 (3,2,1,0) I/O connections or Message router
I/O connections or Explicit messages
I/O connections or Message router
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4.4
Identity Object (Class : 0x01 )
This object provides the identification of and general information about the
device. It is described in chapter 6-2 of volume II of the DeviceNet
specifications.
Class Attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max Instance
UINT
Get
1
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
Instance Attribute
Attribute ID
Description
Data Type
Method
Value
0x01
Vendor UINT
UINT
Get
803
0x02
Device type
UINT
Get
1
0x03
Product code
UINT
Get
1
USINT, USINT
Get
1.2
Vendor Revision
0x04
“major.minor”
0x05
Status
WORD
Get
(16-bit register)
0x06
Serial number
UDINT
Get
(variable)
0x07
Product name
Short_String
Get
“ICPDAS-I7242D”
0x0A
Heartbeat Interval
USINT
Get/Set
0-65535
Instance Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Required
0x05
Reset
Required
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4.5
Message Router Object ( Class : 0x02 )
The “Message Router” object is the element through which all objects of
the “Explicit messages” type pass, so that they can be routed to the objects
they are intended for. This object is described in chapter 6-3 of volume II of the
DeviceNet specifications.
Class Attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
Attributes of instance 0x01
This instance has no attributes.
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4.6
DeviceNet Object ( Class : 0x03 )
The DeviceNet Object is used to provide the configuration and status of a
physical attachment on the DeviceNet network. It is described in chapter 5-5 of
volume I of the DeviceNet specifications. The I-7242D is a “Group two Only
Server” type subscriber (see chapter 7-9 of volume I of the DeviceNet
specifications).
Class Attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
2
Class Service
Service Code
Service name
Need
0x0E
Get_Attribute_Single
Required
Instance Attribute
Attribute ID
Description
Data Type
Method
Value
0x01
MAC ID
USINT
Get/Set
0~63
0x02
Baud rate
USINT
Get/Set
0~2
0x03
BOI
USINT
Get/Set
0
0x04
Bus-off counter
USINT
Get/Set
0
BYTE
Get/Set
(variable)
Allocation
0x05
information
Instance Service
Service Code
Service name
Need
0x0E
Get_Attribute_Single
Optional
0x10
Set_Attribute_Single
Optional
0x4B
0x4C
Allocation Master/Slave
Connection Set
Release Master/Slave
Connection Set
Optional
Optional
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4.7
Assembly Object ( Class : 0x04 )
The object from the “Assembly” class is used to group attributes belonging
to different objects within a single attribute. This allows them to be accessed
using a single message. With the I-7242D, this class has up to four instances
(instance ID=0x64 to 0x67) and each one can be used to bind input data or
output data. The terms of ”input” and ”output” are defined from the network’s
point of view. An input will produce data on the network and an output will
consume data from the network. This object is described in chapter 6-5 of
volume II of the DeviceNet specifications.
Class Attribute
Attribute ID
Attribute name
Data Type
Method
Default Value
0x01
Revision
UINT
Get
2
0x02
Max Instance
UINT
Get
Maximum: 4
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
Instances of assembly object are allocated in the type of Modbus devices
that you selected. And they are ranked in the form of DO、AO、DI and AI types
according to the definition in the DNS_MRU Utility tool. For more information,
please refer to chapter 5.
Instances (0x64~0x67) Attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x03
Data
USINT […]
Get/Set
(array of values)
Instance Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Optional
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4.8
Connection Object ( Class : 0x05 )
This section presents the externally visible characteristics of the
connection objects associated with the Predefined Master/Slave Connection
Set within slave devices. With the I-7242D, the “Connection” object has up to
four instances (Instance ID 0x01 to 0x04). Each of these instances represents
one of the two ends of a virtual connection established between two nodes on
the DeviceNet network. Each instance of this object belongs to one of the two
following types of connection: Explicit connection, allowing Explicit Messages
to be sent, or I/O Connections. This object is described in chapter 5-4 of
volume I of the DeviceNet specifications.
Here is a brief description of the four instances of the I-7242D’s
“Connection” object, and then details are given in the rest of this chapter:
Instance ID
Type of connection
0x01
Connection name
Explicit Messaging Explicit Connection
0x02
I/O Connection
Polled Command/Response Connection
0x03
I/O Connection
Bit-Strobed Command/Response Connection
0x04
I/O Connection
Change-of-State / Cyclic (Acknowledged) Connection
Class Attribute
Attribute ID
Attribute Name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
Instance (0x01) Attribute: Explicit Connection
Attribute ID
Attribute Name
Data Type
Method
Value
0x01
State
USINT
Get
0x00 to 0x05
0x02
Instance type
USINT
Get
0x00
0x03
Transport class trigger
BYTE
Get/Set
0x83
0x04
Produced connection id
UINT
Get/Set
Table 3-2
0x05
Consumed connection id
UINT
Get/Set
Table 3-2
0x06
Initial comm. characteristics
BYTE
Get/Set
0x21
0x07
Produced connection size
UINT
Get/Set
0x84
0x08
Consumed connection size
UINT
Get/Set
0x84
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0x09
Expected packet rate
UINT
Get/Set
0x09c4
0x0C
Watchdog timeout action
USINT
Get/Set
0x01
0x0D
Produced connection path length
UINT
Get/Set
0x00
0x0E
Produced connection path
EPATH
Get/Set
(empty path)
0x0F
Consumed connection path length
UINT
Get/Set
0x00
0x10
Consumed connection path
EPATH
Get/Set
(empty path)
0x11
Production inhibit time
UINT
Get/Set
0x00
Instance (0x02) Attribute: Polled Command/Response Connection
Attribute ID
Attribute Name
Data Type Method
Value
0x01
State
USINT
Get
0x00 to 0x04
0x02
Instance type
USINT
Get
0x01
0x03
Transport class trigger
BYTE
Get/Set
0x82
0x04
Produced connection id
UINT
Get/Set
Table 3-2
0x05
Consumed connection id
UINT
Get/Set
Table 3-2
0x06
Initial comm. characteristics
BYTE
Get/Set
0x01
0x07
Produced connection size
UINT
Get/Set
(size of the input data)
0x08
Consumed connection size
UINT
Get/Set (size of the output data)
0x09
Expected packet rate
UINT
Get/Set
0x00
0x0C
Watchdog timeout action
USINT
Get/Set
0x00
0x0D
Produced connection path length
UINT
Get/Set
0x06
0x0E
Produced connection path
EPATH
Get/Set
(area path)
0x0F
Consumed connection path length
UINT
Get/Set
0x06
0x10
Consumed connection path
EPATH
Get/Set
(area path)
0x11
Production inhibit time
UINT
Get/Set
0x00
Instance (0x03) Attribute: Bit-Strobed Command/Response Connection
Attribute ID
Attribute Name
Data Type Method
Value
0x01
State
USINT
Get
0x00 to 0x04
0x02
Instance type
USINT
Get
0x01
0x03
Transport class trigger
BYTE
Get/Set
0x83
0x04
Produced connection id
UINT
Get/Set
Table 3-2
0x05
Consumed connection id
UINT
Get/Set
Table 3-2
0x06
Initial comm. characteristics
BYTE
Get/Set
0x02
0x07
Produced connection size
UINT
Get/Set
(size of the input data)
0x08
Consumed connection size
UINT
Get/Set
0x08
0x09
Expected packet rate
UINT
Get/Set
0x00
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0x0C
Watchdog timeout action
USINT
Get/Set
0x00
0x0D
Produced connection path length
UINT
Get/Set
0x00
0x0E
Produced connection path
EPATH
Get/Set
(area path)
0x0F
Consumed connection path length
UINT
Get/Set
0x00
0x10
Consumed connection path
EPATH
Get/Set
(area path)
0x11
Production inhibit time
UINT
Get/Set
0x00
Instance (0x04) Attribute: Change-of-State/Cyclic (Acknowledged) Connection
Attribute ID
Attribute Name
Data Type Method
Value
0x01
State
USINT
Get
0x00 to 0x04
0x02
Instance type
USINT
Get
0x01
0x03
Transport class trigger
BYTE
Get/Set
0x12 or 0x02
0x04
Produced connection id
UINT
Get/Set
Table 3-2
0x05
Consumed connection id
UINT
Get/Set
Table 3-2
0x06
Initial comm. characteristics
BYTE
Get/Set
0x01
0x07
Produced connection size
UINT
Get/Set
(size of the input data)
0x08
Consumed connection size
UINT
Get/Set
0x00
0x09
Expected packet rate
UINT
Get/Set
0x00
0x0C
Watchdog timeout action
USINT
Get/Set
0x00
0x0D
Produced connection path length
UINT
Get/Set
0x00
0x0E
Produced connection path
EPATH
Get/Set
(area path)
0x0F
Consumed connection path length
UINT
Get/Set
0x04
0x10
Consumed connection path
EPATH
Get/Set
20h 2Bh 24h 01h
0x11
Production inhibit time
UINT
Get/Set
0x00
Instance (0x04) Attribute: Change-of-State/Cyclic (Unacknowledged) Connection
Attribute ID
Attribute Name
Data Type Method
Value
0x01
State
USINT
Get
0x00 to 0x04
0x02
Instance type
USINT
Get
0x01
0x03
Transport class trigger
BYTE
Get/Set
0x00
0x04
Produced connection id
UINT
Get/Set
Table 3-2
0x05
Consumed connection id
UINT
Get/Set
0xFFFF
0x06
Initial comm. characteristics
BYTE
Get/Set
0x0F
0x07
Produced connection size
UINT
Get/Set (size of the input data)
0x08
Consumed connection size
UINT
Get/Set
0x00
0x09
Expected packet rate
UINT
Get/Set
0x00
0x0C
Watchdog timeout action
USINT
Get/Set
0x00
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0x0D
Produced connection path length
UINT
Get/Set
0x00
0x0E
Produced connection path
EPATH
Get/Set
(area path)
0x0F
Consumed connection path length
UINT
Get/Set
0x00
0x10
Consumed connection path
EPATH
Get/Set
(empty path)
0x11
Production inhibit time
UINT
Get/Set
0x00
Instance Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Optional
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4.9
Acknowledge Handler Object ( Class 0x2B )
This object is used by connections whose producer needs to know
whether its data has received by its consumers. This object is described in
chapter 6-31 of volume II of the DeviceNet specifications.
Class Attribute
Attribute ID
Attribute Name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max instance
UINT
Get
1
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
Instance Attribute
Attribute ID
Attribute Name
Data Type
Method
Value
0x01
Acknowledge timer
UINT
Get/Set
20 (ms)
0x02
Retry limit
USINT
Get/Set
1
0x03
COS producing connection instance
UINT
Get
4
0x04
Ack list size
BYTE
Get
1
0x05
Ack list
BYTE, UINT[…]
Get
0, (empty)
0x06
Data with ack list size
BYTE
Get
1
BYTE, (UINT,
0x07
Data with ack path list
USINT,
Get
(data with ack
path list)
USINT[…])[…]
Instance Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Required
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4.10
User-defined Modbus Device Object ( Class : 0x64 )
The “User-defined Modbus Device” object has maximum 10 instances and
is specific to the I-7242D. Its attributes contain the application data, which is to
be transmitted to the Modbus slaves via Modbus queries. The DeviceNet
accesses the application data by invoking read and write functions. These
functions need to be provided by the Object. So, the I-7242D provides
Get_Attribute_Single and Set_Attribute_Single to read and write data to
Modbus devices.
Class Attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
2
0x02
Max Instance
UINT
Get
10
0x03
Period of silence
USINT
Get/Set
40~65535 (ms)
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Optional
Instance Attribute
Attribute ID
Description
Data Type
Method
Value
0x01
Device ID
CHAR
Get
0
0x02
Device I/O Type
CHAR
Get
0
0x03
Device Start Address
WORD
Get
0
0x04
Device Length
WORD
Get
0
0x05
Data Lose Counter
WORD
Get/Set
0
0x06
Modbus command Status
CHAR
Get
0
0x14
DO Data
Get/Set
0
0x15
AO Data
Get/Set
0
0x16
DI Data
Get
0
0x17
AI Data
Get
0
Defined by
device num.
Defined by
device num.
Defined by
device num.
Defined by
device num.
Instance Service
Service Code
Service name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Required
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4.11
User-defined Modbus Command Object ( Class : 0x65 )
The “User Defined Modbus Command” Object has maximum three
instances and is specific to the I-7242D. Its attributes contain the application
data, which can be defined by the special Modbus commands and can be
transmitted to the Modbus slaves via Modbus queries. Another attribute of this
object’s instances can receive data from a Modbus response
Users can only use Get_Attribute_Single and Set_Attribute_Single to
read/write their commands from/to Modbus devices via this object.
Class Attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max Instance
UINT
Get
3
Class Service
Service Code
Service Name
Need
0x0E
Get_Attribute_Single
Required
Instance Attribute
Attribute ID
Description
Data Type
Query Modbus Message:
Address
Command
Register
Number of Register
Response Modbus Message:
Address
Command
Register
Length of Response Modbus
Message
Send User-defined Modbus
Command
Structure of
USINT
USINT
UINT
USINT
Structure of
USINT
USINT
UINT
0x05
0x06
0x01
0x02
0x03
0x04
Method
Value
Get/Set
Determined by
user defined
Get
Determined by
user defined
UINT
Get/Set
0
CHAR
Get/Set
Non-zero:
Send Command
Data Lose Counter
WORD
Get/Set
0
Modbus command Status
CHAR
Get
0
Instance Service
Service Code
Service name
Need
0x0E
Get_Attribute_Single
Required
0x10
Set_Attribute_Single
Required
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5 The components of Assembly Object
5.1
Components of Assembly Object
The Assembly Object binds the attributes of multiple objects, which allows
data transfer to or from each object to be sent or received over a single
connection. The I-7242D provides many assembly objects for users. The I/O
type of Modbus devices is decided for the number of assembly objects. Every
I/O devices represents an application object instance. The I-7242D would
arrange the application instances in order by those devices that you set.
Assembly object instances consist of these application object attributes. Figure
5-1 shows the architecture of the assembly object in I-7242D.
Figure 5-1 Architecture of assembly object in I-7242D
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5.2
Examples of Assembly Object in I-7242D
There are many I/O examples related to the I-7242D in this section. These
examples should help users more understand the usage of I-7242D.
Example 1: (one DO device, one DI device, one AO device, one AI
device)
In this example, apply four Modbus devices in the system. Users can refer
to the figure 6-2 to know the detail information from I-7242D to Modbus
devices.
Figure 5-2 Communication parameters of Modbus devices
And, the application object information is showed as figure 5-3.
Figure 5-3 Information about application objects
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Besides, the utility tool also shows the assembly object information as
figure 5-4.
Figure 5-4 Information about Assembly instances
The I-7242D would arrange the application objects as table 5-1.
Table 5-1 Application object instances in the I-7242D
Application
Instance ID
Device
Address
Device
I/O Type
Relay/Register Relay/Register
Start Address Data Length
0x01
1
Digital Output
0
16
0x02
3
Digital Input
0
7
0x03
5
Analog Output
0
3
0x04
7
Analog Input
0
4
According to the application object instances, I-7242D would arrange the
assembly object instances as table 5-2.
Table 5-2 Assembly object instances in the I-7242D
Assembly Object
Instance ID
Data Length (Byte)
Component devices
(ID, Address)
0x64
DO: 2
1(00015~00000)
0x65
AO: 6
2(00000~00002)
0x66
DI: 1
3(00006~00000)
0x67
AI: 8
4(00000~00003)
Note: The maximum number of assembly object is four. And the beginning
number of assembly object instance ID is 0x64. And these instance IDs are
ranked in the form of DO, AO, DI and AI types.
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Example 2: (two DO devices, two AO devices, two AI devices)
In this example, apply six Modbus devices in the system (see Figure 5-5).
The I-7242D would arrange these assembly and application instance Figure
5-5 and table 5-3.
Figure 5-5 Communication parameters of Modbus devices
Table 5-3 the information of the Application instances
Application
Instance ID
Device
Address
Device
I/O Type
Relay/Register Relay/Register
Start Address Data Length
0x01
2
Digital Output
0
10
0x02
4
Digital Output
0
12
0x03
6
Analog Output
0
2
0x04
8
Analog Output
0
3
0x05
10
Analog Input
0
5
0x06
12
Analog Input
0
2
Table 5-4 the information of the Assembly instances
Assembly Object
Component devices
Data Length (Byte)
Instance ID
(ID, Address)
2(00009~00000),
0x64
DO: 4
4(00011~00000)
6(00000~00001),
0x65
AO: 10
8(00000~00002)
10(00000~00004).
0x66
AI: 14
12(00000~00001)
Note: This example lacks of DI devices. Therefore, the number of assembly
object is three. If this demo has DI device, the number of assembly objects
would become to four. The instance ID of DI components becomes 0x66 and
the instance ID of AI components would change to 0x67.
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Example 3: (two DO devices, two DI devices)
In the example, apply four Modbus devices in the system (see Figure 5-6).
The I-7242D would arrange these assembly and application instances as
Figure 5-6 and table 5-5.
Figure 5-6 Communication parameters of Modbus devices
Table 5-5 the information of the Application instances
Application
Instance ID
Device
Address
Device
I/O Type
Relay/Register Relay/Register
Start Address Data Length
0x01
11
Digital Output
0
8
0x02
12
Digital Input
0
16
0x03
13
Digital Output
0
4
0x04
14
Digital Input
0
8
Table 5-6 the information of the Assembly instances
Assembly Object
Instance ID
Data Length (Byte)
Component devices
(ID, Address)
0x64
DO: 2
11(00007~00000),
13(00003~00000)
0x65
DI: 3
12(00015~00000),
14(00007~00000)
Note: This example lacks of AO and AI devices. Therefore, the number of
assembly object is two. If this example has AO device, the number of
assembly objects would become to three. The instance ID of AO components
becomes 0x65 and the instance ID of DI components would change to 0x66.
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Example 4: (three AI devices)
In the example, apply three Modbus devices in the system (see Figure
5-7). The I-7242D would arrange these assembly and application objects as
Table 5-7 and 5-8.
Figure 5-7 Communication parameters of Modbus devices
Table 5-7 Application object attribute
Application
Instance ID
Device
Address
Device
I/O Type
Relay/Register Relay/Register
Start Address Data Length
0x01
1
Analog Input
1
4
0x02
2
Analog Input
1
8
0x03
3
Analog Input
1
2
Table 5-8 Assembly object attribute
Assembly Object
Instance ID
0x64
Data Length (Byte)
AI: 28
Component devices
(ID, Address)
1(00000~00003),
3(00000~00007),
5(00000~00001)
Note: This example lacks of DO, AO and DI devices. Therefore, the number of
assembly object is one. Therefore, the instance ID of assembly object is 0x64.
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6 Configuration & Getting Started
6.1
Configuration Flowchart
Select the necessary Modbus RTU
devices in the DeviceNet network.
1. Connect the COM2 port from the
I-7242D to these Modbus RTU
devices.
2. Connect the COM1 port from the
I-7242D to the PC’s COM port with
the download cable, CA0910.
1.
2.
Initial the I-7242D by connecting
the Init * pin with the GND pin.
Power on the I-7242D and execute
the DNS_MRU Utility in order to
configure the I-7242D. Then it will
establish the EDS file automatically.
After configuring the I-7242D and
creating the specific EDS files, apply
the EDS file in your DeviceNet
application.
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6.2
The DNS_MRU Utility Overview
Before users apply the I-7242D into the DeviceNet application, they must
understand the relationship between these DeviceNet application and
assembly objects in the I-7242D. ICP DAS provides the DNS_MRU Utility to
configure the communication parameters, I/O connection path and the EDS file
for the I-7242D device. The software also provides the information of assembly
objects, application objects and communication parameters that they set.
Figure 6-1 Architecture of the DNS_MRU Utility
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6.3
Install & Uninstall the DNS_MRU Utility
Install DNS_MRU Utility
Step1: Download the DNS_MRU Utility setup file from the web site
ftp://ftp.icpdas.com.tw/pub/cd/can_cd/devicenet/gateway/i-7242d/utili
ty/ or the CD-ROM disk following the path of “/ CAN-CD / DeviceNet /
Gateway / I-7242D / Utility /
Step 2: Execute the setup.exe file to install DNS_MRU Utility.
Step 3: A “Welcome” window pops up to prompt user to begin the installation.
See figure 6-2.
Figure 6-2. Welcome dialog
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Step4: Click the “Next” button and A “Choose Destination Location” window
will pop up for deciding the installation path.
Figure 6-3. “Choose Destination Location” dialog
Step 5: Click “Next” button and a “Ready to Install the Program” window will
pop up to prompt user that the wizard is ready to begin the installation
See figure 6-4.
Figure 6-4. “Ready to Install the Program” dialog
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Step 6: Click “Install” button and start to install the DNS_MRU Utility to the
system. After finishing the process, a “Complete” window will pop up
to prompt users that the successful completion of the installation. And
click “Finish” button to exit. See figure 6-5.
Figure 6-5. “Successful Completion of the Installation” dialog
Step 7: After finishing the installation of the DNS_MRU Utility, users can find
DNS_MRU Utility as shown in the figure 6-6.
Figure 6-6. You can find “DNS_MRU Utility“ at “Start” in the task bar
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Uninstall DNS_MRU Utility
You can uninstall DNS_MRU Utility software by the following means
described below:
Step 1: Click “Start” in the task bar, then click Settings/Control Panel as
shown in figure 6-7.
Figure 6-7. Select settings
Step 2: Click the “Add/Remove Programs” button icon to open the dialog.
See figure 6-8.
Figure 6-8 “Add/Remove Programs”
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Step 3: Find out the DNS_MRU Utility, and click the Change/Remove button.
See figure 6-9.
Figure 6-9. Click “Add/Remove Programs”
Step 4: Select the “Remove” option button, and press the “Next” button to
remove DNS_MRU Utility. See figure 6-10.
Figure 6-10 “Modify, repair, or remove the program” dialog
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Step 5: Click the button “Yes” to remove the software as shown in figure 6-11.
Figure 6-11. Click the button “Yes” to remove the software
Step 6: Removing DNS_MRU Utility.
Figure 6-12. “Removing DNS_MRU Utility” dialog
Step 7: Finally, click the “Finish” button to finish the uninstall process.
Figure 6-13. “Maintenance Complete” dialog.
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6.4
Steps of the DNS_MRU Utility
Before using the DNS_MRU Utility software, please make sure that you
have connected the I-7242D to your PC. The communication parameters of
Modbus RTU devices are setting in offline connection mode. After setting up
the I-7242D, it will start to communicate with the Modbus RTU devices that you
set. The architecture is depicted in the following figure 6-14.
Figure 6-14. Configuration architecture of the I-7242D
Step 1: Before you use this software, turn off the I-7242D. Connect the INIT*
pin with the GND pin of the I-7242D as figure 6-15.
Figure 6-15. Wire Connection of the I-7242D
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Step 2: Turn on the I-7242D. And then execute the DNS_MRU file. The
start-up figure would be displayed as figure 6-16.
Figure 6-16. “Start-Up”
After the start-up figure, the frame would be displayed as figure 6-17.
Figure 6-17. “General Setting”
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Step 3: Select PC’s COM port correctly. Then press the “Connect” button,
, to connect with the I-7242D. Then it would take few
seconds to read the communication parameters stored in the
I-7242D’s EEPROM.
Step 4: After read the parameters stored in I-7242D, these parameters will be
verified that they are correct or not. If any error has been detected,
the warning message will be pop-up as figure 6-18.
Figure 6-18. “EEPROM Data Error Dialog Box”
In this case, if any error has been detected, the default value will be
shown on each parameter setting field. If no error or warning message occurs,
the last setting value will be displayed on each parameter setting field.
Step 5: After reading parameters from EEPROM, a related information dialog
box will be displayed as figure 6-19.
Figure 6-19. “General Setting”
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Step 6: Click the “CAN Bus” button,
, so that the CAN bus configuration
information will be given. Then, users can set the necessary CAN bus
communication information. Afterwards, click the “Setting” button to
finish the CAN parameter setting. The CAN Parameter Viewer frame
on the right hand side indicates the parameter setting result. After
clicking the “Setting” button, users can see that the each field value of
the CAN Parameter Viewer frame is changed to the value configured
in the CAN Parameter Setting frame on the left hand side as figure
6-20.
Figure 6-20. “CAN Parameter Setting & Viewer”
Step 7: Press the “RS-485” button,
, to display the Com2 configuration
information on the I-7242D. Press the “Setting” button to set the
needed RS-485 communication information in the dialog box as
figure 6-21.
Figure 6-21. “Com Port Parameter Setting & Viewer”
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Step 8: Press the “Next” button,
, to display the “Application Object
Setting” frame as figure 6-22. Users can use the add button, erase
button, update button or delete button to modify their Modbus devices
parameters that they want to use to communicate.
: Add a new Modbus device to application object.
: Erase the Modbus device parameter that you set.
: Update the specific application object instance with the
newer Modbus device parameter.
: Delete the specific application object instance.
And users can view the information of devices, application object and
assembly object by clicking the
and the
button, the
button
button. Then, these windows would pop-up as figure
6-23, figure 6-24 and figure 6-25.
Figure 6-22. “Application Object Setting”
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Figure 6-23. “Modbus Devices Information”
Figure 6-24. “Application Object Information”
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Figure 6-25. “Assembly Object Information”
Step 9: After the configuration of Modbus devices parameters, press the
“Next” button,
, and start to build the specific EDS file for the
I-7242D. If the I/O connection path stored in EEPROM of I-7242D is
not correct. Or you modify the parameters of Modbus devices. Then
the warring dialog would be pop-up as figure 6-26.
Figure 6-26. “Warning Dialog Box”
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Step 10: Then the DeviceNet EDS file information is set according to the
following frame. Users can configure the relative information for their
EDS file by using a dialog box like figure 6-27.
Figure 6-27. “DeviceNet EDS file Setting”
Step 11: Setting the EDS file information and describe it as figure 6-28.
Figure 6-28. “Description of EDS file”
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Step 12: Set the Polling/Bit Strobe/COS/Cyclic I/O connection path for the
I-7242D as figure 6-29.
Figure 6-29. “Produced/Consumed I/O Connection Path”
Step 13: Click the “Finish” button to complete the I-7242D configuration and
the DNS_MRU Utility will create the EDS file for users as figure 6-30.
Figure 6-30. “Finish and Create EDS File.”
Step 14: After click the “Finish” button, the main window would be pop-up.
Then press the “Exit program” button to exit the program.
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You can find the EDS file for the specific I-7242D. The file name is
MBDNS_1.eds. “1” represents the Node ID that you set. Therefore, Users can
apply the EDS file in the DeviceNet application as figure 6-31.
Figure 6-31. The Part of the EDS file
Note: There is also some Modbus devices information in the EDS file. Users
can see the information form the EDS file.
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7 DeviceNet Communication Set
7.1
DeviceNet Communication Set Introduction
The I-7242D is a “Group 2 Only Slave” device, and supports the
“Predefined Master/Slave Connection Set”. To communicate with this device,
the process for establishing a connection is important. In addition, we provide
some examples on how to access I/O devices.
The CAN Identifier Fields associated with the Predefined Master/Slave
Connection Set for the I-7242D are given in the table 7-1. This table defines
the Identifiers that are to be used with all the connection based messaging
involved in the Predefined Master/Slave Connection Set for the I-7242D.
Table 7-1 CAN Identifier Fields for the I-7242D
10
0
IDENTIFIER BITS
9 8 7 6 5 4 3 2 1
Group 1
Source MAC ID
Message ID
HEX
RANGE
000 –
3ff
IDENTITYUSAGE
0
Group 1 Messages
0 1 1 0 1
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
0 1 1 1 0
Source MAC ID
Slave’s I/O Bit–Strobe Response Message
0 1 1 1 1
Source MAC ID
Slave’s I/O Poll Response or Change of
State/Cyclic Acknowledge Message
1 0
MAC ID
Group 2
Group 2 Messages
Message ID
400 –
5ff
1 0
Source MAC ID
0
0 0
Master’s I/O Bit–Strobe Command Message
1 0
Destination MAC ID
0
1 0
Master’s Change of State or Cyclic Acknowledge
Message
1 0
Source MAC ID
0
1 1
Slave’s Explicit/ Unconnected Response
Messages/ Device Heartbeat Message/ Device
Shutdown Message
1 0
Destination MAC ID
1
0 0
Master’s Explicit Request Messages
1 0
Destination MAC ID
1
0 1
Master’s I/O Poll Command/Change of State/Cyclic
Message
1 0
Destination MAC ID
1
1 0
Group 2 Only Unconnected Explicit Request
Messages (reserved)
1 0
Destination MAC ID
1
1 1
1
1
1
1
1
1
1
1
1
1
2C
Communication Faulted Response Message
1
1
1
1
1
2D
Communication Faulted Request Message
Group 4 Message ID
Duplicate MAC ID Check Messages
Group 4 Messages
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Table 7-2 lists the Error Codes that may be present in the General Error Code
field of an Error Response message.
Table 7-2 General error codes
Error Condition
Resource unavailable
General Error
code (Hex)
02
Additional Error Condition
Additional Error Code
(Hex)
Invalid allocation choice
02
Invalid Unconnected request
03
Poll After COS_CYCLIC
04
Service not support
08
None
FF
Invalid attribute value
09
None
FF
0B
None
FF
Object state conflict
0C
Class specific error
01
Attribute not settable
0E
None
FF
Privilege violation
0F
None
FF
Device state conflict
10
None
FF
Reply data too large
11
None
FF
Not enough data
13
None
FF
Attribute not supported
14
None
FF
Too much data
15
None
FF
Object does not exist
16
None
FF
FRAGMENTATION EQ
17
None
FF
Invalid parameter
20
None
FF
Already in requested
mode/state
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The following steps may be useful to those users who would like to implement
their DeviceNet applications by using the command set.
1. Request the use of the Predefined Master/Slave Connection Set.
2. Apply the Master’s Explicit Request Messages to set the
expected_packet_rate attribute of the I/O connection and make the I/O
Connection Object State established.
3. There are two ways to access I/O devices. One method is by the way
of the I/O connection object. Another is by using an explicit message
to set/get the IO attribute of application object.
4. Release the use of the Predefined Master/Slave Connection Set.
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7.2
Examples on the DeviceNet Communication Set
7.2.1
Request the use of Predefined Master/Slave Connection Set
An unconnected explicit messaging request sent by the Master node via a
destination node’s Group 2 Only Unconnected Explicit Request Message to
requests the use of the Predefined Master/Slave Connection set. The example
shows how to use these connection sets. In this demo, the Master establishes
the Explicit Message, Poll IO and Bit-Strobe IO connections.
Table 7-3 shows the Group 2 Only Unconnected Explicit connection
Identifier Fields.
Table 7-3 Identifier fields of the group 2 only unconnected explicit connection
10
9
8
IDENTIFIER BITS
7 6 5 4 3
2
1
HEX
RANGE
IDENTITY USAGE
0
1
0
Source MAC ID
0
1
1
Slave’s Explicit/ Unconnected Response Messages
1
0
Destination MAC ID
1
1
0
Group 2 Only Unconnected Explicit Request
Messages
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
Allociation Choice : Explicit、Polled & Bit-Strobed
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit, Polled & Bit Strobed
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 07 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 110. Data= 0A CB 00
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7.2.2
How to apply the Poll Connection
Poll Command and Responses message move any amount of I/O data
between a Master and its Polled Slaves. The example explains how to apply
the Poll IO connection in the DeviceNet application.
Table 7-4 shows the Poll I/O Connection Identifier Fields.
Table 7-4 Identifier Fields of the Poll I/O connection
10
1
9
0
8
IDENTIFIER BITS
7 6 5 4 3
Destination MAC ID
2
1
1
0
1
HEX
RANGE
IDENTITY USAGE
0
Master’s I/O Poll Command/Change of State/Cyclic
Message
1
0
Source MAC ID
0
1
1
Slave’s Explicit/ Unconnected Response Messages
1
0
Destination MAC ID
1
1
0
Group 2 Only Unconnected Explicit Request
Messages
1
0
Destination MAC ID
0
1
1
1
1
1
Source MAC ID
0
0
Master’s Explicit Request Messages
Slave’s I/O Poll Response Message
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Explicit & Polled
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit & Polled
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 03 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the
expected_packet_rate attribute of the I/O connection and make the I/O
Connection Object State established.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=2 ( Poll IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 02 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
3. Apply the Poll I/O Connection to access the I/O devices
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =0
|
|
|
|
|
|
_ Poll Output Data
|
|
|
|
ID=10 001001 101. Data= FF FF
_ Group 1 Message
| _ Message ID =F
| |
_ Source MAC ID=0x09
| |
|
_ Poll Response Data
| |
|
|
ID= 0 1111 001001. Data= FF DF
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7.2.3
The Bit-Strobe Connection example
Bit-Strobe Command and Response messages rapidly move small
amounts of I/O data between the Master and its Bit-Strobe Slaves. Table 7-5
shows Bit-Strobe I/O Connection Identifier Fields.
Table 7-5 Identifier fields of Bit-Strobe I/O connection
10
9
8
IDENTIFIER BITS
7 6 5 4 3
1
0
2
1
Source MAC ID
HEX
RANGE
IDENTITY USAGE
0
0
1
1
Slave’s I/O Bit–Strobe Response Message
1
0
Source MAC ID
0
0
0
Master’s I/O Bit–Strobe Command Message
1
0
Source MAC ID
0
1
1
Slave’s Explicit/ Unconnected Response Messages
1
0
Destination MAC ID
1
1
0
Group 2 Only Unconnected Explicit Request
Messages
1
0
Destination MAC ID
1
0
0
Master’s Explicit Request Messages
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Explicit & Bit-Strobe
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit & Bit Strobed
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 05 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the
expected_packet_rate attribute of the I/O connection and make the I/O
Connection Object State established.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=3 ( Bit Strobe IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 03 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
3. Apply Bit-Strobe I/O Connection to access the IO modules
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =0
|
|
|
|
|
|
_ Bit-Strobe 64-bit Output Data
|
|
|
|
ID=10 001001 000. Data= FF FF FF FF FF FF FF FF
_ Group 1 Message
| _ Message ID =E
| |
_ Source MAC ID=0x09
| |
|
_ Bit-Strobe Response Data
| |
|
|
ID= 0 1110 001001. Data= FF DF
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7.2.4
Change of State/Cyclic Connection example (Acknowledged)
The Change of State/Cyclic connection sets use the connection instance
2 (the polled connection instance) for master to slave data production and
slave to master acknowledgment. Connection instance 4 is used for slave to
master data production and master to slave acknowledgment. If a device does
not support the poll connection and has no output object, then connection
instance 2 does not need to be instantiated. Table 7-6 shows COS/Cyclic I/O
Connection Identifier Fields.
Table 7-6 Identifier fields of COS/Cyclic I/O connection
10
9
8
IDENTIFIER BITS
7 6 5 4 3
0
1
1
0
1
1
0
Destination MAC ID
2
1
Source MAC ID
0
HEX
RANGE
IDENTITY USAGE
0
Slave’s I/O Change of State or Cyclic Message
1
0
Master’s Change of State or Cyclic Acknowledge
Message
1
0
Source MAC ID
0
1
1
Slave’s Explicit/ Unconnected Response Messages
1
0
Destination MAC ID
1
1
0
Group 2 Only Unconnected Explicit Request
Messages
1
0
Destination MAC ID
1
0
0
Master’s Explicit Request Messages
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Note: I-7242D: Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Cyclic & Explicit
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit &Cyclic
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 21 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the
expected_packet_rate attribute of the I/O connection and make the I/O
Connection Object State established.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=4 ( Cyclic IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 04 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
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3. To start the Cyclic I/O connection and transfer IO data
Master (MAC ID =0x0A)
Slave transmits I/O data to Master
Slave (MAC ID =0x09)
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
Master responses Acknowledge message
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =2
|
|
|
|
|
|
_No response data
ID=10 001001 010. Data= No data
Slave transmits I/O data to Master after a period of time
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
Master responses Acknowledge message
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =2
|
|
|
|
|
|
_No response data
ID=10 001001 010. Data= No data
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7.2.5
Change of State/Cyclic Connection example (Unacknowledged)
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Ack suppression, Cyclic & Explicit
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Ack suppression, Cyclic &Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 61 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the
expected_packet_rate attribute of the I/O connection and make the I/O
Connection Object State established.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=4 ( Cyclic IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 04 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
3. Slave transmits data cyclically.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
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7.2.6
Change MAC ID example
If necessarily, users can change MAC ID of I-7242D. For example, the
I-7242D sends “Duplicate MAC ID Check Message” at power on or reset mode.
There could be the same ID of device in the network. Therefore, the I-7242D
supports the ability of on-line change the MAC ID of CAN. Please refer to the
following example.
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Explicit
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 000011 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 000011 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to change the Slave’s
MAC ID.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Attribute ID=1
|
|
|
| | | | | _ Attribute Data= 0x09 -- New MAC ID
ID=10 000011 100. Data= 0A 10 03 01 01 09
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 0A 90
3. After changing the MAC ID, slave (I-7242D) will send out the shutdown
message and reset.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID=0x0A
|
|
|
| _ Service code= 0x4E, Device Shutdwon message
|
|
|
| |
__ Class ID=3
|
|
|
| |
|
_ Instance ID=1
|
|
|
| |
|
|
_ Shutdown Code=4
ID=10 000011 011. Data= 0A CE 03 00 01 00 04 00
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4. After resetting, the slave (I-7242D) will send duplicate MAC ID check
message twice.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =7
|
|
|
_ Physical Port Number=0
|
|
|
|
_ Vendor ID= 803
|
|
|
|
|
__ Serial Number=1
|
|
|
|
|
|
|
|
|
|
|
|
ID=10 001001 111. Data= 00 23 03 01 00 00 00
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =7
|
|
|
_ Physical Port Number=0
|
|
|
|
_ Vendor ID= 803
|
|
|
|
|
__ Serial Number=1
|
|
|
|
|
|
|
|
|
|
|
|
ID=10 001001 111. Data= 00 23 03 01 00 00 00
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7.2.7
Change CAN Baud Rate on-line example
I-7242D supports the function to change CAN baud rate on-line. But after
finishing change baud rate, the new baud rate would be not effective
immediately. Must to request reset service to reset the I-7242D.
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Explicit
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 000011 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to change the Slave’s
Baud Rate.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Attribute ID=2
|
|
|
| | | | | _ Attribute Data= 0x01 -- New Baud Rate
ID=10 001001 100. Data= 0A 10 03 01 02 01
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 0A 90
Note: After finishing the change of the MAC ID on-line, the I-7242D will send a
shutdown message and reset. However if users want to change the baud rate
of I-7242D, they must send the reset service to reset the I-7242D. Then the
new baud rate of the I-7242D will become effective.
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7.2.8
Reset Service
This service can reset the I-7242D. If users change the baud rate of
I-7242D, they must send reset service to reset I-7242D. Therefore the new
baud rate of the I-7242D will become effective.
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Explicit
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 000011 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the Identify object.
The service ID (0x05) is reset service.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Souce MAC ID= 0x0A
|
|
|
| _ Service=Reset service
|
|
|
| | _ Class ID=1
|
|
|
| | | _ Instance ID=1
|
|
|
| | | |
ID=10 001001 100. Data= 0A 05 01 01 00
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Reset Response
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 0A 85
Slave (MAC ID =0x09) responses the shutdown message to network.
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID=9
|
|
|
| _ Service code= 0x4E, Device Shutdwon message
|
|
|
| |
__ Class ID=1
|
|
|
| | |
_ Instance ID=1
|
|
|
| | _|__ __|__ _____ Shutdown Code
ID=10 001001 011. Data= 0A CE 01 00 01 00 04 00
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7.2.9
Device Heartbeat
This message broadcasts the current state of the I-7242D. This message
is transmitted by a group 2 only server as an Unconnected Response
Message (Message Group 2, Message ID 3).
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Allociation Choice : Explicit
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 000011 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the Identify object.
Device Heartbeat interval Attribute ID : 0x0A
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=set attribute
|
|
|
| | _ Class ID=1
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Attribute ID= 0x0A
|
|
|
| | | | | _ Attribute Data= 2 seconds
ID=10 001001 100. Data= 0A 10 01 01 0A 02 00
Slave response Device Heartbeat Message every two seconds.
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Destination MAC ID= 0x09
|
|
|
| _ Service code=0x4D
|
|
|
| |
_ Identity Object Instance ID=1
|
|
|
| |
| _ Device State=3
|
|
|
| | __|_ _|__ ____ EV, SF, UF, DF and Consistency value
ID=10 001001 011. Data=0A CD 01 00 03 00 00 00
If users want to cancel the heartbeat message, they must set the heartbeat
interval attribute value of the Identity object instance to zero.
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7.2.10
Offline Connection Set
This section describes the Offline Connection Set Messaging Protocol and
presents the details associated with the establishment of Offline Connection
Set ownership. Support of the Offline Connection Set is optional for all types of
devices. Table 7-7 shows Offline connection Set Identifier Fields
Table 7-7 Identifier fields of Offline connection set
10
9
8
IDENTIFIER BITS
7 6 5 4 3
2
1
IDENTITY USAGE
0
1
1
1
1
1
Group 4 Message ID
Group 4 Messages
1
1
1
1
1
2C
Communication Faulted Response Message
1
1
1
1
1
2D
Communication Faulted Request Message
HEX
RANGE
000 - 3ff
In this example, the I-7242D is set to an off-line state, because it has a
duplicated fault. We can then apply the offline connection set to change its
baud rate.
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Apply the Communication Faulted Request message to communicate
with offline devices. (Group 4, message: 2D, service: 4B)
Who communication Fault Request Message:
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 4 Message
|
_ Message ID=0x2D
|
|
|
|
_ match=0, value=0x3f
|
|
| _ Service=0x4B
|
|
| | _Time Delay Byte Offset
|
|
| | |
ID=11111 101101. Data=3F 4B 02
Who communication Fault Response Message:
_ Group 4 Message
|
_ Message ID=0x2C
|
|
_ Physical Port Number
|
|
| _ Vendor ID
|
|
|
|
__ Serial Number
|
|
| _|_ ____|____
ID=11111 101100. Data= 00 23 03 01 00 00 00
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2. Apply the Communication Faulted Request message to change the
I-7242D’s MAC ID. (Group 4, message: 2D , service: 4D)
Change MAC ID Communication Fault Request Message:
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 4 Message
|
_ Message ID=0x2D
|
|
_New MAC ID=7
|
|
| _ Service=0x4D
|
|
| |
_Vendor ID
|
|
| | __|_ ________ Serial Number
ID=11111 101101. Data=07 4D 23 03 01 00 00 00
3. After finishing the change of the MAC ID, I-7242D will send the
duplicated message to the DeviceNet network.
Slave (MAC ID =0x07)
_ Group 2 Message
|
_ Source MAC ID=0x07
|
|
_ Message ID =7
|
|
|
_ Physical Port Number=0
|
|
|
|
_ Vendor ID= 803
|
|
|
|
|
__ Serial Number=1
|
|
|
|
|
|
|
|
|
| __|_ ___ |_____
ID=10 000111 111. Data= 00 23 03 01 00 00 00
_ Group 2 Message
|
_ Source MAC ID=0x07
|
|
_ Message ID =7
|
|
|
_ Physical Port Number=0
|
|
|
|
_ Vendor ID= 803
|
|
|
|
|
__ Serial Number=1
|
|
|
|
|
|
|
|
|
| __|_ ___ |_____
ID=10 000111 111. Data= 00 23 03 01 00 00 00
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7.2.11
Fragmentation example
7.2.11.1 Unacknowledged Fragmentation example
Fragmentation of an I/O message is performed in an unacknowledged
fashion. Unacknowledged fragmentation consists of the back-back
transmission of the fragments from the transmitting module. The receiving
module(s) returns no acknowledgments (other than the CAN-provided Ack) on
a per-fragment basis. The Connection simply invokes the Link Producer’s
Send service as necessary to move the message without waiting for any
specific acknowledgment from the receiving module(s).
In this example, the polling consumed size is 10 bytes. Master must send
fragmented messages. Data=0102030405060708090A. Assume that the I/O
Connection has been established.
Unacknowledged:
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =0
|
|
|
|
|
|
_ Fragment Type= First Fragment, Fragment Count=0
|
|
|
| ----------------------- 1st portion of the I/O data
ID=10 001001 101. Data= 00 01 02 03 04 05 06 07
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =0
|
|
|
|
|
|
_ Fragment Type= Final Fragment, Fragment Count=1
|
|
|
| ----------------------- final portion of the I/O data
ID=10 001001 101. Data= 81 08 09 0A
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7.2.11.2 Acknowledged Fragmentation example
Fragmentation of an Explicit Message is performed in an Acknowledged
fashion. Acknowledged fragmentation consists of the transmission of a
fragment from the transmitting module followed by the transmission of an
acknowledgment by the receiving module. The receiving module
acknowledges the reception of each fragment. This provides a degree of flow
control. The assumption is that larger bodies of information may be moved
across Explicit Messaging Connections (e.g. Upload/Download functions) and,
as such, a degree of flow control is necessary.
In this example, assume the attribute data=0102030405060708090A. The
assembly instance ID=0x64, attribute=0x03.
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 000011 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the Assembly
object instance attributes.
Service (0x10)=Set attribute service, Data=0102030405060708090A.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=1. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Fragment Type= First Fragment, Fragment Count=0
|
|
|
| | _ Service=set attribute
|
|
|
| | | _ Class ID=4
|
|
|
| | | | _ Instance ID=2
|
|
|
| | | | | _ Attribute ID= 0x03
|
|
|
| | | | | |
|
|
|
| | | | | | _ Attribute Data= 0103
|
|
|
| | | | | | _|_
ID=10 001001 100. Data= 8a 00 10 04 02 03 01 02
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=0
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 011. Data=8A C0 00
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=1. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Fragment Type= Middle Fragment, Fragment Count=1
|
|
|
| |
_ Attribute Data
|
|
|
| | __|___________
ID=10 001001 100. Data= 8a 41 03 04 05 06 07 08
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=1
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 011. Data=8A C1 00
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Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=1. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Fragment Type= Final Fragment, Fragment Count=2
|
|
|
| |
_ Attribute Data
|
|
|
| | __|_
ID=10 001001 100. Data= 8a 82 09 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=2
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 011. Data=8A C2 00
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7.2.12
User-defined Modbus commands example
In “User-defined Modbus Command” class, the I-7242D supports three
instances for users who want to define their own Modbus messages. Users
can use the Master’s Explicit Message to set the 0x01 attribute and 0x03
attribute of this class. Please see the following steps.
Step 1: Set 0x01 attribute value as the needed query Modbus command and
set 0x03 attribute value as the response Modbus command length.
Step 2: Then set the 0x04 attribute value as a non-zero value. Thus the
I-7242D will send out the message according to 0x01 attribute to
Modbus devices.
Step 3: The I-7242D will receive the response message from Modbus
devices and store the response message in 0x02 attribute.
Step 4: After sending out the user-defined Modbus command, users can use
the Master’s Explicit Message to get the 0x02 attribute. And then the
response Modbus message will be returned to the Master.
In this example, we will use user-defined Modbus message to set Modbus
device (M-7017), see table 7-8. The request and response Modbus commands
are in the table 7-9 and table 7-10.
Table 7-8 User-defined function code (0x46): Read/Write Module Setting
Sub-function Code Description
00 (0x00)
Read the module name
Table 7-8 Request Modbus command message
00
Address
1 Byte 1 to 247
01
Function code
1 Byte 0x46
02
Sub function code 1 Byte 0x00
Table 7-9 Response Modbus command message
00
Address
1 Byte 1 to 247
01
Function code
1 Byte 0x46
02
Sub function code 1 Byte 0x00
03~06 Module name
4 Byte 0x00 0x70 0x17 0x00 for M-7017 serious
modules
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Now, start to communication with I-7242D.
Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A
1. Request the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 000011 110. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the User-defined
Modbus command object instance attribute 0x01.
Service (0x10)=Set attribute service, Data = 01 46 00.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=0x65
|
|
|
| | | _ Instance ID=0x01
|
|
|
| | | | _ Attribute ID=0x01
|
|
|
| | | | | _ Attribute Data= 0x01 0x46 0x00 -- Request Modbus
ID=10 001001 100. Data= 0A 10 65 01 01 01 46 00
Command
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 0A 90
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3. Apply the Master’s Explicit Request Messages to set the User-defined
Modbus command object instance attribute 0x03.
Set the response Modbus message length = 0x07 bytes
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=0x65
|
|
|
| | | _ Instance ID=0x01
|
|
|
| | | | _ Attribute ID=0x03
|
|
|
| | | | | _ Attribute Data= 0x07 – Response Modbus Command
ID=10 001001 100. Data= 0A 10 65 01 03 07
length
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 0A 90
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4. Apply the Master’s Explicit Request Messages to set the User-defined
Modbus command object instance attribute 0x04.
Set 0x04 attribute with a non-zero value.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=0x65
|
|
|
| | | _ Instance ID=0x01
|
|
|
| | | | _ Attribute ID=0x04
|
|
|
| | | | | _ Attribute Data= 0x01 – Non-zero value
ID=10 001001 100. Data= 0A 10 65 01 04 01
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 0A 90
After setting the 0x04 attribute with a non-zero value, this user-defined
message will be sent to the Modbus device.
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5. Then apply the Master’s Explicit Request Messages to get the
User-defined Modbus command object instance attribute 0x02.
Service (0x0E)=Get attribute service,
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Get Attribute Request
|
|
|
| | _ Class ID=0x65
|
|
|
| | | _ Instance ID=0x01
|
|
|
| | | | _ Attribute ID=0x02
|
|
|
| | | | |
ID=10 001001 100. Data= 0A 0E 65 01 02
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=0
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 8A 00 8E 01 46 00 00 70
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=1. Destination MAC ID= 0x09
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=0
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 100. Data=8A C0 00
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=1
|
|
|
| |
|
|
|
| |
ID=10 000011 011. Data= 8A 81 17 00
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Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=1. Destination MAC ID= 0x09
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=1
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 100. Data=8A C1 00
After using the Master’s Explicit Message to get 0x02 attribute, the slave
would return the Modbus response message. Then users can get the specific
Modbus response message that Modbus device returned.
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8 Modbus Commands
Only the Modbus commands shown in the table 8-1 are supported by the
I-7242D. The structure of the query and response frames for each of these
commands is then described in the following section.
Table 8-1 Support commands of I-7242D
Function Code
Modbus Command
0x01
Read Coil Status
0x02
Read Input Status
0x03
Read Holding Registers
0x04
Read Input Registers
0x0F
Force Multiple Coils
0x10
Preset Multiple Registers
In the table 8-2, each byte of the query and response frames of the
Modbus command are described with the excepted of the field shown opposite.
These are always present in the queries and responses of all Modbus
command.
Table 8-2 Frames of a Modbus command
Device address
Value cannot be changed (Valid
Modbus device address: 1 to 247.)
Function code
Value can not be changed (code of the
Modbus command)
… Other fields …
CRC (LSB)
CRC (MSB)
… Specific features
commands …
of
Modbus
Cyclic Redundancy Check, containing
16-bit binary value
It’s a better idea to get hold of a standard Modbus document, such as the
guide entitled Modicon Modbus Protocol Reference Guide, so that you can see
the correspondence between the elements displayed in Utility and the content
of the corresponding Modbus frames
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Here is an example of correspondences for a full frame, based on the
“Read Holding Registers” Command (0x03).
Modbus
query
Modbus
response
Element under Utility
Modbus frame fields
Modbus Devices Address
Device no.
Size
(byte)
1
Device I/O Type
Function no.
1
Register Address
No. 1st word (MSB/LSB)
2
Communication Words
No. of words (MSB/LSB)
2
Element under Gateway
Modbus frame fields
Modbus Devices Address
Device no.
Size
(byte)
1
Device I/O Type
Function no.
1
Byte count
No. of bytes read
1
st
Data
Value of 1 word (MSB/LSB)
2
………………………….
…
Value of last word (MSB/LSB)
2
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8.1
“Read Coil Status” Command (0x01)
Read the On/Off status of discrete output in the slave. The query message
specifies the starting coil and quantity of coils to be read. And the coil status in
the response message is packed as one coil per bit of the data field.
Frame
Field
Starting Address (Hi)
Query
Starting Address (Lo)
No. of Points (Hi)
No. of Points (Lo)
Response
8.2
Description
Address of 1st output coil
Number of output coils
Byte Count
Number of data bytes=(number of output coils + 7) / 8
Data (Coils: H-L order)(L)
Byte swap=”Swap 1 byte” (or “No swapping”)
…..
Data length=Value of the “Byte Count” field
Data (Coils: H-L order)(H)
Data location=Address in the gateway’s “DO” memory
“Read Input Status” Command (0x02)
Read the On/Off status of discrete input in the slave. The query message
specifies the starting input and quantity of inputs to be read. And the input
status in the response message is packed as one input per bit of the data field.
Frame
Field
Starting Address (Hi)
Query
Starting Address (Lo)
No. of Points (Hi)
No. of Points (Lo)
Byte Count
Response
Description
Address of 1st input coil
Number of input coils
Number of data bytes=(number of input coils + 7) / 8
Data (Inputs: H-L order)(L) Byte swap=”Swap 1 byte” (or “No swapping”)
…..
Data length=Value of the “Byte Count” field
Data (Inputs: H-L order)(H) Data location=Address in the gateway’s “DI” memory
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8.3
“Read Holding Registers” Command (0x03)
Read the binary content of holding registers in the slave. The query
message specifies the starting register and quantity of registers to be read.
And the register data in the response message are packed as two bytes per
register, with the binary contents right justified within each byte.
Frame
Field
Starting Address (Hi)
Starting Address (Lo)
Query
No. of Points (Hi)
No. of Points (Lo)
Byte Count
Description
Address of 1st output register
Number of output registers
Number of data bytes=number of output registers x 2
Data (first register/MSB)
Response
Data (first register/LSB)
Byte swap=”Swap 2 bytes” (or “No swapping”)
…..
Data length=Value of the “Byte Count” field
Data (last register/MSB)
Data location=Address in the gateway’s “AO” memory
Data (last register/LSB)
8.4
“Read Input Registers” Command (0x04)
Read the binary content of input registers in the slave. The query
message specifies the starting register and quantity of registers to be read.
And the register data in the response message are packed as two bytes per
register, with the binary contents right justified within each byte.
Frame
Field
Starting Address (Hi)
Query
Starting Address (Lo)
No. of Points (Hi)
No. of Points (Lo)
Byte Count
Description
Address of 1st input register
Number of input registers
Number of data bytes=number of input registers x 2
Data (first register/MSB)
Response
Data (first register/LSB)
Byte swap=”Swap 2 bytes” (or “No swapping”)
…..
Data length=Value of the “Byte Count” field
Data (last register/MSB)
Data location=Address in the gateway’s “AI” memory
Data (last register/LSB)
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8.5
“Force Multiple Coils” Command (0x0F)
Forces each coil in a sequence of coils to either ON or OFF. The query
message specifies the coil references to be forced. The normal response
returns the slave address, function code, starting address, and quantity of
registers preset.
Frame
Field
Coil Address (Hi)
Coil Address (Lo)
Quantity of Coils (Hi)
Query
Quantity of Coils (Lo)
Byte Count
Description
Address of 1st output coil
Number of output coils
Number of data bytes=(number of output coils + 7) / 8
Force Data (Coils: H-L)(L) Byte swap=”Swap 1 byte”
…..
Data length=Value of the “Byte Count” field
Force Data (Coils: H-L)(H) Data location=Address in the gateway’s “DO” memory
Coil Address (MSB)
Response
Coil Address (LSB)
Quantity of Coils (MSB)
Quantity of Coils (LSB)
Address of 1st output coil
Number of output coils
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8.6
“Preset Multiple Registers” Command (0x10)
Preset values into sequence of holding registers. The query message
specifies the register reference to be preset. The normal response returns the
slave address, function code, starting address, and quantity of register preset.
Frame
Field
Starting Address (Hi)
Starting Address (Lo)
No. of Registers (Hi)
No. of Registers (Lo)
Query
Byte Count
Description
Address of 1st output register
Number of output registers
Number of data bytes=number of output registers x 2
Data (first register/MSB)
Data (first register/LSB)
Byte swap=”Swap 2 bytes”
…..
Data length=Value of the “Byte Count” field
Data (last register/MSB)
Data location=Address in the gateway’s “AO” memory
Data (last register/LSB)
Starting Address (Hi)
Response
Starting Address (Lo)
No. of Registers (Hi)
No. of Registers (Lo)
Address of 1st output register
Number of output registers
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8.7
Exception Responses
When a slave receives the query without a communication error, but
cannot handle it, the slave will return an exception response informing the
master of the nature of the error. The structure of an exception response is
independent of the Modbus command associated with the “Function” field of
the query involved. The whole frame of an exception response is shown below.
Slave Address
Function
Exception Code
Checksum (Lo)
Checksum (Hi)
Code
Modbus address (1 to 247). The value of this field is identical to that of the
“Slave Address” field of the query involved.
The value of this field is set to 0x80 + the value of the “Function” field of
the query involved.
Code indicating the nature of the error which has caused the exception
response
Error check
Name
0x01 Illegal Function
Meaning
The function code received in the query is not an allowable action for
the slave.
0x02
Illegal Data
Address
The data address received in the query is not an allowable address for the
0x03
Illegal Data
Value
A value contained in the query data field is not an allowable value for the
0x04
Slave Device
Failure
An unrecoverable error occurred while the slave was attempting to perform
slave.
slave.
the requested action.
The slave has accepted the request and is processing it, but a long
0x05 Acknowledge
duration of time will be required to do so. The gateway should transmit
subsequent queries in order to determine whether the request has
finished or not.
0x06
Slave Device The slave is engaged in processing a long–duration program command.
So the gateway should re-transmit the query subsequently.
Busy
0x07
The slave cannot perform the program function received in the query. This
Negative
Acknowledge exception only affects commands 0x0D and 0x0E.
Memory Parity
0x08
Error
The slave attempted to read extended memory, but detected a parity error
in the memory. This exception only affects standard commands 0x14
and 0x15.
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9 Application with PISO-CAN 200/400-T
In this chapter, we describe the I-7242D application in DeviceNet network
with two demo programs. ICP DAS DeviceNet Master Library (DLL functions)
provides users to establish DeviceNet network rapidly by Master/Slave
connection model. Using the library, users don’t need to take care of the detail
of the DeviceNet protocol. The library will implement the DeviceNet protocol
automatically.
In these demo programs, the master device is the PISO-CAN200/400-T of
ICP DAS and the I-7242D is a slave device in the DeviceNet network. These
demo
programs
implemented
by
applying
DeviceNet
lib
of
PISO-CAN200/400-T PCI card. Thus, the following diagram shows how to
apply the I-7242D in easy way. The architecture is depicted as figure 9-1.
Figure 9-1 Architecture of the demos in PISO-CAN200/400 PCI card
The information of devices and software in these applications is below:
z Hardware:
DeviceNet master: PISO-CAN 200/400-T
DeviceNet slave: I-7242D
Modbus RTU devices: M-7060D, M-7060D
z Software:
The demos in PISO-CAN200/400 PCI card
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z
The DeviceNet information in the I-7242D
Device Information
Application
Instance ID
Device Address
Device
Relay/Register
Relay/Register
I/O Type
Start Address
Data Length
0x01
0x04
0 (DO)
1
4
0x02
0x05
2 (DI)
1
4
“User-defined Modbus Device Object” Instance 1
Attribute ID
Description
Data Type
Method
Value
0x01
Device ID
CHAR
Get
4
0x02
Device I/O Type
CHAR
Get
0
0x03
Device Start Address
WORD
Get
1
0x04
Device Length
WORD
Get
4
0x05
Data Lose Counter
WORD
Get/Set
0
0x06
Modbus command status
CAHR
Get
0
0x14
DO Data
Get/Set
0
0x15
AO Data
Get/Set
0
0x16
DI Data
Get
0
0x17
AI Data
Get
0
Defined by
device num.
Defined by
device num.
Defined by
device num.
Defined by
device num.
“User-defined Modbus Device Object” Instance 2
Attribute ID
Description
Data Type
Method
Value
0x01
Device ID
CHAR
Get
5
0x02
Device I/O Type
CHAR
Get
2
0x03
Device Start Address
WORD
Get
1
0x04
Device Length
WORD
Get
4
0x05
Data Lose Counter
WORD
Get/Set
0
0x06
Modbus command status
CAHR
Get
0
0x14
DO Data
Get/Set
0
0x15
AO Data
Get/Set
0
0x16
DI Data
Get
0
0x17
AI Data
Get
0
Defined by
device num.
Defined by
device num.
Defined by
device num.
Defined by
device num.
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Refer to the application object instances. The I-7242D will define the
default assembly object instances according to the following table.
Assembly Object
Instance ID
Data Length (Byte)
Component devices
(ID, Address)
0x64
DO: 1
1(00003~00000)
0x65
DI: 1
3(00003~00000)
Please do the following two steps to setup the system before executing these
applications.
Step 1:
Setup the I-7242D and these Modbus devices parameters by using the
DNS_MRU Utility. Here, the MAC ID and CAN baud rate of I-7242D is set as 3
and 125Kbps. The COM port parameters is set as 9600,N,8,1. The Modbus
devices parameters and DeviceNet I/O connections are set as figure 9-3 and
9-4 and 9-5.
Figure 9-3 Device_1 parameters
Figure 9-4 Device_2 parameters
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Figure 9-5 DeviceNet I/O connections
Step 2:
Connect the CAN port of PISO-CAN card with the I-7242D. And then connect
Com2 port of the I-7242D with these Modbus RTU devices.
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9.1
Application 1
The demo1 program shows users how to set/get the attribute value in the
I-7242D. The I/O data of the Modbus devices also can be driven in the same
way. The frame of demo1 program is shown as figure 9-2. Please do the
following steps to apply the I-7242D in DeviceNet network.
Figure 9-2 The frame of Demo1 program
Step 1:
Start to run the demo program. And first, you must to active the
PISO-CAN board by clicking “Active board” button.
Step 2:
Select “Master MAC ID” as the Master ID and “Slave MAC ID” according
to the I-7242D’s MAC ID in the DeviceNet network. The master device need to
be in on-line mode by clicking the “Master Online” button. The next, add the
I-7242D to the list in PISO-CAN200/400 by clicking the “AddDevice” button.
Then, configure the explicit connection by clicking the “ConfigExplicit” button.
Finally, start to communicate with I-7242D by “StartDevice” button.
Step 3:
When completing the above steps, users can get/set the attribute value
supported in I-7242D in the program. Please refer to chapter 4 to understand
what attributes provided by the I-7242D.
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Example:
In the application, we should set Master MAC ID as 0x05 and Slave MAC
ID as 0x03. Then, we try to set/get the data of attribute 0x14 of instance 0x01
of class 0x64.
Press the “GetAttribute” button to get the data of attribute 20 of Instance 1
of class 100. The result is shown as figure 9-3.
Figure 9-3 “GetAttribute”
Press the “SetAttribute” button to set the needed data to attribute 20 of
Instance 1 of class 100. The result is shown as figure 9-4, .
Figure 9-3 “SetAttribute”
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If users want to stop communication with I-7242D, they can click the
“StopDevice” button or “CloseBoard(0)” button. See figure 9-5 and figure 9-6.
Figure 9-5 “StopDevice”
Figure 9-6 “CloseBoard(0)”
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9.2
Application 2
The demo2 program can show the I/O communication with I-7242D by the
polling, Bit-strobe and Cyclic/COS connections. Users can apply this demo in a
real DeviceNet network to the system. The frame of program is shown as
figure 9-6. Please do the following steps to apply the I-7242D in DeviceNet
network.
Figure 9-6 The frame of Demo2 program
Step 1:
Start to run the demo program. Firstly, you must to active board by clicking
the “Active board” button.
Step 2:
Select the necessary port number and the slave’s MAC ID according to
the I-7242D in the DeviceNet work. The master device must be on-line by
clicking the “Master Online” button. And add the I-7242D to the list in
PISO-CAN200/400 by clicking “AddDevice” button. The users should check
what the IO connection supported in the slave device. And set the input and
output data length according to the IO connections path defined in DNS_MRU
Utility. By pressing the “Config XXX Connection” button to finish the
configuration. Then press the “start device” button to start to communicate with
I-7242D via the I/O connection.
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Step 3:
When completing the above steps, the polling, Bit-strobe and Cyclic/COS
connections can be used to communicate with I-7242D. The result is shown as
figure 9-7. Therefore, the DO LED displays in the M-7060 will change, if the
“write Output data” filed is given by different value as figure 9-7.
Figure 9-7 Using I/O Connection to communicate with I-7242D
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If users want to stop communication with I-7242D, they can click the “Stop
Device” button or “CloseBoard” button. See figure 9-8 and figure 9-9
Figure 9-8 “Stop Device”
Figure 9-9 “CloseBoard”
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Appendix A: Dimension and Mounting
29.50
2-SCREW
M3
7.30
56.00
8
88.50
35.30
O4.5X4
25.00
40.50
33.00
Back View
72.00
33.00
25.00
Side View
Top View
10.5
111
56.00
58.50
72.00
From View
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