x-gateway interface addendum controlnet adapter interface

HMS Industrial Networks AB

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X-gateway Interface AddendumControlNet Adapter Interface

Rev. 1.10

Preface About This Document

How To Use This Document ............................................................................................................ P-1

Important User Information .............................................................................................................. P-1

Related Documents.............................................................................................................................. P-2

Document History ............................................................................................................................... P-2

Conventions & Terminology.............................................................................................................. P-3

Support .................................................................................................................................................. P-3

Chapter 1 About the ControlNet Adapter Interface

General Description..............................................................................................................................1-1

Features...................................................................................................................................................1-1

External View ........................................................................................................................................1-2ControlNet Status LEDs.............................................................................................................1-2Connectors and Switches................................................................................................................1-2

Chapter 2 Installation and Configuration

Configuration Switches ........................................................................................................................2-1

Gateway Config Interface ....................................................................................................................2-1

Chapter 3 Data Exchange

General Information.............................................................................................................................3-1Input Data (Gateway to ControlNet) ...........................................................................................3-2Output Data (ControlNet to Gateway).........................................................................................3-2

Table of Contents

Table of Contents

Chapter 4 CIP Object Implementation

General Information.............................................................................................................................4-1

Identity Object, Class 01h....................................................................................................................4-2General Information......................................................................................................................4-2Class Attributes ...........................................................................................................................4-2Instance Attributes........................................................................................................................4-2Device Status ................................................................................................................................4-3Service Details: Reset ....................................................................................................................4-3

Message Router, Class 02h...................................................................................................................4-4General Information......................................................................................................................4-4Class Attributes ...........................................................................................................................4-4Instance Attributes........................................................................................................................4-4

Assembly Object, Class 04h ................................................................................................................4-5General Information......................................................................................................................4-5Class Attributes ...........................................................................................................................4-5Instance Attributes - Instance/Connection Point 64h ....................................................................4-5Instance Attributes - Instance/Connection Point 96h ....................................................................4-5

Connection Manager Object, Class 06h ............................................................................................4-6General Information......................................................................................................................4-6Class Attributes ...........................................................................................................................4-6Instance Attributes........................................................................................................................4-6

ControlNet Object, Class F0h.............................................................................................................4-7General Information......................................................................................................................4-7Class Attributes ...........................................................................................................................4-7Instance Attributes, Instance 01h ..................................................................................................4-7

Diagnostic Object, Class AAh...........................................................................................................4-10General Information....................................................................................................................4-10Class Attributes .........................................................................................................................4-10Instance Attributes, Instance 01h ................................................................................................4-10

Appendix A Technical Specification

ControlNet Interface Details..............................................................................................................A-1

ControlNet Connectors (BNC) .........................................................................................................A-1

Network Access Port (NAP)..............................................................................................................A-1

Preface

About This Document

How To Use This Document

This document describes network specific features and procedures needed when operating the Control-Net Adapter Interface for the Anybus X-gateway. For general information and operating instructions for the Anybus X-gateway, consult the Anybus X-gateway User Manual.

The reader of this document is expected to be familiar with ControlNet networking technology, and communication systems in general.

For further information, documentation etc., please visit the HMS web site, ‘www.anybus.com’.

Important User Information

The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB, reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be considered as a com-mitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document.

There are many applications of this product. Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the application meets all performance and safe-ty requirements including any applicable laws, regulations, codes, and standards.

Anybus® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the prop-erty of their respective holders.

Warning: This is a class A product. In a domestic environment this product may cause radio interfer-ence in which case the user may be required to take adequate measures.

ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD control procedures are not followed. Static control precautions are required when handling the product. Failure to observe this may cause damage to the product.

About This Document P-2

Related Documents

Document History

Summary of Recent Changes (v1.00... v1.10)

Revision List

Document AuthorAnybus X-gateway User Manual HMSAnybus-S ControlNet Fieldbus Appendix HMSCommon Industrial Protocol (CIP) specification ODVAControlNet Specification ODVA- -

Document PageDocument rewritten -- -

Revision Date Author Chapter Description1.00 2004-03-10 PeP All First release1.10 2007-11-19 PeP All Major rewrite

About This Document P-3

Conventions & Terminology

The following conventions are used throughout this document:

• Numbered lists provide sequential steps• Bulleted lists provide information, not procedural steps• The term ‘X-gateway’ refers to the Anybus X-gateway• The term ‘Interface’ refers to the ControlNet Adapter interface for the Anybus X-gateway.• The term ‘user manual’ refers to the Anybus X-gateway User Manual.• Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.• 16/32 bit values are generally stored in Motorola (big endian) format unless otherwise stated.

Support

HMS Sweden (Head Office)E-mail: [email protected]: +46 (0) 35 - 17 29 20Fax: +46 (0) 35 - 17 29 09Online: www.anybus.com

HMS AmericaE-mail: [email protected]: +1-773-404-2271Toll Free: 888-8-AnybusFax: +1-773-404-1797Online: www.anybus.com

HMS GermanyE-mail: [email protected]: +49-721-96472-0Fax: +49-721-964-7210Online: www.anybus.com

HMS JapanE-mail: [email protected]: +81-45-478-5340Fax: +81-45-476-0315Online: www.anybus.com

Chapter 1

About the ControlNet Adapter Interface

General Description

The ControlNet Adapter Interface for the Anybus X-gateway implements a ControlNet communica-tions adapter (profile no. 12). The interface acts as an adapter, which means it can be accessed by a Con-trolNet scanner, but it will not initiate communication by itself.

The interface exchanges data through two buffers as follows:

• Input Buffer

This buffer holds data forwarded from the other network, i.e. data which can be read by the Control-Net scanner.

• Output Buffer

This buffer is forwarded to the other network, i.e. data which can be written by the ControlNet scanner.

Features

• Communications Adapter, profile 12• Network Access Port (NAP)• Media redundancy support• Up to 450 bytes of I/O data in each direction• UCMM Client / Server support• On-board configuration switches• Galvanically isolated bus electronics

Co

ntr

olN

et

Output

Buffer(to Gateway)

Input

Buffer(from Gateway)

ControlNet Adapter

About the ControlNet Adapter Interface 1-2

External View

ControlNet Status LEDs

Connectors and Switches

LED(s) Colour IndicationCh. AandCh. B

Off Module not initializedRed Major faultAlternating red/green Self testRed, flashing Node configuration error

Ch. AorCh. B

Off Channel disabledGreen Normal operationGreen, flashing Temporary error or not configuredRed, flashing No other nodes, or media faultRed & green, flashing Network configuration error

MS Green InitialisedGreen, Flashing Waiting for initialisationRed Major unrecoverable faultRed, Flashing Minor recoverable fault

MO Off No connection has been openedGreen A connection has been opened

Gateway Status

# Description1 Network Access Port (NAP).

(See A-1 “Network Access Port (NAP)”)2 ControlNet Channel A

(See A-1 “ControlNet Connectors (BNC)”)3 ControlNet Channel B

(See A-1 “ControlNet Connectors (BNC)”)4 Configuration Switches

(See 2-1 “Configuration Switches”)5 Power connector

(Consult the user manual for further details)6 Gateway Config interface (RS232)

(Consult the user manual for further details)

MS

Gateway

Status

Ch. A

Ch. B

Gateway

Status

MO

MSCh. A

Ch. B

MO

(Top mounted Adapter interface)

(Bottom mounted Adapter interface)

(Top mounted Adapter interface)

5

1 2 3 4

x10 x1

1 8

(Bottom mounted Adapter interface)

6

1234

18

x1 x10

Chapter 2

Installation and Configuration

Configuration Switches

The on-board switches specifies the ControlNet MACID for the Adapter Interface.

Valid settings range from 1 to 99.

Example:In this example, the MACID is set to 42 (4 x 10 + 2 x 1).

Note: The orientation of the switches follows that of the Adapter Interface (top or bottom).

Gateway Config Interface

The Gateway Config Interface features the following ControlNet-specific settings:

--------------------------------------------------- Change configuration--------------------------------------------------- ControlNet Slave (Upper)

Input I/O data size (bytes): 20 Output I/O data size (bytes): 20 Offline option (+/-): Clear Control / Status word (+/-): Disabled

• Input I/O data size (bytes)

Specifies the amount of Input I/O Data to exchange on ControlNet. (This data is represented through the Assembly Object).

• Output I/O data size (bytes)

Specifies the amount of Output I/O Data to exchange on ControlNet.(This data is represented through the Assembly Object).

• Offline option

(Consult the Anybus X-gateway User Manual for further information).

• Control / Status word

This settings enables/disables representation of the Control/Status word on ControlNet.(Consult the Anybus X-gateway User Manual for further information).

See also...

• 4-6 “Assembly Object, Class 04h”• 4-12 “I/O Data Input Mapping Object, Class A0h”• 4-13 “I/O Data Output Mapping Object, Class A1h”

x10 x1

Chapter 3

Data Exchange

General Information

The Adapter Interface exchanges up to 450 bytes I/O Data of data in each direction. This data can be ac-cessed by means of I/O connections towards the As-sembly Object.

The amount of data to exchange on ControlNet is specified through the Gateway Config Interface.

See also...

• 2-2 “Gateway Config Interface”• 4-5 “Assembly Object, Class 04h”

Co

ntr

olN

et

I/O Data

Control Word

(from Gateway)

ControlNet Adapter Interface

(to Gateway)

I/O Data

Status Word

Live List

Data Exchange 3-2

Input Data (Gateway to ControlNet)

Depending on the actual gateway configuration and how it has been set up to operate, parts of the data produced by the ControlNet Adapter Interface may be used to represent status information (i.e. Status Word, Live List etc.).

See also...

• 4-5 “Assembly Object, Class 04h”

Note: The Live List is only available on master-slave gateway versions.

Output Data (ControlNet to Gateway)

Depending on the actual gateway configuration and how it has been set up to operate, the first two bytes consumed by the ControlNet Adapter Interface may be interpreted as control information (i.e. the Con-trol Word).

See also...

• 4-5 “Assembly Object, Class 04h”

Example A:I/O Data Size = 24Live List = EnabledControl & Status Word = Enabled

Example B:I/O Data Size = 24Live List = DisabledControl & Status Word = Enabled

Example A:I/O Data Size = 24Control Word = Enabled

Example B:I/O Data Size = 22Control Word = Disabled

I/O D

ata

(24

byte

s)Status Word (2 bytes)

Live List (8 bytes)

Data from

gateway (14 bytes)

I/O D

ata

(24

byte

s)

Status Word (2 bytes)

Live List (8 bytes)

Data from

gateway (22 bytes)

I/O D

ata

(24

byte

s)

Control Word (2 bytes)

Data to

gateway (22 bytes) I/O D

ata

(22

byte

s)

Live List (8 bytes)

Data to

gateway (22 bytes)

Chapter 4

CIP Object Implementation

General Information

The ControlNet Adapter Interface implements the following standard objects:

• Identity Object, Class 01h• Message Router, Class 02h• Assembly Object, Class 04h• Connection Manager Object, Class 06h• ControlNet Object, Class F0h

In addition, the following vendor specific objects are implemented:

• Diagnostic Object, Class AAh

CIP Object Implementation 4-2

Identity Object, Class 01h

General Information

Object Description

-

Implemented Services

Class services: Get Attribute All

Instance services: Get Attribute AllReset (see 4-3 “Service Details: Reset”)

Class Attributes

Instance Attributes

# Access Name Type Value1 Get Revision UINT 0001h2 Get Max Instance UINT 0001h

# Access Name Type Value1 Get Vendor ID UINT 005Ah (HMS Industrial Networks AB)2 Get Device Type UINT 000Ch (Communications Adapter)3 Get Product Code UINT 000Eh (Anybus-S ControlNet)4 Get Revision Struct of:

USINT,USINT

(Major fieldbus version)(Minor fieldbus version)

5 Get Status WORD (see 4-3 “Device Status”)6 Get Serial Number UDINT (assigned at manufacturing)7 Get Product Name SHORT_STRING ‘Anybus-S CNT’


Device Status

Service Details: Reset

There are two types of network reset requests on ControlNet:

• Type 0: ‘Power Cycling Reset’

This causes the Adapter Interface to restart its internal ControlNet software layer. The overall operation of the gateway remains unaffected, i.e. the gateway will neither reset itself nor the other network interface.

• Type 1: ‘Out of box reset’

This causes the Adapter Interface to revert to an ‘out of box’ configuration and restart its internal ControlNet software layer. The overall operation of the gateway remains unaffected, i.e. the gate-way will neither reset itself nor the other network interface.

bit(s) Name0 Module Owned (A master/scanner has allocated the Adapter Interface)1 (reserved)2 Configured (always set to zero)3 (reserved)4... 7 Extended Device Status:

Value: Meaning:0000b Power-up/Self-test0010b Faulted I/O Connection0011b Awaiting Connection0100b Non-volatile configuration bad0110b Connection in Run mode0111b Connection in Idle mode

8 Set for minor recoverable faults9 Set for minor unrecoverable faults10 Set for major recoverable faults11 Set for major unrecoverable faults12... 15 (reserved)


Message Router, Class 02h

General Information

Object Description

-


Class services: -

Instance services: -

Class Attributes

(no class attributes)

Instance Attributes

(no instance attributes)


Assembly Object, Class 04h

General Information

Object Description

This object provides to the I/O Data in the Input- and Output Buffers.


Class services: Get Attribute Single

Instance services: Get Attribute SingleSet Attribute Single

Class Attributes

Instance Attributes - Instance/Connection Point 64h

This instance is used to access Input I/O Data.

Instance Attributes - Instance/Connection Point 96h

This instance is used to access Output I/O Data.

# Access Name Type Contents1 Get Revision UINT 0002h

# Access Name Type Contents3 Get Data Array of USINT Input I/O Data

# Access Name Type Description3 Set Data Array of USINT Output I/O Data


Connection Manager Object, Class 06h

General Information

Object Description

-


Class services: Forward OpenForward Close

Instance services: -

Class Attributes

(no class attributes)

Instance Attributes

(no instance attributes)


ControlNet Object, Class F0h

General Information

Object Description

-



Instance services: Get Attribute AllGet And Clear

Class Attributes

Instance Attributes, Instance 01h

# Access Name Type Contents1 Get Revision UINT 0001h2 Get Max Instance UDINT 00000001h

# Access Name Type Contents81h Get Current_link_config Struct of:

Link_config Struct of:NUT_length UINT NUT length in 10 us tickssmax USINT 0 to 99umax USINT 1 to 99slotTime USINT In 1 us ticksblanking USINT In 1.6 us ticksgb_start USINT In 10 us ticksgb_center USINT In 10 us ticksreserved UINT Reservedmodulus USINT 127 (required)gb_prestart USINT In 10 us ticks

TUI Struct of:unique_ID UDINT Keeper CRCstatus_flag UINT TUI flagreserved USINT[16] Reserved


# Access Name Type Description82h Get,

Get and Clear

diagnostic_counters Struct of:buffer_errors UINT Buffer event countererror_log BYTE[8] Bad MAC frame logevent_counters Struct of:good_frames_transmitted BYTE[3] Good MAC frames transmitted

(LSB first)good_frames_received BYTE[3] Good MAC frames received

(LSB first)selected_channel_frame_errors USINT Framing errors detected on active receive

channelchannel_A_frame_errors USINT Framing errors detected on channel Achannel_B_frame_errors USINT Framing errors detected on channel Baborted_frames_transmitted USINT MAC frames aborted during transmission

(transmit underflows)highwaters USINT LLC transmit underflow and LLC receive over-

flowNUT_overloads USINT No unscheduled time in NUT (All time used for

scheduled transmissions)slot_overloads USINT More scheduled data queued for one NUT

than allowed by sched_max_frame parameterblockages USINT Single Lpacket size exceeds

sched_max_frame parameternon_concurrence USINT Two or more nodes could not agree whose

turn it is to transmitaborted_frames_received USINT Incomplete MAC frames receivedlonely_counter USINT Number of times nothing heard on network for

8 or more NUTsduplicate_node USINT MAC frame received from node with local

node’s MAC IDnoise_hits USINT Noise detected that locked the modem rx PLLcollisions USINT Rx data heard just as we are going to transmitMod_MAC_ID USINT MAC D of the current moderator nodenon_lowman_mods USINT Moderator frames heard from non-lowman

nodesrouge_count USINT Rouge events detectedunheard_moderator USINT MAC frames being heard but no moderators

being heardvendor_specific USINT -reserved BYTE[4] Reservedvendor_specific USINT Not used (00h)vendor_specific USINT Not used (00h)reserved BYTE Reserved


83h Get station_status Struct of:smac_ver USINT MAC implementation (02h)vendor_specific BYTE[4] Vendor specific (00 18 00 00h)channel_state BYTE Channel state LEDs, redundancy warning, and

active channel bits84h Get MAC_ID Struct of:

MAC_ID_current USINT Current MAC IDMAC_ID_switches USINT MAC ID switch settingsMAC_ID_changed BOOL MAC ID switches changed since resetreserved USINT Reserved

86h Get error_log Struct of:buffer_errors UINT Buffer event countererror_log BYTE[8] Bad MAC frame log

# Access Name Type Description


Diagnostic Object, Class AAh

General Information

Object Description

This vendor specific object provides access to misc. diagnostic information.



Instance services: Get Attribute AllGet Attribute Single

Class Attributes

Instance Attributes, Instance 01h

# Access Name Type Contents1 Get Revision UINT 0001h

# Access Name Type Contents01h Get Module serial number UDINT (unique serial number assigned during manufacturing)04h Get Module Software version UINT (fieldbus software revision)11h Get Input Total Size UINT (total size of Input Buffer)14h Get Output Total Size UINT (total size of Output Buffer)

Appendix A

Technical Specification

ControlNet Interface Details

• Redundant Operation

If redundant operation is needed, both ControlNet channels should be used

• Cable

RG-6 quad shield cable

• Topology

Bus, star or tree topologies possible

• Galvanically isolated bus electronics1

• On board Mac ID switches

• Data Rate

5Mbit/s (Standard)

ControlNet Connectors (BNC)

ControlNet connectivity is provided through two BNC coaxial connectors.

Network Access Port (NAP)

1. ControlNet Channels A and B are galvanically isolated. The NAP connector is not.

# SignalTip ControlNet

Ring Shield

# Signal Description1 GND Signal Ground2 - (not connected)3 Tx_H Transmit Data, positive4 Tx_L Transmit Data, negative5 Rx_L Receive Data, negative6 Rx_H Receive Data, positive7 - (not connected)8 Shield Connected to PE

Ring

Tip