Manual GK473 - Gateway RS485 - DeviceNet Firmware Version 1.01 and up Applicable for: Spindle position display N 140 / N 141 / N 142 / N 150 / N 152 / 153 / N 155 Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 (0)7720 942-0 Fax +49 (0)7720 942-900 info.de@baumerivo.com www.baumer.com 05.11 · 174.02.051/4 Subject to technical and design modifications Errors and omissions excepted.
Content Page 1 Introduction 1.1 Scope of delivery 1.2 Product assignment 3 3 3 2 Overview 3 3 Safety remarks and operating instructions 4 4 Commissioning 4.1 Mechanical mounting 4.2 Electrical connection 4.2.1 Electrical commissioning 4.2.2 Supply voltage connection 4.2.3 Shield connection / functional earth 4.2.4 DeviceNet - RS485-bus interface connection 4.3 Device settings 4.3.1 How to open the housing 4.3.2 Setting the DeviceNet user ID (Mac ID) 4.3.3 Setting the Baudrate 4.3.
Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. At any time we should be pleased receiving your comments and proposals for further improvement of the present document. 1 Introduction 1.
3 Safety remarks and operating instructions Supplementary information • This manual is intended as a supplement to already existing documentation (catalogues, product information and mounting instructions). • It is mandatory to read the manual prior to initial commissioning of the equipment. Intended purpose • The gateway is an interface converter enabling communication between RS485 serial interface and DeviceNet. It comprises specific modifications for the Baumer IVO multicon spindle positioning system.
4 Commissioning 4.1 Mechanical mounting The gateway provides a small housing for DIN rail mount. It can easily be opened using a screwdriver and partially pulled out in order to set user ID (MAC ID), Baudrate and bus termination. • Grid width 22,5 mm, height approx. 100 mm, depth approx. 110 mm • For mounting onto 35 mm DIN rails For mounting onto the DIN rail slide the gateway at its rear hinges onto the DIN rail and then press down to lock. 4.2 4.2.
4.2.4 DeviceNet - RS485-bus interface connection DeviceNet RS485 utilizing the 9- pin SUB-D female connector utilizing the screw terminals PIN 1 2 3 4 5 6 7 8 9 Terminal 1 2 3 4 5 6 7 8 Function CAN _L CAN_H Drain Function Schutzerde Signal-GND Rx/Tx + Rx/Tx – GNDB UB GNDB UB Connection to protective earth (PE) is additionally provided by the DIN rail mount. Gateway power supply UB = 24 VDC +/-20 %, ca.50 mA; Each spindle position display requires supplementary supply UB = 24 VDC +/-20 %, 30 mA.
4.3 4.3.1 Device settings How to open the housing Snap-lock Setting the DeviceNet user ID (Mac ID) and Baudrate requires partial opening of the gateway housing. Please use a small screw-driver, press-in the snap-locks provided on top and bottom behind the screw terminals and pull out the housing halfway until stop so that the operating elements are accessible. The housing is closed again by pulling it back to its original position until both locks snap in again. 4.3.
4.3.4 Setting the DeviceNet bus termination If GK473 DeviceNet is the final device in the bus line the CAN bus must be terminated by resistor that is activated by setting the one-pole DIP switch to “ON”. Default :OFF. ON 1 ON = final user OFF = user X 4.3.5 EDS file For gateway projecting in the DeviceNet project there is an EDS file available for comfortable importation into the projecting software. (-> Download in the Internet or available as accessory.) GK473_DN.eds Manual_GK473_DeviceNet_EN.doc 04.
5 DeviceNet interface description 5.1 Data exchange DeviceNet Master <-> Slave DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association) as an open fieldbus communication standard based on CAN protocol. DeviceNet is in line with European Standard EN 50325 and specified and administered by ODVA. DeviceNet is an object-oriented bus system operating according to the producer/consumer communication principle.
5.2 Data exchange DeviceNet <-> RS485 sub- bus The Gateway is enabling communication between the SPA’s RS485 protocol and the DeviceNet fieldbus. The PLC (DeviceNet Master) output data to the gateway comprise all commands relevant for the addressed spindle position display. The command is completed by start and stop token as well as by CRC byte (cyclic redundancy check) and forwarded by the gateway via RS485 interface.
Identity Object, Class 0x01 Class Attributes Attribute ID 1 Access Rule Get Class Services Get Attribute Single Name Revision DeviceNet Data type UINT Value 0x0001 Service Code 0x0E Instance Attributes Attribute ID Access Rule 1 2 Get Get 3 Get Name Vendor ID Device Type Product Code DeviceNet Data type UINT UINT 0x01D4 0x000C UINT 0x002D 0x0101 4 Get Revision STRUCT of: USINT:Major fieldbus version USINT: Minor fieldbus version 5 Get Status WORD 6 Get Serial Number UDINT 7 G
Message Router Object, Class 0x02 Implemented but no visible attributes or services.
Connection Object, Class 0x05 Class Attributes Attribute ID 1 Access Rule Get DeviceNet Data type Name Revision Class Services Get Attribute Single Create UINT Value 0x0001 Service Code 0x0E 0x08 Instance 1 = Explicit Messaging Connection Instance 2 = I/O Poll Connection Instance 4 = Change of State (COS) Connection Instance 2 IO Poll Connection Attributes Attribute Access ID Rule DeviceNet Data type Name Value USINT 1 Get State 0x01 2 Get Instance type 3 Get Transport Class Trigger
Acknowledge Handler Object, Class 0x2B Class Attributes Attribute ID 1 2 Access Rule Get Get DeviceNet Data type Name Revision Max instance Class Services Get Attribute Single UINT UINT Value 0x0001 0x0001 Service Code 0x0E Instance Attributes Attribute Access ID Rule DeviceNet Data type Name Value UINT 1 Get/Set Acknowledge timer 2 Get/Set Retry Limit 3 Producing Get/Set Connection Instance 4 Get 0x0018 USINT 0x20 USINT 5 Get 6 Get 7 Get Ack List Size Ack List Data with Ack Pat
7 GK473 Object, Class 0x64 Class Attributes Attribute ID 1 2 Access Rule Get Get DeviceNet Data type Name Revision Max instance Class Services Get Attribute Single UINT UINT Value 0x0001 0x0001 Service Code 0x0E Instance Attributes Attribute Access Rule ID 1 Get/Set RWTransfer 2 Service Code 0x32 3 Get Name Autoscan SPA Transfer SPA command transparent DeviceNet Data type BOOL 1 ARRAY[16] of USINT 0x20 RS485 Sub bus, SPA state information complete ARRAY[48] of USINT Get SPA connected ARR
7.1 Attribute 1: Autoscan SPA Class Instance Attribute Access Rule 100 1 1 Get/Set Name Autoscan SPA, Automated scan of the RS485 Sub bus ON/OFF DeviceNet Data type Default Value BOOL 1 Default: 1= ON During operation the gateway is performing automatic and cyclic scanning operations of all SPAs connected to verify whether they are “in position”. Upon request this information is batched under a special command for DeviceNet read-in.
7.2 Attribute 2: Transparent transfer of a SPA command Class 100 Instance 1 Attribute Access Rule 2 Transparent Transfer Service Code 0x32 (Vendorspecific) DeviceNet Data type Name Default Value ARRAY[16] of USINT Transparent transfer of SPA command This object is for transparent transfer of all commands to the spindle position displays (SPA) utilizing the vendor specific service Code 0x32. Basically there is a transparent transfer of all commands under codes „A“...
Example for transparent transfer of a SPA command SPA identifier 0 (0x20) command: read current value „R“ (0x52) Excerpt of operating manual SPA N140 : This command is for reading the 6-digit current value (bottom line of the display). Data volume is always 6 Byte. A negative value comes with “-“ sign (2Dh) followed by 5 data Bytes. Positive values are returned as 6 data Bytes less sign. Values of less than 6 (5) digits come with preceding zeroes.
Batched information : GK473 class Instance Attribute 3..7 These objects are for convenient monitoring of the RS485 sub bus state and consequently the status of all spindle position displays. Prior condition of updated data is active Auto Scan SPA what means cyclic scanning of the RS485 sub bus. Any change of state is saved in the GK473 memory for optional read-in into the PLC by Explicit Message, I/O Poll or Change of State (COS). 7.
Example using the RSNetworx class instance editor Byte[0]..[15] 31 62 Byte[16]..[31] binär 93 20 1 0 31 62 Byte[32]..
7.4 Attribute 4: Batched information on connected SPAs Class Instance Attribute Access Rule 100 1 4 Get Name connected SPA DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus. They provide the following binary codes: Example: SPAs connected, SPA identifier Byte[0]..[15] Result: SPAs with identifiers 0, 1, 2, 4, 5, 6, 7 and 30 are connected Manual_GK473_DeviceNet_EN.doc 04.05.
7.5 Attribute 5: Batched information: SPAs not in position Class Instance Attribute Access Rule 100 1 5 Get Name connected SPA DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus that are not in position. They provide the following binary codes: Example SPAs not in position, SPA identifier Byte[0]..
7.6 Attribute 6: Batched information SPA in error state Class Instance Attribute Access Rule 100 1 6 Get Name SPA in error state DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus that are in error state. They provide the following binary codes: Example SPA in error state, SPA identifier Byte[0]..
7.7 Attribute 7: Batched information SPA in timeout state Class Instance Attribute Access Rule 100 1 7 Get Name SPA in Timeout Status DeviceNet Data type Default Value ARRAY[16] of USINT Output are 16 Bytes indicating all SPAs connected and their respective identifiers on the RS485 sub-bus that are in timeout state. They provide the following binary codes: Example SPA in timeout state, SPA identifier Byte[0]..
8 General information 8.1.1 Broadcast commands Due to the bus conflict, SPAs are generally not in a position to reply via RS485 interface to broadcast commands, i.e. to commands addressed to all SPAs at the same time (identifiers 99, 83h). Therefore, on behalf of the SPA the gateway will reply to the DeviceNet master. The response is only confirming that the broadcast command was transmitted by RS485 interface to all SPAs.
8.3 Status indicators (LEDs) integrated in the front panel The Gateway provides in the front panel four LEDs for indication of the RS485 and DeviceNet operating status. RS485 TX (yellow) Transmitting a token on the RS485 sub-bus RS485 RX (yellow) Receiving a token on the RS485 sub-bus DeviceNet Combined Module/Network Status LED (red and green) Status LED status Significance Device Not Powered/Not On–line Off Device is not on–line. - The device has not completed the Dup_MAC_ID test yet.
DeviceNet Status Diagram Upon gateway switch-on there will be a pause of 1000 ms (SPA init). Second the gateway will proceed an automatic SPA address (identifier) scan operation and will store all encountered identifiers in the internal memory. The storing operation may take up to 14 seconds maximum. Later the gateway will transmit the DUP MAC ID message on the CAN bus and will be in state Device Operationanal AND on-line, Not Connected.
8.4 Technical data Electrical ratings Supply voltage Current consumption Display LED operating states Interfaces Interface to SPA Data memory Programmable parameters Emitted interference Interference immunity Mechanical design Operating temperature Storing temperature Relative humidity Protection DIN EN 60529 E-connection Housing type Dimensions W x H x L Mounting Weight approx. Material Manual_GK473_DeviceNet_EN.doc 04.05.11 12...
9 Annex: Rockwell PLC examples for Explicit Messaging 9.1 RSLogix500 examples Vendor specific Service 0x32, Class 0x64, Instance 1, Attribute 2 Excerpt of operating manual reference N140 „BA_N140_Schnittst_d.pdf“ Read current value „R“ (52h) This command is for readout of the 6-digit current value (bottom line of display). The amount of data is always 6 bytes. In case of a negative value, the “-“ sign (2Dh) together with 5 data bytes is replied.
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