EtherNet/IP Reference Manual
Trademark Notices Microsoft and Windows are registered trademarks of Microsoft Corporation. Other product names mentioned herein may be trademarks and/or registered trademarks of their respective owners. First Edition, March 12, 2014 Copyright © 2013-2014. Comtrol Corporation. All Rights Reserved. Comtrol Corporation makes no representations or warranties with regard to the contents of this document or to the suitability of the Comtrol product for any particular purpose.
Table of Contents Chapter 1. EtherNet/IP Interface .......................................................................................7 1.1. Introduction............................................................................................................................................. 7 1.1.1. Functionality Summary ................................................................................................................... 7 1.1.2. Data Type Definitions ..................................
Table of Contents Chapter 3. EtherNet/IP CIP Object Definitions ............................................................33 3.1. IO-Link Port Information Object Definition (71 hex).................................................................. 33 3.1.1. Class Attributes .............................................................................................................................. 34 3.1.2. Instance Attributes..............................................................................
Table of Contents 3.8. Port Object (F4 hex-1 instance)......................................................................................................... 50 3.8.1. Class Attributes .............................................................................................................................. 50 3.8.2. Instance Attributes......................................................................................................................... 51 3.8.3. Common Services.....................
Table of Contents 6.7. Example PLC Program Tag Definitions.......................................................................................... 96 6.7.1. PrtN_DeviceInformation Definition .............................................................................................. 98 6.7.2. PrtN_RxPdiData Definition ........................................................................................................... 99 6.7.3. PrtN_MiscISDUReqs....................................................
Chapter 1. EtherNet/IP Interface 1.1. Introduction This section is intended to describe the EtherNet/IP and Modbus/TCP interfaces provided by the IO-Link Master. These interfaces provide the ability to retrieve port and device status information, input and output process data and access to IO-Link device ISDU (SPDU) data blocks. 1.1.1.
Data Type Definitions • Output Process Data blocks that include: - The active event code to clear ((configurable option) - The output process data to be sent to the port.
Terms and Definitions 1.1.3. Terms and Definitions This section uses the following terms and definitions. Term Definition Otherwise called implicit messaging, is a method of communication between EtherNet/IP controllers and devices that: Class 1 • Uses Ethernet UDP messages. • Is cyclic in nature. Input and/or output data is exchanged between the controllers and devices at regular time intervals.
Data Transfer Methods 1.2. Data Transfer Methods The IO-Link Master provides a selection of process data transfer methods and a number of options to customize the process data handling. • 1.2.1. Receive Process Data Methods • 1.2.2. Transmit Process Data Methods on Page 11 1.2.1. Receive Process Data Methods The IO-Link Master supports the following receive process data methods: • 1.2.1.1. Polling-PLC Requests Data • 1.2.1.2.
Class 1 Connection (Input Only)-PLC and IO-Link Master Utilize an I/O Connection 1.2.1.3. Class 1 Connection (Input Only)-PLC and IO-Link Master Utilize an I/O Connection Also called I/O Mode for some industrial protocols, the Class 1 connection method requires the IO-Link Master and PLC to connect to each via an I/O connection. For EtherNet/IP, a connection over UDP must first be created.
Class 1 Connection (Input and Output)-PLC and IO-Link Master Utilize an I/O Connection 1.2.2.3. Class 1 Connection (Input and Output)-PLC and IO-Link Master Utilize an I/O Connection Also called I/O Mode for some industrial protocols, the Class 1 connection method requires the IO-Link Master and PLC to connect to each via an I/O connection. For EtherNet/IP, a connection over UDP must first be created.
Process Data Block Descriptions 1.3. Process Data Block Descriptions This subsection discusses the following: • 1.3.1. Input Process Data Block Description • 1.3.2. Output Process Data Block Description on Page 15 1.3.1. Input Process Data Block Description The Input Process Data Block format is dependent on the configured PDI Data Format. The following tables describe the Input Process Data Block in the possible formats. Parameter Name Data Type Description The status of the IO-Link device.
Input Process Data Block-8 Bit Data Format 1.3.1.1. Input Process Data Block-8 Bit Data Format The following table provides detailed information about the Input Process Data Block-8 Bit data format. Byte Bit 7 Bit 0 0 Port Status 1 Auxiliary I/O 2 Event Code LSB 3 Event Code MSB 4 PDI Data Byte 0 5 PDI Data Byte 1 .. .. .. .. N+3 PDI Data Byte (N-1) 1.3.1.2.
Output Process Data Block Description 1.3.2. Output Process Data Block Description The contents of the Output Process Data Block are configurable. Parameter Name Data Description Event to Clear (Configurable option) If included, allows clearing of 16-bit event code received in the PDI data block via the PDU data block. INT Default: Not included The PDO data written to the IO-Link device. May contain Array of up from 0 to 32 bytes of PDO data.
Output Process Data Block-32 Bit (DINT) Data Format Without the Event to Clear option selected: Word Bit 15 Bit 0 0 PDO Data Word 0 1 PDO Data Word 1 .. .. .. .. N-1 PDO Data Word (N-1) 1.3.2.3. Output Process Data Block-32 Bit (DINT) Data Format With the Include Event to Clear option selected: Long Word Bit 31 Bit 16 Bit 15 0 0 1 PDO Data Long Word 0 2 PDO Data Long Word 1 .. .. .. ..
Chapter 2. Functionality Descriptions This appendix discusses the following: • 2.1. Event Handling • 2.2. ISDU Handling on Page 21 2.1. Event Handling The IO-Link Master event handling is designed to provide real-time updates of event codes received directly from the IO-Link device. The IO-Link event code: • • Is included in the second 16-bit word of the Input Process Data (PDI) block. - An active event is indicated by a non-zero value. - Inactive or no event is indicated by a zero value.
Clear Event After Hold Time Process 2.1.1. Clear Event After Hold Time Process This illustrates clearing the event after the hold time process. 18 - Chapter 2. Functionality Descriptions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Clear Event in PDO Block Process 2.1.2. Clear Event in PDO Block Process This illustrates clearing the event in the PDO block process. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2.
Clear Event Code in PDO Block and Clear Event After Hold Time Process-PDO Block First 2.1.3. Clear Event Code in PDO Block and Clear Event After Hold Time ProcessPDO Block First This illustrates clearing the event code in the PDO block and clearing the event after the hold time process with the PDO block first. 20 - Chapter 2. Functionality Descriptions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Clear Event Code in PDO Block and Clear Event After Hold Time Process-Hold Time Expires 2.1.4. Clear Event Code in PDO Block and Clear Event After Hold Time ProcessHold Time Expires This illustrates clearing the event code in the PDO block and clearing the event after the hold time process with the hold time expired. 2.2. ISDU Handling The IO-Link Master provides a very flexible ISDU interface that is used by all supported industrial protocols.
ISDU Request/Response Structure 2.2.1. ISDU Request/Response Structure ISDU requests may contain a single command or multiple, nested commands. This subsection discusses the following: • 2.2.1.1. Single ISDU Command Request on Page 22 • 2.2.1.2. Multiple ISDU Command Structure on Page 23 2.2.1.1. Single ISDU Command Request This illustrates a single ISDU command request. 22 - Chapter 2. Functionality Descriptions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Multiple ISDU Command Structure 2.2.1.2. Multiple ISDU Command Structure ISDU requests with multiple commands may consist of commands of the same data size or commands with different data sizes. The following are two examples of multiple ISDU commands. • ISDU commands of same data size (Page 23) • ISDU commands of different data sizes (Page 24) Multiple Command ISDU Request/Response of Same Data Area Length IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2.
Multiple ISDU Command Structure Multiple Command ISDU Request/Response of Different Data Lengths 24 - Chapter 2. Functionality Descriptions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
ISDU Request Message Format-From PLC to IO-Link Master 2.2.2. ISDU Request Message Format-From PLC to IO-Link Master Write and read ISDU commands have the same message data format. Each ISDU request message is comprised of one or more commands. The command(s) can consist of either a series of nested commands or a single read command. Note: A list of nested ISDU commands is terminated with either a control field of 0, (single/last operation), or the end of the message data. 2.2.2.1.
Integer (16-Bit Word) ISDU Request Command Format 2.2.2.2. Integer (16-Bit Word) ISDU Request Command Format This table shows an integer (16 bit word) ISDU request command format with a SLC, MicroLogix, PLC-5, or Modbus/TCP.
ISDU Response Message Format 2.2.3. ISDU Response Message Format The ISDU responses have the same data format as requests with the only exception being the returned command status. Each ISDU response message is comprised of one or more responses to the single and/or nested command(s) received in the request. 2.2.3.1. Standard ISDU Response Command Format The following table show the standard ISDU response command format with ControlLogix PLCs.
Integer (16-Bit Word) ISDU Response Command Format 2.2.3.2. Integer (16-Bit Word) ISDU Response Command Format The following table shows an integer (16-bit word) ISDU response command format with SLC, MicroLogix, PLC-5, or Modbus/TCP. Name Data Type Parameter Descriptions Indicates the control, type, byte swapping and status of the ISDU command.
ISDU Blocking and Non-Blocking Methods 2.2.4. ISDU Blocking and Non-Blocking Methods The IO-Link Master supports both blocking and non-blocking ISDU requests. The following diagrams demonstrate how each mode works. 2.2.4.1. Single Command Blocking The following illustrates the single command blocking method. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2.
Multiple Command Blocking 2.2.4.2. Multiple Command Blocking This illustrates the multiple command blocking method. 30 - Chapter 2. Functionality Descriptions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Single Command Non-Blocking 2.2.4.3. Single Command Non-Blocking This illustrates the single command non-blocking method. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2.
Multiple Command Non-Blocking 2.2.4.4. Multiple Command Non-Blocking This illustrates the multiple command non-blocking method. 32 - Chapter 2. Functionality Descriptions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Chapter 3. EtherNet/IP CIP Object Definitions The following are the vendor specific CIP Object definitions as supported in the IO-Link Master: • 3.1. IO-Link Port Information Object Definition (71 hex) • 3.2. PDI (Process Data Input) Transfer Object Definition (72 hex) on Page 41 • 3.3. PDO (Process Data Output) Transfer Object Definition (73 hex) on Page 42 • 3.4.
Class Attributes 3.1.1. Class Attributes The following table shows the class attributes for IO-Link port information object definition (71 hex). Attribute ID Name Data Type Data Value(s) Access Rule 1 Revision UINT 1 Get 2 Max Instance UINT 4 Get 3 Num Instances UINT 4 34 - Chapter 3. EtherNet/IP CIP Object Definitions Note: Instance number determines the IO-Link port. Get IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Instance Attributes 3.1.2. Instance Attributes The following table shows the instance attributes for IO-Link port information object definition (71 hex).
Common Services 3.1.3. Common Services The following table shows the common services for IO-Link port information object definition (71 hex). Service Code Implemented in Class Implemented in Instance 01 hex Yes Yes Get_Attributes_All 0E hex Yes Yes Get_Attribute_Single 36 - Chapter 3. EtherNet/IP CIP Object Definitions Service Name IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Instance Attribute Definitions 3.1.4. Instance Attribute Definitions These attributes provide access to the standard ISDU information blocks on the IO-Link devices. These ISDUs are read at IO-Link device initialization time and then provided once the IO-Link device is operational. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 3.
Attribute 1-Vendor Name 3.1.4.1. Attribute 1-Vendor Name Data Attribute 1 - Vendor Name Description 64 ASCII Requested from ISDU block index 16, contains the Vendor Name characters description of the IO-Link device. 3.1.4.2. Attribute 2-Vendor Text Data Attribute 2 - Vendor Text Description 64 ASCII Requested from ISDU block index 17, contains the Vendor Text characters description of the IO-Link device. 3.1.4.3.
Attribute 9-Device PDI Length 3.1.4.9. Attribute 9-Device PDI Length Data INT (0-32) Attribute 9 - Device PDI Length Description Requested from ISDU block index 0, sub-index 5. Contains the number of PDI data bytes provided by the IO-Link device. 3.1.4.10. Attribute 10-Device PDO Length Data INT Attribute 10 - Device PDO Length Description Requested from ISDU block index 0, sub-index 6. Contains the number of PDO data bytes required by the IO-Link device. 3.1.4.11.
Attribute 15-Output Assembly PDO Offset 3.1.4.15. Attribute 15-Output Assembly PDO Offset Data Attribute 15 - Output Assembly PDO Offset Description Based from the start of the first Output Assembly instance, the PDO data block’s offset for the corresponding port’s PDO data block. INT This index is based on the configurable PDO data format (8-bit, 16bit, 32-bit).
PDI (Process Data Input) Transfer Object Definition (72 hex) 3.2. PDI (Process Data Input) Transfer Object Definition (72 hex) The PDI Transfer object defines the attributes by which the PLC can request the PDI data block from the IOLink Master. 3.2.1. Class Attributes The following table displays Class Attributes for the PDI Transfer Object Definition (72 hex).
PDO (Process Data Output) Transfer Object Definition (73 hex) 3.3. PDO (Process Data Output) Transfer Object Definition (73 hex) The PDO Transfer object defines the attributes by which the PLC can: • Request the PDO data block from the IO-Link Master. • Write PDO data block to the IO-Link Master. 3.3.1. Class Attributes The following table displays the Class Attributes for the PDO Transfer Object Definition (73 hex).
ISDU Read/Write Object Definition (74 hex) All PDO data is received and returned in the configured PDO format (8-bit, 16-bit or 32-bit). Refer to 3.3. PDO (Process Data Output) Transfer Object Definition (73 hex) on Page 42 for a detailed explanation of the PDO data block. 3.4.
Object Specific Services 3.4.4. Object Specific Services The following table shows the Object Specific Services for the ISDU Read/Write Object Definition (74 hex). Service Code Implemented in Class 4B hex Implemented in Instance No Yes Service Name Blocking ISDU Request The Blocking ISDU Request service allows one message instruction to both send an ISDU request and receive the response. Using this service causes the message to be active for several seconds. 3.4.5.
Identity Object (01hex, 1 instance) 3.5. Identity Object (01hex, 1 instance) The Identity Object provides identification of and general information about the IO-Link Master. 3.5.1. Class Attributes This table shows the Class Attributes for the Identity Object (01 hex, 1 Instance).
Status Word 3.5.3. Status Word Refer to Page 52 of Volume 3.5 of the CIP Common Specification. The following applies to the Identity Object status word for the IO-Link Master. Status Word Bit Setting Description 0 0 Ownership Flag. Does not apply to the IO-Link Master. 1 0 Reserved. 0 IO-Link Master is operating on the default configuration. 1 The IO-Link Master has a configuration other than the default configuration. 0 Reserved.
Common Services 05 hex No Yes Reset 0E hex Yes Yes Get_Attribute_Single IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 3.
Message Router Object (02 hex) 3.6. Message Router Object (02 hex) The Message Router Object provides a messaging connection point through which a Client may address a service to any object or instance residing in the physical device. 3.6.1. Class Attributes This table displays the Class Attributes for the Message Router Object (02 hex).
Connection Manager Object (06 hex) 3.7. Connection Manager Object (06 hex) This object provides services for connection and connection-less communications. This object has no supported attributes. 3.7.1. Class Attributes Object (06 hex) The following table displays the Class Attributes for the Connection Manager Object (06 hex).
Port Object (F4 hex-1 instance) Service Code Implemented in Class Implemented in Instance Service Name 52 hex N/A N/A Unconnected_Send 54 hex N/A N/A Forward_Open 5A hex N/A N/A Get_Connection_Ow ner 5B hex N/A N/A Large_Forward_Ope n 3.8. Port Object (F4 hex-1 instance) The Port Object enumerates the CIP ports present on the IO-Link Master. 3.8.1.
Instance Attributes 3.8.2. Instance Attributes This table illustrates the Instance Attributes for the Port Object (F4 hex - 1 Instance).
TCP Object (F5 hex-1 instance) 3.9. TCP Object (F5 hex-1 instance) The TCP/IP Interface Object provides the mechanism to retrieve the TCP/IP attributes for the IO-Link Master. 3.9.1. Class Attributes This table shows the Class Attributes for the TCP Object (F5 hex - I Instance).
Instance Attributes Attribute ID Name Data Type Data Value(s) Access Rule Interface control Flags: 3 Configuration Control DWORD 0 = The device shall use statically-assigned IP configuration values. Set/Get 2 = The device shall obtain its interface configuration values via DHCP.
Common Services 3.9.3. Common Services This table shows the Common Services for the TCP Object (F5 hex - I Instance). Service Code Implemented in Class Implemented in Instance Service Name 01 hex Yes Yes Get_Attribute_All 02 hex No Yes Set_Attribute_All 0E hex Yes Yes Get_Attribute_Single 10 hex No Yes Set_Attribute_Single 3.10.
Instance Attributes 3.10.2. Instance Attributes This table displays the Instance Attributes for the Ethernet Link Object (F6 hex - 1 Instance).
PCCC Object (67 hex-1 instance) 3.11. PCCC Object (67 hex-1 instance) The PCCC Object provides the ability to encapsulate and then transmit and receive PCCC messages between devices on an Ethernet/IP network. This object is used to communicate to MicroLogix, SLC 5/05 and PLC-5 PLCs over EtherNet/IP. The PCCC Object does not support the following: • Class Attributes • Instance Attributes 3.11.1. Instances The PCCC Object supports Instance 1. 3.11.2.
Message Structure Execute_PCCC: Response Message 3.11.4. Message Structure Execute_PCCC: Response Message This table displays the message structure for the Execute_PCCC Response Message for the PCCC Object. Name Data Type Description Length USINT Length of requestor ID Vendor UINT Vendor number of requestor Serial Number UDINT ASA Serial number of requestor CMD USINT Command byte STS USINT Status Byte TNSW UINT Transport word. Same value as request. EXT_STS USINT Extended status.
Assembly Object (For Class 1 Interface) 3.12. Assembly Object (For Class 1 Interface) The EtherNet/IP specification requires that all Class 1 interfaces be provided through the Assembly Object interface. The Assembly Object interface is used to directly tie Vendor Specific objects to a standard interface, which the EtherNet/IP controller, or PLC, uses to communicate to the device. For the IO-Link Master, the Assembly Object corresponds to the PDI and PDO Transfer objects.
Instance Attributes Assembly Instance Number Description Data Type Data Values Access Rule BYTE Array 106 PDO data blocks from Ports 2-4 Valid read lengths: 0-255 Get 0-255 Get 0-255 Get 0-255 Set 0-108 BYTE Array 107 PDO data blocks from Ports 3-4 Valid read lengths: 0-72 BYTE Array 108 PDO data blocks from Port 4 Valid read lengths: 0-36 BYTE Array 109 PDO data blocks to Ports 1-4 Valid read lengths: 0-144 BYTE Array 111 PDO data blocks to Ports 3-4 Valid read lengths: Set 0-
Instance Attribute Definitions: Attribute 3-Request/Write Data 3.12.5. Instance Attribute Definitions: Attribute 3-Request/Write Data Dependent on the instance number, this is either the PDI data block and/or the PDO data block. 3.12.6. Instance Attribute Definitions: Attribute 4-Data Length This is the maximum data length for each Assembly instance. 3.12.7. Overview of Assembly Interface The Assembly interface is designed to: • Provide access to all Input and Output assemblies.
Grouping of Assembly Instances 3.12.8. Grouping of Assembly Instances In order to minimize the number of required I/O connections, the input and output assembly instances are organized as follows. The Input Assembly instances are grouped into one continuous array with no gaps between the instances. The same is also true for Output Assembly Instances.
Grouping of Assembly Instances - One or more output instances may be written to with one connection. - The length of the Write (Output) connection must be equal to the total length of the output instance(s). - Only one controller may have write access to an output instance. 62 - Chapter 3. EtherNet/IP CIP Object Definitions IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Chapter 4. IO-Link Port Configuration This section discusses port configuration, which includes these topics: • 4.1. IO-Link Settings Configuration Page • 4.2. EtherNet/IP Settings Configuration Page on Page 65 Note: The IO-Link Master may work out of the box for ControlLogix PLCs. 4.1. IO-Link Settings Configuration Page Use the IO-Link Settings page to configure IO-Link port characteristics for the IO-Link Master. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 4.
Editing IO-Link Settings 4.1.1. Editing IO-Link Settings You can use this procedure to configure IO-Link characteristics for each port. The following table or help system provides information about each option. 1. If necessary, open the IO-Link Master web interface with your web browser using the IP address or through PortVision DX. 2. Click Configuration in the menu bar, which by default loads the IO-Link Settings page. 3. Click the EDIT button for the port that you want to configure. 4.
EtherNet/IP Settings Configuration Page 4.2. EtherNet/IP Settings Configuration Page Use the EtherNet/IP Settings page to configure EtherNet/IP port options. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 4.
Editing EtherNet/IP Settings 4.2.1. Editing EtherNet/IP Settings You can use this procedure to configure EtherNet/IP characteristics for each port. 1. If necessary, open the IO-Link Master web interface with your web browser using the IP address. 2. Click Configuration in the menu bar. 3. Click the ETHERNET/IP SETTINGS submenu. 4. Click the EDIT button for the port that you want to configure. 5. Make appropriate selections for the IO-Link device that you will connect to that port.
EtherNet/IP Settings Parameters 4.2.2. EtherNet/IP Settings Parameters The EtherNET/IP Settings configuration page supports the following options. EtherNet/IP Settings Page ISDU Data Settings ISDU Response Timeout Default: 20 seconds The time that the IO-Link Master’s EtherNet/IP interface waits for a response to an ISDU request. The timeout needs to set long enough to allow all commands within the ISDU request to be processed.
EtherNet/IP Settings Parameters EtherNet/IP Settings Page (Continued) The configurable PDO data block length.
EtherNet/IP Settings Parameters EtherNet/IP Settings Page (Continued) If enabled, the IO-Link Master swaps the data bytes in word (2 byte) format or dword (4 byte) format.
EtherNet/IP Settings Parameters EtherNet/IP Settings Page (Continued) Transfer Mode Settings Determines which PDI Receive (To PLC) Modes are enabled. Supported modes are: PDI Receive Mode(s) Default: Polling, Class1 • Polling • Class1 • Write-to-TagOrFile Supported modes are: PDO Transmit Mode Default: Class 1 • Off • PLC-Writes • Class1 • Read-from-TagOrFile Read/Write Tag/File Settings PLC IP Address Default: 0.0.0.
EtherNet/IP Settings Parameters EtherNet/IP Settings Page (Continued) Maximum PLC Update Rate Default: 40ms The maximum rate at which the IO-Link Master updates the PDI tag or file. This parameter is used to ensure that the PLC receives all state changes. Setting the update rate to 10 ms effectively disables this feature. The valid range is 10 to 65535 ms. Heartbeat Update Enable If selected, the IO-Link Master updates the PDI data block at the Heartbeat Update Rate.
EtherNet/IP Settings Parameters 72 - Chapter 4. IO-Link Port Configuration IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Chapter 5. Using the Diagnostics Pages This section provides information about the following Diagnostics web pages. • 5.1. IO-Link Port Diagnostics • 5.2. EtherNet/IP Diagnostics on Page 76 5.1. IO-Link Port Diagnostics The IO-Link Diagnostics page may be useful when trying to troubleshoot port issues related to IO-Link configuration. Note: This image does not illustrate the complete Diagnostics page. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 5.
IO-Link Port Diagnostics The following table provides information about the IO-Link Diagnostics page. IO-Link Diagnostics Displays the active device mode: Port Mode • Reset = The port is configured to disable all functionality. • IO-Link = The port is configured to IO-Link mode. • Digital In = The port is configured to operate as a digital input. • Digital Out = The port is configured to operate as a digital output. Displays the port status: Port Status • Inactive = The port is in active state.
IO-Link Port Diagnostics IO-Link Diagnostics (Continued) ISDU Read Cmd Attempts The number of read ISDU command attempts. ISDU Read Cmd Errors The number of read ISDU command errors. Minimum ISDU Read Cmd Resp Time The minimum, or shortest, read ISDU command response time. Maximum ISDU Read Cmd Resp Time The maximum, or longest, read ISDU command response time. Average ISDU Read Cmd Resp Time The average ISDU read command response time.
EtherNet/IP Diagnostics 5.2. EtherNet/IP Diagnostics The EtherNet/IP Diagnostics page may be useful when trying to troubleshoot EtherNet/IP communications and port issues related to EtherNet/IP configuration. Note: This image does not illustrate the complete Diagnostics page. 76 - Chapter 5. Using the Diagnostics Pages IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
EtherNet/IP Diagnostics The following table provides information about the EtherNet/IP Diagnostics page. EtherNet/IP Diagnostics The number of active Ethernet/IP sessions. A session can: Active Session Count • Support both Class 1 I/O and Class 3 Messages • Can be initiated by either the PLC or the IO-Link Master • Can be terminated by either the PLC or the IO-Link Master Active Connections The current number of active connections (both Class 1 and 3).
EtherNet/IP Diagnostics EtherNet/IP Diagnostics (Continued) Unsupported CIP Class Errors Displays the number of unsupported CIP class errors. These errors occur when a message that attempts to access an invalid class is received by the IO-Link Master. Displays the number of unsupported CIP instance errors. Unsupported CIP Instance These errors occur when a message that attempts to access an invalid Errors instance is received by the IO-Link Master.
EtherNet/IP Diagnostics EtherNet/IP Diagnostics (Continued) Displays the number of ISDU requests received over EtherNet/IP when the IO-Link port was offline. This can occur when: • ISDU Requests When Port Offline • The IO-Link port is initializing, such as after start-up. There is no IO-Link device attached to the port. • The IO-Link device is not responding. • Communication to the IO-Link device has been lost.
EtherNet/IP Diagnostics 80 - Chapter 5. Using the Diagnostics Pages IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Chapter 6. ControlLogix Family - Example PLC Programs The example RSLogix 5000 PLC program is intended to provide basic working functionality: • Through a Class 1 connection, provide a PDI data block with the IO-Link port status, auxiliary bit status and the PDI data. • Through explicit messages, provide the ability to send both read and write ISDU requests to the IO-Link devices and receive the responses. • Through explicit messages, provide the Device Information block.
Configure the Controller 2. Select the controller type and click Ok. 3. Set the System Overhead Time Slice to 50% and click Ok. 82 - Chapter 6. ControlLogix Family - Example PLC Programs IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Add the EtherNet/IP Module Interface 6.3. Add the EtherNet/IP Module Interface If the controller has been changed or if the Ethernet module is different, you will need to add the EtherNet/IP module to the PLC program. You can use this procedure to add the Ethernet module for your PLC in the corresponding slot. 1. Click IO Configuration and select New Module. 2. Select the Ethernet Module Type and click OK. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 6.
Add the EtherNet/IP Module Interface 3. Right-click the Ethernet Module and select Properties. 4. Set the Name, IP Address, Slot, and Revision for your PLC and then click OK. 84 - Chapter 6. ControlLogix Family - Example PLC Programs IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Configure the Ethernet Module 6.4. Configure the Ethernet Module You can use these procedure as a guideline to configure the Ethernet module. 1. Right-click the Ethernet interface module and select New Module. 2. Select ETHERNET-MODULE Generic Ethernet Module and then click OK. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 6.
Configure the Ethernet Module 3. Enter the following parameters on the Module Properties pane. a. Enter IOLinkMstr for the module Name. b. If desired, enter a Description for the module. c. Select INPUT Data - INT (16-bit) for the Comm Format. d. Enter the IP Address of the IO-Link Master module. e. Enter the Connection Parameters: • Enter 101 for the Input - Assembly Instance. • Enter 72 for the Input-Size (input data length in 16-bit words). • Enter 254 for the Output - Assembly Instance.
Configure the Ethernet Module 5. Review the Module Information pane. Note: This pane is not updated until the program is downloaded to the PLC and both PLC and IO-Link Master are running. 6. Under Controller Tags, observe the input tags created for the module. The example PLC program requires the IOLinkMstr.I (input data tag). The IOLinkMstr.C (configuration tag) is unused and can be ignored. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 6.
Configure the Ethernet Module 7. Under MainProgram, configure the Communication Path for all messages in all four ProcessIoLinkPortN subroutines. 88 - Chapter 6. ControlLogix Family - Example PLC Programs IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
Configure the Ethernet Module 8. Enter IOLinkMstr for the Path for all MSG instructions in all four subroutines. 9. Save the RSLogix5000 program. 10. Download to the PLC. 11. Start the PLC. 12. Click MainRoutine and review the RSLogix 5000 screen. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 6.
Example PLC Program Operation 6.5. Example PLC Program Operation The example PLC Program has been designed to operate with the default IO-Link Master settings. It provides only Input Process data, but can be modified to also transmit PDO data to the IO-Link Master. The PLC program performs the following tasks: 1. The MainProgram calls each of the four ProcessIoLinkPortN subroutines once every 100 ms. The frequency of these calls can be adjusted by changing the CycleTimer Preset value on rung 0. 2.
Example PLC Program Operation c. - When the device status transitions to active (2): The PrtN_Operational tag is enabled (latched). This enables explicit message communication to the IO-Link Master on Rungs 3-6. - When the device status transitions to inactive (0) or initializing (1): The PrtN_Shutdown flag is enabled (latched) which causes a full shutdown of the port. Rung 2: This rung clears all flags necessary to cleanly shut down a port. d.
Example PLC Program Operation successfully. • The ISDU response is retrieved until the response received indicates either a success (2) or error (3 or 4). f. Rung 6: • When the PrtN_GetPortInfo tag is enabled, this rung sends an explicit message to request the IOLink port information block. • The PrtN_GetDevInfo tag is enabled in Rung 0 whenever the IO-Link Master connection status transitions from inactive to active. g. Rung 7: This rung monitors the various explicit messages for completion.
User Defined Data Structures 6.6. User Defined Data Structures The example PLC program contains a number of User Defined Data Structures that may be used or modified as need be. The following illustrations show a few of the User Defined Data Structure formats. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 6.
User Defined Structure Example 1 6.6.1. User Defined Structure Example 1 This displays the first example of a User Defined Data Structure. 6.6.2. User Defined Structure Example 2 This the second example of the User Defined Structure. 94 - Chapter 6. ControlLogix Family - Example PLC Programs IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
User Defined Structure Example 3 6.6.3. User Defined Structure Example 3 This is the third example of a User Defined Structure. 6.6.4. User Defined Structure Example 4 This is the fourth example of a User Defined Structure. IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 6.
Example PLC Program Tag Definitions 6.7. Example PLC Program Tag Definitions The following tag definitions apply to the example IO-Link Master PLC program. Tag Name PrtN_Operational (init state = false) PrtN_PdiValid (init state = false) PrtN_PortInfoValid (init state = false) PrtN_SendBlkgISDUReq (init state = false) PrtN_SendNonBlkISDUReq (init state = false) Value Range BOOL Description Controlled by the subroutine, the port operational status.
Example PLC Program Tag Definitions Tag Name PrtN_GetInfoMsg Value Range MSG instruction parameters MSG PrtN_GetNonBlkISDURespMsg instruction parameters Description Used by the subroutine, the message data used to get the port information from the IO-Link Master. Note: This tag should not be modified by any other part of the PLC program or through the RSLogix 5000 user interface. Used by the subroutine, the message data used to get the non-blocking ISDU response from the IOLink Master.
PrtN_DeviceInformation Definition Tag Name Value Range Description PrtN_ ISDUSingleRespData ISDU response parameters An alternative ISDU response format. Must be used with PrtN_ISDUReqArray4Byte. RepeatISDURequests BOOL If enabled, instructs all subroutines to repeat any ISDU requests upon completion. Intended for testing purposes. May be enabled by end user. MainProgram only. Run Allows the ProcessIoLinkPortN subroutine calls if enabled (1).
PrtN_RxPdiData Definition Parameter Name InputRxPdoOffset OutputPdoOffset Data Description INT Provides the index into the Class 1 I/O input data received from the IO-Link Master. The index corresponds to the configured PDO data format of the port on the IOLink Master. Used to automatically index into the input data and retrieve the PDO data block. INT Provides the index into the Class 1 I/O output data sent to the IO-Link Master.
PrtN_MiscISDUReqs 6.7.3. PrtN_MiscISDUReqs This tag is used as the default ISDU request. It contains several ISDU commands that are configured to read standard ISDU blocks supported by most IO-Link devices. This User Defined Structure may be changed to include any set of ISDU commands. The only constraint is that the entire Request and response must be no larger than the maximum MSG instruction payload of 500 bytes. 100 - Chapter 6.
PrtN_MiscISDUResp 6.7.4. PrtN_MiscISDUResp This tag contains the response to the ISDU request. It must be of the same size and structure as the request structure. 6.7.5. Using Other ISDU Request/Response Command Formats Other ISDU request/response formats may be used instead of the default request command set. The following steps demonstrate how to change the ISDU request/response formats: 1.
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Chapter 7. SLC/PLC-5/MicroLogix Interface The IO-Link Master provides support for the SLC, PLC-5 and MicroLogix PLCs. The following features are supported: • Rx PDI data, both Polling and Write-to-File modes. • Tx PDO data, both PLC-Writes and Read-From-File modes.
PLC-5 and SLC 5/05 PLC Requirements 7.2. PLC-5 and SLC 5/05 PLC Requirements The following PLCs support Ethernet/IP. 7.2.1. SLC 5/05 Models SLC 5/05 Catalog Numbers 1747-L551 1747-L552 1747-L553 Required Firmware Version for Ethernet/IP Series A: FRN 5 or later Series C: FRN 3 or later Reference: SLC 500 Instruction Set, Appendix A Firmware History, Rockwell Publication 1747-RM001D-EN-P. 7.2.2.
PLC-5 and SLC Messages • PLC-5 Programmable Controllers System Selection Guide, Rockwell Publication 1785-SG001A-EN-P • Ethernet Interface Module Series B, Revision D Product Release Notes, Rockwell Publication 1785RN191E-EN-P Note: Older versions of firmware may or may not provide Ethernet/IP functionality. 7.3. PLC-5 and SLC Messages The following PCCC messages are supported for the PLC-5 and SLC 5/05 PLCs.
PLC-5 and SLC Messages IO-Link Port 1 IO-Link Port 2 IO-Link Port 3 IO-Link Port 4 Vendor Name N15:0 N25:0 N35:0 N45:0 Read 64 Chars (32 INTs) Vendor Text N15:32 N25:32 N35:32 N45:32 Read 64 Chars (32 INTs) Product Name N15:64 N25:64 N35:64 N45:64 Read 64 Chars (32 INTs) Product ID N15:96 N25:96 N35:96 N45:96 Read 64 Chars (32 INTs) Product Text N15:128 N25:128 N35:128 N45:128 Read 64 Chars (32 INTs) Serial Number N15:160 N25:160 N35:160 N45:160 Read 16 Chars (8
Process Data (PDI and PDO) Access via PCCC Messages 7.4. Process Data (PDI and PDO) Access via PCCC Messages The process data has been grouped together in order to minimize the number of PCCC messages required to interface to the IO-Link Master. The PDI and PDO data for multiple ports can be received or transmitted by one message.
Process Data (PDI and PDO) Access via PCCC Messages • - The PDO data from one or more ports may be read with one message. (That is, if addressing Port 1, N11:0, ports one to four may be read in one message.) - Partial PDI and PDO data reads are allowed. - The length of the Read message can range from 1 to the total, configured PDI or PDO length for all ports starting at the addressed port. Controller Write (Output) access: - Only PDO data may be written.
Chapter 8. Troubleshooting and Technical Support This section provides the following information: • 8.1. Troubleshooting • 8.2. Contacting Technical Support on Page 110 • 8.3. Using Log Files on Page 111 8.1.
Contacting Technical Support 8.2. Contacting Technical Support You may want to access the Help/SUPPORT page when you call Technical Support, as they may request the information displayed on the SUPPORT page. Comtrol Technical Support is available from 8:00AM to 6:00PM (CST), Monday through Friday, excluding major USA holidays. Contact Information Phone 763.957.6000 Downloads ftp://ftp.comtrol.com/html/default.htm Web Site http://www.comtrol.com 110 - Chapter 8.
Using Log Files 8.3. Using Log Files Log files are available in the IO-Link Master web page. The IO-Link Master provides four different log files that you can view, export, or clear: • Syslog (system log) displays line-by-line activity records. • dmesg displays Linux kernel messages. • top displays which programs are using most of the memory and CPU. • ps displays the running programs • All log files start up automatically during the startup cycle. Each log file has a size limit of 100KB.
Export a Log File Link Master in the Device List pane and click Webpage. • Open your browser and enter the IP address of the IO-Link Master. 2. Click Advanced and then LOG FILES. 3. Optionally, export the log file. 4. Select the log file type from the drop-list. 5. Click the CLEAR button. The log file automatically starts logging the latest information. 8.3.3. Export a Log File Use the following procedure to export a log file. 1.
Export a Log File IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 8.
Export a Log File 114 - Chapter 8. Troubleshooting and Technical Support IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev.
