User’s Manual MW100 Communication Command Manual IM MW100-17E 4th Edition
Foreword Thank you for purchasing the MW100 Data Acquisition Unit. This user’s manual describes MW100 communication commands and responses. To ensure correct use, please read this manual thoroughly before beginning operation. The six manuals below relating to the MW100 are provided in addition to this one. Read them along with this manual.
Trademarks • DAQMASTER is a registered trademarks of Yokogawa Electric Corporation. • Microsoft and Windows are registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. • Adobe and Acrobat are registered trademarks or trademarks of Adobe Systems Incorporated. • EtherNet/IP is a trademark of ODVA. • Company and product names that appear in this manual are registered trademarks or trademarks of their respective holders.
How to Use This Manual Structure of the Manual This user’s manual contains the following chapters. Chapter 1 Chapter 2 Appendix Index Commands Explains all available commands, one-by-one. Responses Describes the format of settings and measured or computed data output by this instrument. Provides serial interface specifications, a table of ASCII character codes, and other information. An alphabetical index of this manual. Symbols Used in This Manual Unit • k: Denotes 1000.
Contents How to Use This Manual............................................................................................................... iii Chapter 1 Commands 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 iv Command Format........................................................................................................... 1-1 Command Format........................................................................................................... 1-1 Response...........................................
Contents Chapter 2 Response 2.1 2.2 2.3 IM MW100-17E Response Format............................................................................................................ 2-1 Affirmative Responses.................................................................................................... 2-1 Single Negative Response.............................................................................................. 2-1 Multiple Negative Response.................................................
Contents Chapter 3 Appendix EtherNet/IP 3.1 3.2 3.3 3.4 3.5 Introduction..................................................................................................................... 3-1 Explicit Messaging.......................................................................................................... 3-2 I/O Messaging (Implicit Messaging)................................................................................ 3-4 Specification....................................................
Chapter 1 Commands 1.1 Command Format 1 Commands Command Format 2 The format for MW100 commands is described below. ASCII character codes (see Appendix 5) are used. ? Command Parameter 3 Terminator Delimiter Sub-delimiter Example command SR 02,SKIP;SR 03,VOLT,2V,-1500,1800 App Command name (SR) Parameters (02 SKIP·····1800) Index Delimiter ( , ) Sub-delimiter ( ; ) Command Name Consists of two alphabetic characters. Parameters • • • • The arguments of the command.
1.1 Command Format Sub-Delimiters • Semicolons ( ; ) are used as sub-delimiters. • You can enumerate up to 99 commands by connecting them one-by-one with the sub-delimiter. However, the following commands and queries cannot be enumerated. Use them solitarily. • Control commands • Output commands • Queries Terminator You can use one of the following as the terminator. • CR + LF (or 0x0d 0x0a in base 16 ASCII code. ) • LF (or 0x0a in base 16 ASCII code.
1.
1.
1.2 List of Commands 1 Control Commands (Cont.
1.3 Parameters The numerical value and string parameters of commands have restrictions on format. The following describes commands whose parameters are restricted.
1.3 Parameters 1 • Contact Measuring Range String Level LEVEL Contact CONTACT Setting Range for Lower/Upper Difference Computation Limit of Span –1, 0, 1 0 or 1 (0 for less than 24 V, 1 for 24 V or more) 0 or 1 (0 for contact OFF, 1 for contact ON) –1, 0, 1 • Thermocouple Input Type String TC Thermocouple Measuring Range Setting Range for Lower/Upper String Differential Computation Limit of Span R ±1760.0 °C Type R 0.0 to 1760.0 °C S ±1760.0 °C Type S 0.0 to 1760.0 °C B ±1820.0 °C Type B 0.
1.3 Parameters • RTD (cont.) Input Type String RTD RTD Measuring Range Setting Range for Lower/Upper Limit String of Span Differential Computation Cu53 at 0°C Cu53 –50.0 to 150.0 °C ±200.0°C a=0.00426035 Cu100 at 0°C Cu100 –50.0 to 150.0 °C ±200.0°C a=0.00425 Pt25 Pt25 –200.0 to 550.0 °C ±750.0°C Cu10 GE Cu10GEH –200.0 to 300.0 °C ±500.0°C (high resolution) Cu10 L&N Cu10LNH –200.0 to 300.0 °C ±500.0°C (high resolution) Cu10 WEED Cu10WEEDH –200.0 to 300.0 °C ±500.
1.3 Parameters • PWM Output Output Range String PMW output (1ms) 1mS PMW output (10ms) 10mS Pulse Interval Range* 1 to 30000 ms 10 to 300000 ms 0.000 to 100.000% * Settings of 1 to 30000 ms (1 ms range) and 10 to 30000 ms (10 ms range) are allowed, but the setting command is specified as a multiple of the output range. Refer to the AO command in section 1.4. Note For information on the measurement accuracy at each measuring range, see the MW100 Data Acquisition Unit User’s Manual (IM MW100-01E).
1.3 Parameters MATH Constants and Communication Input Values The following shows the allowable setting range and notation methods for MATH constants and communication input values. Setting Range for MATH Constants and Communication Input Values (infinity) – 1.0×10–30 –9.9999×10+29 9.9999×10+29 (infinity) + 0 –1.0×10–30 Allowed Setting Range +29 –30 (1) Negative number (–9.9999x10 to –1.0000x10 ) (2) Zero (0) –30 +29 (3) Positive number (1.0000x10 to 9.
1.
1.
1.
1.3 Parameters Byte Output Order The following explains the output order for 2 bytes, 4 bytes, and 8 bytes when the byte output order is set to MSB (most significant byte) first or LSB (least significant byte) first.
1.3 Parameters 1 Host Name and Domain Name String Commands Alphanumeric English characters and hyphens [ - ], periods [ . ], and underscores [ _ ] can be used. 2 File Name and Folder Name String Alphanumeric English characters and pound signs [ # ], percentage symbols [ % ], parentheses [ () ], hyphens [ - ], at marks [ @ ], and underscores [ _ ] can be used. However, the following character strings cannot be entered.
1.4 Setting Commands (System Related) 1.
1.
1.4 Setting Commands (System Related) SA Setting Alarm Settings • channel are OFF. When p3=OFF • SAp1,p2,p3 • SAp1,p2,p3,p4,p5 • SAp1,p2,p3 • A300) • p3 Alarm type (OFF) Query SA[p1[p2]]? Example Turn OFF alarm number 1 on channel 10. If p3 is set to RH or RL, set the interval time for high limit/low on rate of change using the XA command. • If p3 is set to TH or TL, set the delay time using the • See the table in section 1.
1.4 Setting Commands (System Related) BD Setting Delay Alarm Settings Explanation • • BDp1,p2 • p2 Alarm delay (1 to 3600 s) Example Set the alarm delay of channel 1 to 20 s. parameter settings are shown below. ALARM Explanation Set the delay time to an integer multiple of the COM measurement or MATH interval.
1.4 Setting Commands (System Related) • • • Enter setting parameters for p4, p5 excluding the TUE Tuesday decimal place. WED Wednesday If p1 is set to a MATH channel between A061 THU Thursday and A300, you can specify four arithmetic FRI Friday operations or MATH constants in p3 in addition to SAT Saturday a communication input channel between C001 and p5 Date to create monthly report C300.
1.4 Setting Commands (System Related) SEC The integral value of data • from each measurement or MATH Set the break point time in ascending order. You cannot set multiple output values to the same time. • You must set the end of the point structure to (–1.0). second • When broken line usage is SINGLE or REPEAT, and MIN The integral value of data there is not even 1 point set for the point structure, from each measurement or MATH this cannot be set.
1.4 Setting Commands (System Related) Query AO[p1]? Example Set transmission output on channel 11 to 4-20 mA relative to the measured values on channel 1. AP Setting p1 Channel range (001 to 060) AO011,AO,TRANS,20mA,4000,20000,0,001 Explanation • • p2 Operation upon startup Specify output channels on p1. When entering the setting parameters of p5, p6, and p7, exclude the decimal point. • If the /M1 MATH function option is not included, (including queries) on p8.
1.4 Setting Commands (System Related) p5 Event detection method When Action Occurs on Digital Input Setting EDGE Edge start p1 Box number (01 to 30) LEVEL Level start p2 Event type (DI) p6 Action types p7 Flag numbers (F01 to F60) p3 Channel numbers (001 to 060) p4 Event detection method Query SL[p1]? EDGE Edge start Example Set box number 5 to recording start/stop action on LEVEL Level start 2 occurrence of alarm on channel 1.
1.4 Setting Commands (System Related) p4 Time interval-time (HH:MM) When Action Occurs on Match Time Setting SLp1,p2,p3,p4,p5,p6 HH hours (00 to 23) p1 Box number (01 to 30) MM Minute (00 to 59) p2 Event type (MATCH_TIME) (However, when p3 is 0, 00:00 cannot p3 Match time number (1 to 3) be set.) p4 Event detection method Query SI[p1]? EDGE Edge start Example Set a relative time of 3 hours and 30 minutes on timer LEVEL Level start number 1.
1.4 Setting Commands (System Related) When Starting Match Time in Units of Weeks Setting Explanation • If the module specified in p1 has a shortest measurement interval of 100 ms, you cannot set p1 Match time number (1 to 3) measurement group numbers having measurement p2 Start type (WEEK) intervals of 10 ms or 50 ms.
1.4 Setting Commands (System Related) LIMIT*1 Continue the computation by p7 Overflow processing of TLOG.PSUM replacing the overflow value computation with upper or lower limit value OVER Stop the computation as overflow when 99999999 is *1 The upper or lower limit value that is replaced for exceeded the measurement input channel varies depending ROTATE Continue the computation by on the MATH type.
1.4 Setting Commands (System Related) Example MH Create the folder automatically. MDAUTO Setting p1 Channel range (001 to 060 and A001 to MDPARTIAL,XXX,100 A300) Set the folder name to ZZZZZZ. p3 Thinning recording OFF/ON Set the folder name to the date/time when the recording is started.
1.4 Setting Commands (System Related) Explanation • Set p5 (recording interval) to an integer multiple of the p3 Recording data length measurement interval. 30 M (units of minutes) The recording interval can be set to 1, 2, 4, or 10 if 1H/2H/3H/4H/6H/8H/12H (units of hours) the measurement interval is 50 mS, 500 mS, or 5 S. 1D/2D/3D/5D/7D/10D/14D/31D (units of The recording interval can be set to 1, 5, or 10 if the days) measurement interval is 200 mS.
1.4 Setting Commands (System Related) XT Setting Temperature Unit Settings SS XTp1 DEG_C Temperature calculated in °C DEG_F Temperature calculated in °F Setting SSp1 p1 Summer time operation valid/invalid ON/OFF Query XT? Query SS? Example Temperature units set in °F Example Enables Daylight Saving time. SSON XTDEG_F are initialized.
1.5 Setting Commands (Display Related) 1.5 Setting Commands (Display Related) SC Setting Display Color Settings SCp1,p2 p1 Channel range (001 to 060 and A001 to A300) ST Setting p2 Display color (rrr.ggg.bbb) Tag Settings STp1,p2 p1 Channel range (001 to 060 and A001 to A300) p2 Tags (max 15 characters) Query ST[p1]? Example Set the tag of channel 2 to TAG2.
1.5 Setting Commands (Display Related) SX Setting Display Group Settings SXp1,p2,p3 SG Setting Message Settings 1 SGp1,p2 p1 Message number (0 to 5) p2 Message string (up to 15 characters) characters) p3 Channel structure (up to 100 characters, up to 20 channels) Query SX[p1]? Example Channel 1 and channels 3 to 6 are given a group name Query SG[p1]? Example Set the MESSAGE1 string to message number 1. SG1,MESSAGE1 Explanation • of GROUP1 and set to group 1.
1.6 Setting Commands (Communication Related) 1.6 UA Setting Setting Commands (Communication Related) When using as a Modbus master or Modbus slave Setting p1 Function User Settings 38400/57600/115200) p4 Parity UAp1,p2,p3,p4 p1 User number (01 to 10) p2 User level Administrator level USER User level Query UA[p1]? Example Set User number 01 to an account with user name YOKOGAWA at the administrator level. Set the password to 1234.
1.6 Setting Commands (Communication Related) YN Setting DNS Client Settings YNp1,p2,p3,p4 YG Setting 1 p1 Transfer time shift (0 to 120)[min] (0.0.0.0 to 255.255.255.255) Query YG? p2 DNS server secondary Example Set to 3 minutes (0.0.0.0 to 255.255.255.255) 2 YG3 p3 Domain suffix-primary (up to 63 characters) p4 Domain suffix-secondary (up to 63 characters) Query YN? Example Set the primary and secondary DNS server.
1.
1.
1.6 Setting Commands (Communication Related) Example Set command number to 003, command to valid, command type to READ, server number to 1, register address to 30001, data type to INT16, first channel to WA Setting p1 Communication interval C001, last channel to C005, and unit number to 1. 100mS/200mS/250mS/500mS WF003,ON,READ,1,30001,INT16,C001,C005,1 Explanation • 1S/2S/5S/10S/20S/30S/40S/50S/60S/90S/ You can set this command on products with the /M1 120S MATH function option.
1.6 Setting Commands (Communication Related) p6 Data Types BIT Bit Data (Firmware version Signed 16-bit integer UINT16 Unsigned 16-bit integer Setting upper to lower) INT32_L Signed 32-bit integer (from lower to upper) UINT32_B Unsigned 32-bit integer (from upper to lower.
1.7 Control Commands 1.7 Control Commands MV Setting Setting File Save/Write MVp1,p2 p1 Operation DS Setting Operation Mode Switching DSp1 p1 Mode type Example 0 Measurement Mode 1 Setting Mode 0 Save settings file 1 Load settings file p2 File name (up to 8 characters) Example Loads settings file “SETFILE1.” MV1,SETFILE1 Explanation • Sets the mode to Setting mode. • DS1 Specify the file name without the extension.
1.7 Control Commands STOP2 STOP key (equivalent to holding down for 2 sec) USER1 key USER2 USER2 key Executes the START key. KISTART1 CE Setting Error Display Clear Setting p1 Relay range (001 to 060) p2 Relay status (OFF/ON) Example Explanation Valid only for the relay whose relay output type is set to manual DO (COM) with the XD command. Clears the error on the 7SEG display.
1.7 Control Commands/1.8 Output Commands RS Setting Reconfiguration RSp1 p1 System reconfiguration (0) Example Perform system reconfiguration (re-detect the modules). RS0 Example EC0 Explanation Valid if the SNTP client function is ON. TC Setting MF Setting Media Preparations MFp1 Initialize external media (CF card). MF0 BL Setting Communication Test TCp1 p1 Operation p1 Media initialization (0) Example Get the time.
1.7 Control Commands/1.8 Output Commands/1.8 Output Commands CS Setting Checksum Settings CSp1 1.8 1 Output Commands 0 None (do not calculate sum) 1 ON (calculate sum) Query CS? Example Turn checksum ON.
1.8 Output Commands Example Output the decimal place and units of the channels 1 to p2 Data type 5. ERROR Operation error log FE1,001,005 RECORD Recording log ALARM Alarm summary MESSAGE Message summary Explanation Set a first and last channel number so that the first is less than or equal to the last.
1.8 Output Commands p2 Data type MODBUS_MC Modbus master command Setting status Modbus client command MODBUS_CC Strain input initial BALANCE balance 0 Outputs media free space 1 Outputs file information Enter using the full path. Example • 1 to 100 MODBUS_MS 1 to 247 MODBUS_CC 1 to 100 MODBUS_CS 1 to 10 BALANCE 1 to 60 Output file information. ME0 • Output the information of MW100.txt in the DATA0 ME1,/DATA0/MW100.
Chapter 2 2.
2.1 Response Format Multiple Negative Response If one of several commands delimited with a sub-delimiter results in an error, a multiple negative response is returned. The response consists of E2 followed by the error position, error number, and CRLF, on one line. • It is only output for the portion of the command that was erroneous. If multiple commands resulted in errors, the responses are delimited with commas.
2.1 Response Format 1 Data Sum Sum value of binary data. • Sum value is calculated only when “calculate sum” is set in the CS command. The value “0” is stored in the sum value domain when “do not calculate sum” is set. Flag 7 BO 6 CS 5 4 3 2 1 0 • • • Flag value 0 1 Flag Meaning MSB None - Byte order Checksum - LSB Y - Response Bits Notation 3 App Index The byte order is the data order of 2 or more bytes including the binary data portion.
2.1 Response Format RS-422A/485 Specific Commands/Responses Commands specific to the RS-422A/485 interface and their responses are shown in the table below.
2.2 ASCII Output 1 ASCII data can be of the following types. The following explains the various formats.
2.2 ASCII Output Output of the Latest Measured/Computed Data • Output using the FD command. Syntax EACRLF DATE_yy/mo/ddCRLF TIME_hh:mm:ssCRLF s_ccccaaaauuuuuufdddddEfppCRLF ......................................... s_ccccaaaauuuuuufeeeeeeeeEfppCRLF .........................................
2.2 ASCII Output 1 Example EA DATE 05/04/01 TIME 19:56:32 N 001 hhllmV +12345E-01 N 003 +12345E-02 mV N 004 mV N 005 N 006 N 007 N 008 N 009 S 010 mV mV mV mV mV mV -67890E-01 Response N 002 2 +12345E-02 3 +12345E-02 +12345E-02 +12345E-02 +12345E-02 App +12345E-02 EN Index Note • • Data of nonexistent channels, including the channel number, are not output. In the case of SKIP channels, all values from alarm status to exponent become spaces.
2.2 ASCII Output Example EA DATE 05/04/01 TIME 19:56:32 N 001 mA +123456E-01 N 003 mA +123456E-01 N 002 mA N 004 mA N 005 mA N 006 mA N 007 mA N 008 mA N 009 mA N 010 mA EN +123456E-01 +123456E-01 +123456E-01 +123456E-01 +123456E-01 +123456E-01 +123456E-01 +123456E-01 Output of Setting Data • Output using the FE0 command. Syntax EACRLF ttsss...sCRLF .................. ENCRLF tt sss...s Command name (SR, SA..., XA, XI...
2.2 ASCII Output 1 Output of Decimal Place and Units • Output using the FE1 command. Syntax 2 EACRLF Response s_ccccuuuuuu,fppCRLF .......................... 3 ENCRLF s _ cccc uuuuuu f pp Data status (N, D, S) N: Normal D: Differential input S: Skip Blank Channel numbers (001 to 060 or A001 to A300) Unit information (output using 6 chars.
2.2 ASCII Output Output of Operation Error Logs (FL0, ERROR) • Output using the FL command. • The operation error log (records) is output. Up to 50 past operation error logs are retained. If that number is exceeded, old logs are overwritten with new ones. • For information on the meanings of error codes, see the MW100 Data Acquisition Unit User’s Manual (IM MW100-01E). Syntax EACRLF yy/mo/dd_hh:mm:ss_nnn_mmm...mCRLF ................................................
2.2 ASCII Output Data Acquisition Message Types 1 Card 2 Status Power Format Record Mode single -#(rec.
2.2 ASCII Output Output of Recording Status Logs (FL0, RECSTATUS) • Output using the FL command. Syntax EACRLF Record StatusCRLF n_=_ssss____next_=_aaaaaa_YY/MM/DD_hh:mm:ssCRLF ··················· CRLF Data FileCRLF Folder_=_DATA/ddddddddCRLF n_=_ffffffff.MXD_ _ _ _ bbbbbbb_cccccccc_(iiiii)_eeeCHs_LLL/ GGGcells_qqqqquuuuuCRLF ··············· CRLF Report FileCRLF rrrrrrr_=_REPORT/ffffffff.DARCRLF ··············· CRLF With the /M3 report function option Manual Sample FileCRLF MANUAL/ffffffff.
2.2 ASCII Output 1 cccccccc Recording stop action single iiiii LLL GGG qqqqq uuuuu rrrrrrr _ 2 Response eee single fullstop full stop rotate rotate Recording interval (10 ms to 1 H) No. of recording channels (1 to 360) Data length (10 M to 31 D) No.
2.2 ASCII Output Output of Alarm Summaries (FL0, ALARM) • Output using the FL command. • Alarm summaries are output. Up to 256 past alarms are retained. If that number is exceeded, old alarms are overwritten with new ones. Syntax EACRLF yy/mo/dd_hh:mm:ss.ttt_cccc_ls_aaa..CRLF ...................................................
2.2 ASCII Output 1 Output of Message Summaries (FL0, MESSAGE) • Output using the FL command. • Message summaries are output. Up to 50 past messages are retained. If that number is exceeded, old messages are overwritten with new ones. Response Syntax EACRLF yy/mo/dd_hh:mm:ss_n_ffffffff_eee_mmm...mCRLF 3 ...................................................
2.2 ASCII Output Output of Communication Logs (FL0, COM) • Output using the FL command. • The communication information log is output. Up to 200 past logs are retained. If that number is exceeded, old logs are overwritten with new ones. Syntax EACRLF yy/mo/dd_hh:mm:ss_nn_uuu...u_d:_mmm...mCRLF ........................................................
2.2 ASCII Output 1 Output of FTP Client Logs (FL0, FTP_C) • Output using the FL command. • FTP client logs are output. Up to 50 past file transfer logs are retained. If that number is exceeded, old logs are overwritten with new ones. Response Syntax 2 EACRLF 3 yy/mo/dd_hh:mm:ss_k_ffffffff_eee_mmm...mCRLF ...................................................
2.2 ASCII Output FTP Client Error Messages Error Code Description EHOSTADDR IP address on the main unit not set. Corrective Action Set the IP address on the MW100. EDORMANT Internal processing error Servicing required. EMAIL Internal processing error Servicing required. ETIMEOUT Internal processing error Servicing required. ENVRAM Internal processing error Servicing required.
2.2 ASCII Output 1 Output of Mail Client Logs (FL0, SMTP) • Output using the FL command. • Mail client logs are output. Up to 50 past logs are retained. If that number is exceeded, old logs are overwritten with new ones. Response Syntax 2 EACRLF 3 yy/mo/dd_hh:mm:ss_ffffff_n_uuu...u_mmm...mCRLF .........................................
2.2 ASCII Output Mail Client Error Messages (cont.) Error Code Description EHELO HELO command com failed Check whether SMTP server is functioning correctly. EMAILFROM MAILFROM command com failed ERCPTTO RCPTTO command com failed Check whether SMTP server is functioning correctly. EDATA Data communication failed Check whether SMTP server is functioning correctly. ETCPIP Internal processing error Servicing required. Internal processing error Servicing required.
2.
2.2 ASCII Output Output of Time Synchronization Logs (FL0, SNTP) • Output using the FL command. • SNTP client logs are output. Up to 50 past logs are retained. If that number is exceeded, old logs are overwritten with new ones. Syntax EACRLF yy/mo/dd_hh:mm:ss_kkkkkkkkkk_mmm...mCRLF ......................................... ENCRLF yy mo dd hh mm ss Year (00 to 99) Month (01 to 12) Day (01 to 31) Hour (00 to 23) Minute (00 to 59) Seconds (00 to 59) kkk...
2.2 ASCII Output 1 Output of FTP Server Logs (FL0, FTP_S) • Output using the FL command. • FTP server logs are output. Up to 50 past logs are retained. If that number is exceeded, old logs are overwritten with new ones. 2 Response Syntax EACRLF yy/mo/dd_hh:mm:ss_d:_mmm...mCRLF 3 .........................................
2.2 ASCII Output Output of HTTP Server Logs (FL0, HTTP) • Output using the FL command. • HTTP server logs are output. Up to 50 past logs are retained. If that number is exceeded, old logs are overwritten with new ones. Syntax EACRLF yy/mo/dd_hh:mm:ss_d:_mmm...mCRLF ......................................... ENCRLF yy mo dd hh mm Year (00 to 99) Month (01 to 12) Day (01 to 31) Hour (00 to 23) Minute (00 to 59) ss Seconds (00 to 59) C: Command mmm...
2.2 ASCII Output 1 Output of Modbus Master Logs (FL0, MODBUS_M) • Output using the FL command. • Modbus master information logs are output. 2 Syntax Response EACRLF yy/mo/dd_hh:mm:ss_xxx_mmm...mCRLF ......................................... 3 ENCRLF yy mo dd hh mm ss xxx mmm...
2.2 ASCII Output Output of Modbus Master Command Status (FL1, MODBUS_MC) • Output using the FL command. • Modbus master information command status is output. Syntax EACRLF SCAN = x, time = y msCRLF xxx_mmm...mCRLF ....................... ENCRLF x y xxx Number of successfully executed commands (0 to 100) Time required to execute commands [ms] (0 to) Command number (001 to 100) mmm...m Command status _ page 2-25).
2.2 ASCII Output 1 Output of Modbus Master Connection Status (FL1, MODBUS_MS) • Output using the FL command. • Modbus master connection status is output. 2 Syntax Response EACRLF xxx_mmm...mCRLF 3 ....................... ENCRLF xxx mmm...
2.2 ASCII Output Output of Modbus Slave Log (FL0, MODBUS_S) • Output using the FL command. • The Modbus slave information is output. Syntax EACRLF yy/mo/dd_hh:mm:ss_d:_aaa_FC_nnn_mmm...m ENCRLF yy Year (00 to 99) dd Day (01 to 31) mo hh mm ss d aaa nnn mmm...
2.
2.2 ASCII Output Output of Modbus Client Logs (FL0, MODBUS_C) • Output using the FL command. • Modbus client information logs are output. Syntax EACRLF yy/mo/dd_hh:mm:ss_xxx_mmm...mCRLF ......................................... ENCRLF yy mo dd hh mm ss xxx mmm...
2.2 ASCII Output 1 Example EA scan = 100, time = 10 ms 001 NO_DATA 2 002 VALID Response 003 SKIP 004 SKIP 005 SKIP 3 006 SKIP 007 SKIP 008 SKIP 009 SKIP App 010 SKIP EN Index Output of Modbus Client Connection Status (FL1, MODBUS_CS) • Output using the FL command. • Modbus master connection status is output. Syntax EACRLF xxx_mmm...mCRLF ....................... ENCRLF xxx Modbus server number (001 to 247) mmm...m Status of connection to Modbus server _ Modbus Server/Slave.
2.2 ASCII Output Output of Modbus Server Log (FL0, MODBUS_T) • Output using the FL command. • The Modbus server information is output. Syntax EACRLF yy/mo/dd_hh:mm:ss_d:_aaa_FC_nnn_mmm...m ENCRLF yy Year (00 to 99) dd Day (01 to 31) mo hh mm ss d aaa nnn mmm...
2.
2.2 ASCII Output Syntax EACRLF yy/mo/dd_hh:mm:ss_d:_mmm...mCRLF ENCRLF yy Year (00 to 99) dd Day (01 to 31) mo Month hh Hour (01 to 12) (00 to 23) mm Minute (00 to 59) d Command/response (C/R) ss Second mmm...m _ (00 to 59) Message (PCCC command/response) Blank Example EA 99/05/11 12:20:30 C: PLC-5 Typed Read, N10:0 99/05/11 12:20:31 R: Success EN Output of MATH Status (FL0, MATH) • Output using the FL command.
2.2 ASCII Output 1 Output of Operation Logs (FL0, CMD) • Output using the FL command. • Operation logs are output. Up to 50 past logs are retained. If that number is exceeded, old logs are overwritten with new ones. Response Syntax 2 EACRLF 3 yy/mo/dd_hh:mm:ss_mmm...mCRLF ................................................... ENCRLF yy mo dd hh mm ss mmm...m Month (01 to 12) Day (01 to 31) Hour (00 to 23) Seconds (00 to 59) Contents of operation (...
2.2 ASCII Output Output of Strain Input Initial Balancing Result (FL1, BALANCE) Output using the FL1 command. Syntax EACRLF s_cccc_uuCRLF .................
2.2 ASCII Output 1 Output of Relay Status (VF) • Output using the VF command. • Regardless of the base unit type, 6 slots of module information is always output.
2.2 ASCII Output Output of System Recognition Status (CF) • Output using the CF command. • Regardless of the base unit type, 6 slots of module information is always output. Syntax EACRLF n_S=aaa-bbb-ccc_R=aaa-bbb-ccc_mmm...mCRLF n_S=aaa-bbb-ccc_R=aaa-bbb-ccc_mmm...mCRLF n_S=aaa-bbb-ccc_R=aaa-bbb-ccc_mmm...mCRLF n_S=aaa-bbb-ccc_R=aaa-bbb-ccc_mmm...mCRLF n_S=aaa-bbb-ccc_R=aaa-bbb-ccc_mmm...mCRLF n_S=aaa-bbb-ccc_R=aaa-bbb-ccc_mmm...
2.2 ASCII Output 1 Output of Media Free Space (ME0) • Output using the ME command. Syntax 2 EACRLF Response aaaaaaa_/_bbbbbbb_K byte freeCRLF ENCRLF aaaaaaa 3 bbbbbbb Media free space [KB] (0 to 9999999) Media total capacity [KB] (0 to 9999999) Example EA EN 5000 / App 16000 K byte free Index Output of File Information (ME1) • Output using the ME command. Syntax EACRLF ffffffff_eee_ssssssss_yy/mo/dd_hh:mm:ssCRLF ..........................................
2.3 Binary Output 2.3 Binary Output Note In this section, CRLF means “carriage return/line feed.” Output of the Latest Measured/Computed Data • Output using the FD1 command.
2.3 Binary Output Special Data Values During special statuses, measured and computed values are as shown in the table below. Value 0x7fff 0x7fff 0x8001 0x8001 0x8002 0x8002 0x8004 0x8004 0x8005 0x8005 2 Response Special Data Value Type +OVER –OVER Measurement SKIP/computation OFF Error Uncertain 3 Note • • • With output of the latest measured or computed data (FD1), a time stamp is added not according to the time the data was created, but rather the time the command was issued.
2.3 Binary Output Output of FIFO Data • Output using the FF0 command.
2.
2.3 Binary Output FIFO Read Range • Output using the FF1 command. Format of Response to FF1 Command 4 bytes 'E' 'B' CR LF Data length Flag Identifier Header sum Identifier=132 Binary data Read range block FIFO read range Data sum Read Range Block Structure 8 bytes Additional Information Read position of the oldest FIFO data Read position of the latest FIFO data Note • • 2-44 Added information is output without regard to the byte order specified in the BO command.
Chapter 3 3.1 EtherNet/IP Introduction 1 2 When using EIP, the MW100 is a passive device on the Ethernet network in that it does not initiate read or write requests. In most cases the MW100 will be working in conjunction with a PLC or controller. Read and write requests via EIP are initiated through program logic in controllers via Explicit Messaging and I/O Messaging (also known as Implicit Messaging).
3.2 Explicit Messaging Explicit Messaging is a point to point, request/response messaging protocol for unscheduled information transfer. In ladder logic programming explicit messaging is usually denoted by a messaging command that is all inclusive (what is going to be read or written and to what register in what device).
3.2 Explicit Messaging File Number / Tag Names for Explicit Messaging 1 2 3 EtherNet/IP The tables below detail the naming convention to use when creating explicit messages within RSLogix. In the left most column is the native MW100 register starting with I/O channels – 001 through 060, MATH channels A001 through A300 (also known as Math Channels), and finally Communication Channels C001 through C300. I/O Channels and MATH channels are considered read only while Communication Channels are read/write.
3.3 I/O Messaging (Implicit Messaging) I/O Messaging also known as Implicit Messaging is used for point to point or multicast and are used to transmit application specific I/O data. Implicit messages are exchanged across I/O connections with a Connection Path (predefined path as first defined in RSLinx and then RSLogix). The Connection will define where the MW100 is located (IP Address), the Ethernet port on the PLC through which to communicate, as well as what points are considered inputs or outputs.
3.3 I/O Messaging (Implicit Messaging) 1 2 3 EtherNet/IP By clicking on ETHERNET-MODULE MW100 within the Controller Organizer tree, the connection can be fully configured. Of note is the IP Address which should point to a MW100, Comm Format which defines what data types to use (MW100 supports only DINT type), and Connection Parameters which will layout the inputs and outputs of the MW100. In this case the connection is configured to communicate using double precision integers to an MW100 at IP address 10.
3.3 I/O Messaging (Implicit Messaging) Once an instance has been properly configured, the MW100 inputs and outputs will show up in the Controller Tags window. MW100 Channels within RSLogix 5000 Controller Tags Screen These points can now be assigned as inputs and outputs as well as monitored (when online) within programs as shown in the example below. Note the tags can be used within any logic element (not just MSG blocks as with Explicit Messaging).
3.4 Specification 1 The following table describes how the MW100 conforms to the EIP specification. Note that when interfacing to the MW100 on an EIP network that no more than 10 connections can be active at any given time. MW100 EtherNet/IP Model Specification IM MW100-17E 3 Description Level 2 (Message Server + I/O Server) Max. 20 EIP/PCCC, EIP/native Explicit(UCMM, Class 3) + l/O(Class 1) Assembly, PCCC, Data Table Max. 300-CH(as integer or float data) AI/AO, Dl/DO(Max. 60-CH) 100ms to 60s Max.
3.5 Summary The MW100 with EIP support can easily communicate via Explicit or I/O messaging to a variety of PLCs. The MW100 requires that the PLC initiate all communications. Now that the MW100 can communicate with EIP based PLCs, the full capabilities of the DAQMASTER can easily be added to a controller network. A PLC can use the MW100 as remote inputs and outputs within its control logic.
Appendix Appendix 1 Serial Interface (Optional) Specifications The following are the specifications for both types of serial interface (optional) for the main unit, RS-232 and RS-422A/485. RS-232 Specifications Connector Type 1 2 3 D-Sub, 9-pin, Plug Electrical and mechanical spec.
Appendix 2 Modbus Protocol Modbus Protocol Specifications The following are the Modbus specifications of the MW100.
Appendix 2 Modbus Protocol 1 Modbus Protocol Function Code Slave Function/Server Function The slave function of the main unit does not support broadcasted commands. Function Code * 1 * 2 3 4 * 5 6 * 15 16 Turn statuses of coils (0xxxx) Write values to hold registers (4xxxx) * Firmware version R3.
Appendix 2 Modbus Protocol Register Assignments (Modbus Slave) The supported Modbus register types differ depending on the MW100 firmware version. Measurement channel data, MATH channel data Firmware version R3.04 R3.03 R3.02 Type INT16 Yes No No INT32 Yes Yes Yes FLOAT Yes Yes Yes BIT Yes Yes No INT32 Yes No No FLOAT Yes Yes Yes BIT Yes Yes No Communication input channel data Firmware version R3.04 R3.03 R3.02 Type INT16 Yes No No The following are the Modbus slave register assignments.
Appendix 2 Modbus Protocol Input Registers 36001 to 36060, and 37001 to 37300 are for functions of firmware version R3.04 or later. 38001 to 38005 are for functions of firmware version R3.03 or later. MATH channel registers can be used on products with the MATH function option.
Appendix 2 Modbus Protocol Note • • • • For INT32 or INT16, only the mantissa of the measured/computed data is acquired. The decimal place must be obtained separately. For FLOAT, the measured/computed data including the decimal place can be acquired. The FLOAT and INT32 data domains are set so that they can only be accessed (read/write) by the unit of two registers. Alarm statuses are output in the same format as those described in section 2.3, “Binary Output.
Appendix 2 Modbus Protocol 1 Values per Modbus Registers (Measurement channel data and MATH channel data) The main module handles data on measurement channels as type Int16, and data on MATH channels as type Int32. The Modbus register values of these data are shown in the table below. Value type Name/description of value Note This is an example of acquiring decimal place information.
Appendix 2 Modbus Protocol Values per Modbus Registers (Communication input channel data) The main module handles data from the communication input channels as type Float. The Modbus register values of these data are shown in the table below. Comm. Input Channel Data (Float)(x) Value (y) per Modbus Register *1 Float Int 32 Int 16 Bit min = –2,147,483,648 min = –32,768 max = 2,147,483,647 max = 32,767 +Inf +Inf max max 0 –Inf –Inf min min 0 NaN NaN max max 0 *2 *2 *3 Valid Data (physical qty.
Appendix 3 Modbus Communication Timeout 1 This MW100 has a function in which, communication with Modbus slave devices that could not receive a response after the number of retries or more is dropped every communication interval by access sequence. Communication with Modbus slave devices dropped in sequence is retried after the communication wait time has elapsed.
Appendix 4 Bit Structure of Status Information The following status information is output upon request by the IS command. Status Information 1 (Task Complete 1) Bit Name 0 A/D conversion cmpltd 1 Set to 1 when A/D conversion on meas group 1 is completed. A/D conversion cmpltd 2 Set to 1 when A/D conversion on meas group 2 is completed. A/D conversion cmpltd 3 Set to 1 when A/D conversion on meas group 3 is completed.
Appendix 4 Bit Structure of Status Information 1 Status Information 4 (Event) Bit Name 0 1 2 Low free space on media Set to 1 when there is only a small amount of remaining free space on the medium. - 3 4 5 6 7 Description Name Setting Set to 1 when transitioning to Setting mode. Recording Set to 1 when transitioning to Recording mode. Computing Set to 1 when computation starts. Alarm occurrence Set to 1 when alarm occurs.
Appendix 5 ASCII Character Codes Top 4 bits 2 3 4 5 6 7 0 SP 0 @ P ‘ p 1 ! 1 A Q a q 2 ” 2 B R b r 3 # 3 C S c s 4 $ 4 D T d t 5 % 5 E U e u 6 & 6 F V f v 7 ’ 7 G W g w 8 ( 8 H X h x 9 ) 9 I Y i y * : J Z j z B ESC + ; K [ k { C , < L l | - = M 0 Bottom 4 bits A LF D CR 1 ] m E .
Appendix 6 Maintenance/Diagnostic Server 1 The maintenance/diagnostic server function investigates the MW100 communication status. The MW100 main module is connected to a PC using an Ethernet cable, then using Telnet or some other terminal emulator, communication commands can be used from the PC to perform maintenance/diagnostics on the MW100. Commands are sent from the PC to the MW100, and the MW100 performs a command/response type communication with the PC. Only one PC can be connected to one MW100.
Appendix 6 Maintenance/Diagnostic Server con Output Connection Information Function Setting Example Outputs a list of devices connected to the MW100. con con EA Active Connections ProtoLocal Address Foreign Address State TCP 0.0.0.0:34317 0.0.0.0:0 LISTEN 0.0.0.0:80 0.0.0.0:0 LISTEN TCP TCP 10.0.233.126 : 3431710.0.232.194 : 1382 ESTABLISHED TCP 0.0.0.0:502 TCP TCP 0.0.0.0:34318 TCP 0.0.0.0:34316 0.0.0.
Appendix 6 Maintenance/Diagnostic Server Explanation Outputs statistical information of the packets that flowed through the interface in a form enclosed by EA and EN. : Number of received packets 3 Outputs a list of currently available maintenance/diagnostic commands.
Appendix 6 Maintenance/Diagnostic Server logout Logout Function Setting Example Closes the maintenance/diagnostic session and closes currently used TCP connections from the MW100 side. logout logout E0 Explanation After returning E0, the MW100 issues a close TCP/IP connection request (FIN). net Output Network Information Function Outputs general network information related to the MW100 communication stack.
Appendix 6 Maintenance/Diagnostic Server uart 1 Outputs UART I/F Information Function Setting Example Outputs statistics on the MW100 UART I/F (serial port).
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions The main module has a two-digit 7-segment LED. The 7-segment LED displays the system status.This section describes the displays on the 7-segment LED when errors occur on the system and their corrective actions. If servicing is necessary, or if the instrument is not operating correctly after performing the corrective actions below, contact your nearest YOKOGAWA dealer.
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions 1 Communication Errors The left and right digits of the 7-segment LED display “C” and an error code, respectively. The LED blinks. Display Possible Problem Corrective Action C0 DHCP address acquisition error Check network connections. Use a fixed IP address. Check with your network administrator whether your environment supports acquisition of addresses by DHCP. Check network connections.
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions Display Possible Problem Corrective Action E040 Invalid client type. Enter a correct client type. E041 Invalid server type. Enter a correct server type. E050 Invalid input type. Enter an input type that can be selected for the module specified by the channel number. E051 Module of an invalid input type found in the range of specified channels. E052 Invalid measuring range.
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions 1 Display Possible Problem Corrective Action E111 Invalid channel number for alarm event. Set an input module or MATH channel number. E112 Invalid relay number for relay event. Set the channel number for the DO module. E113 Invalid action type. Enter a correct action type. E114 Invalid combination of edge and level detection actions. Set the edge and legel detection types to something different.
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions Execution Error The code is divided into two parts which are displayed alternately on the 7-segment LED; in the first part, the letter E appears in the left digit with the hundreds digit of the error code to the right, and the second part consists of the last two digits of the error code. Display Possible Problem Corrective Action E201 Cannot execute due to different operation mode. Confirm the operation mode.
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions Display Possible Problem Corrective Action E314 File is write-protected. Check write permissions. E315 No such file or directory. Check the files and folders. * E316 Number of files exceeds the upper limit. Delete unneeded files to reduce the number of files. E317 Invalid file or directory name. Check the files and folders. * E318 Unknown file type. Check the files.
Appendix 7 Error Display on the 7-Segment LED and Corrective Actions Communication Error The code is divided into two parts which are displayed alternately on the 7-segment LED; in the first part, the letter E appears in the left digit with the hundreds digit of the error code to the right, and the second part consists of the last two digits of the error code. Display Possible Problem Corrective Action E501 Login first. First, finish logging in. E502 Login failed, try again.
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix 1 The majority of devices that the MW100 will be connected to using EIP will be AB PLCs. RSLogix 500 or RSLogix 5000 are the programming packages used to configure and program everything from the legacy PLC 5 through the latest ControlLogix.
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix Once the Control Block is designated, the Setup Screen can be configured. The first item to fill in is the location of the data that is to be written from the PLC to the MW100, designated as the Data Table Address. In this case N7:49 is chosen with an element size of 1 (one byte of data - in order to read or write large amounts of data in a single message, increase the elements size to the appropriate value).
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix When using RSLogix 500 with controllers such as the MicroLogix series that have on board Ethernet support, the Setup Screen looks slightly different as instead of a Node Address, direct input of the MW100 IP address is allowed (no gateway or DF1 to EIP routing is required in this case).
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix Explicit Messaging with RSLogix 5000 Explicit Messaging within RSLogix 5000 is similar to messaging in RSLogix 500 but there are a few differences; the first is that everything is simplified if tags are predefined. From the Controller Organizer (tree on left) pick Controller Tags and create a tag of Data Type MESSAGE (in this example tag MSG1).
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix Next configure the Communication Tab by entering the Path to the MW100. The Path can be designated by the name of the Ethernet port on the PLC (in this case LocalENB – see I/O Configuration below) followed by a comma, with 2 (depth of communications) followed by a comma, and the IP address of the MW100 (e.g. 192.168.1.126). Check Connected and Cache Connections to speed up communications to the MW100.
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix I/O Messaging with RSLogix 5000 The first step in configuring an MW100 to communicate via I/O Messaging is to define a connection within RSLinx. From the top menu under Communications, pick Configure Drivers.
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix After the driver is named, enter the IP address of an MW100 and click OK to continue. 1 2 3 App Appendix Index Configuring IP Address of MW100 within RSLinx When properly configured there should be a new listing in RSLinx for MW100. Note that when browsing the connection, RSLinx indicates the node is found. RSLinx with MW100 added Open RSLogix 5000 and select the PLC that is going to communicate with the MW100.
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix Expand the Communications listing by clicking on the + sign and then scroll down and select ETHERNET-MODULE and click OK. Selecting Generic Ethernet Module for MW100 Communications A definition screen should now appear for the ETHERNET-MODULE. In the Name field – type MW100 (or whatever is desired for the connection name). Comm Format can be left at Data – DINT and IP Address should be set to the IP address of the MW100.
Appendix 8 Detailed Explicit and I/O Messaging using RSLogix 1 Assembly instances for l/O messaging (Channels in Assembly Object) Ch.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway For PLCs that support serial communications via DF1 protocol, there are various gateways that can be used to intercept serial communications and translate to EIP. One such device is the DigiOne IAP. The IAP has two serial ports and a single Ethernet port. Port 2 on the IAP is a 9 pin d-sub connector that can be connected to the 9 pin d-sub connector on PLC CPUs like the SLC 504 (and others).
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway 1 Enter the IP address and subnet mask that is desired. 2 3 App Appendix Index Configuring IP Address of Digi One IAP After configuring the network settings choose Skip and Next on the following two screens and the configuration should be saved to the IAP. The web interface has a wizard that can be used to configure the IAP for industrial networks.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway The default web browser should pop up with a prompt for a user name and password (if it does not automatically launch the web browser, then open a web browser and browse the IP address of the IAP). The default User Name for the web interface is root and the default Password is dbps. IAP Security Screen After logging, in the main page of the Digi One IAP web configuration should appear.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway Select Industrial Automation Wizard link in the center of the screen to configure the IAP for an industrial network. 1 2 3 App Appendix Index Industrial Automation page Enter a table name for this configuration and then click Next.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway Select Rockwell/PCCC family and then click Next twice. Choosing Industrial Protocol The first source that will be setup is the interface for RSLinx so choose Allen-Bradley Ethernet and click Next.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway Click Next until the following screen shows up and then check the Continue creating more message sources box and then click Next. 1 2 3 App Appendix Index Message Source Select Receive messages from serial device connected to a serial port and choose DF1 Full-Duplex for the Protocol and 2 for the Serial port, click Next to continue.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway Give the source a Description and configure the serial options to match the configuration of the PLC, then click Next. Message Source Serial Settings Click Next until the following screen shows up and then uncheck the Continue creating more message sources box and click Next.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway When the IAP receives communications it needs to know where to route the information. To send data to the SLC504 set protocol address to 0. 1 2 3 App Appendix Index Message Destination Addresses Address 0 communications need to be retransmitted over the serial port connected to the SLC. Set Protocol to DF1 Full-Duplex and Serial Port to 2.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway Click Next to accept defaults until returned to this screen and then check Continue creating more message destinations and Next. Message Destinations (Slaves) Now it is time to route communications to the MW100. In this case, all write and read commands issued from the SLC504 in this example are sent to Node 5 (it could be set to read or write to any other address).
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway The next step is to tell the IAP where the MW100 is located and how to talk to it. Select Send messages to network device at Hostname – IP Address of MW100. Select EtherNet/IP for the Protocol and then Next. 1 2 3 App Appendix Index Message Destination Location When the Message Destination Protocol Settings screen shows up, ensure that Forward Open Connection Path: is left blank.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway Click Next until the following screen shows up and then uncheck Continue creating more message destinations. Click Next to continue. Message Destinations (Slaves) If all the settings match on the Summary page, click Finish to save the configuration in the IAP.
Appendix 9 Detailed Configuration of DigiOne IAP Serial Gateway The IAP will then ask to be rebooted so that all the settings can take effect. Once the IAP is rebooted, the Digi One IAP and attached SLC 504 can now be added as an Ethernet Device (add driver) in RSLinx (use the IP address of the IAP as the IP address for the Ethernet Device).
Index Index A Action Types......................................................................... 1-11 Affirmative Responses........................................................... 2-1 AK........................................................................................ 1-39 Alarm Types........................................................................... 1-9 Alarm Value Setting Range................................................... 1-9 AO...................................................
Index XV................................................................................. 1-25 YA.................................................................................. 1-32 YC................................................................................. 1-34 YD................................................................................. 1-32 YF.................................................................................. 1-33 YG.........................................................
Index P Parameters..................................................................... 1-1, 1-6 Password String.................................................................. 1-14 PCCC.................................................................................... 3-1 PF........................................................................................ 1-17 Point Structure..................................................................... 1-10 Programmable Controller Communication Commands..
Index XT........................................................................................ 1-29 XV........................................................................................ 1-25 Y YA........................................................................................ YC....................................................................................... YD....................................................................................... YF......................................
