Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 (0)7720 942-0
Fax +49 (0)7720 942-900 05.11 · 174.02.051/4
[email protected] Subject to technical and design modifications
www.baumer.com Errors and omissions excepted.
Manual
GK473 - Gateway RS485 - DeviceNet
Firmware Version 1.01 and up
Applicable for:
Spindle position display N 140 / N 141 / N 142 / N 150 / N 152 / 153 / N 155
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Content
Page
1 Introduction 3
1.1 Scope of delivery 3
1.2 Product assignment 3
2 Overview 3
3 Safety remarks and operating instructions 4
4 Commissioning 5
4.1 Mechanical mounting 5
4.2 Electrical connection 5
4.2.1 Electrical commissioning 5
4.2.2 Supply voltage connection 5
4.2.3 Shield connection / functional earth 5
4.2.4 DeviceNet - RS485-bus interface connection 6
4.3 Device settings 7
4.3.1 How to open the housing 7
4.3.2 Setting the DeviceNet user ID (Mac ID) 7
4.3.3 Setting the Baudrate 7
4.3.4 Setting the DeviceNet bus termination 8
4.3.5 EDS file 8
5 DeviceNet interface description 9
5.1 Data exchange DeviceNet Master <-> Slave 9
5.2 Data exchange DeviceNet <-> RS485 sub- bus 10
6 DeviceNet CIP Object Implementation 10
7 GK473 Object, Class 0x64 15
7.1 Attribute 1: Autoscan SPA 16
7.2 Attribute 2: Transparent transfer of a SPA command 17
7.3 Attribute 3: RS485 Sub-bus, full SPA status information 19
7.4 Attribute 4: Batched information on connected SPAs 21
7.5 Attribute 5: Batched information: SPAs not in position 22
7.6 Attribute 6: Batched information SPA in error state 23
7.7 Attribute 7: Batched information SPA in timeout state 24
8 General information 25
8.1.1 Broadcast commands 25
8.1.2 Interface documentation 25
8.2 Automated gateway functions 25
8.2.1 Automatic SPA recognition 25
8.2.2 Cyclic scanning of all SPAs connected 25
8.2.3 Error messages 25
8.3 Status indicators (LEDs) integrated in the front panel 26
8.4 Technical data 28
9 Annex: Rockwell PLC examples for Explicit Messaging 29
9.1 RSLogix500 examples 29
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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason
Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual.
Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the
present information.
At any time we should be pleased receiving your comments and proposals for further improvement of the
present document.
1 Introduction
1.1 Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number delivery is including:
• Encoder
• CD with describing file and manual (also available as download in the Internet)
1.2 Product assignment
Product Product code Device Name EDS file Product family
GK473.0078PDx 0x2D GK473 DeviceNet GK473_DN.eds multicon
2 Overview
GK473 gateway (interface converter) is a connecting device enabling communication between the spindle
position displays (SPAs) of the Baumer IVO Multicon system (for example N 140 / N 142 / N 150) and a
DeviceNet-capable PLC. The gateway converts the SPA data blocks from RS485 interface into the DeviceNet
protocol (and vice-versa).
Some gateway functions simplify considerably PLC programming.
GK473 gateway enables networking maximum 32 SPAs to DeviceNet bus. The gateway is compatible to all
spindle position displays of the multicon system.
PLC
SPA
N 140,
N 141,
N 142,
N 150,
N 155
GK473
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3 Safety remarks and operating instructions
Supplementary information
• This manual is intended as a supplement to already existing documentation (catalogues, product
information and mounting instructions).
• It is mandatory to read the manual prior to initial commissioning of the equipment.
Intended purpose
• The gateway is an interface converter enabling communication between RS485 serial interface and
DeviceNet. It comprises specific modifications for the Baumer IVO multicon spindle positioning system.
• The gateway may only be used for this purpose.
Commissioning
• The gateway must only be installed and mounted by qualified experts.
• Observe the operating instructions of the machine manufacturer.
Safety instructions
• Prior to commissioning of the equipment, check all electrical connections.
• If installation, e-connection or any other work performed at the gateway and at the equipment is not
carried out correctly this can result in malfunction or failure of the gateway.
• Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating
equipment as a result of gateway failure or malfunction by providing corresponding safety precautions.
• The gateway must not be operated outside the limits specified in the product information.
Failure to comply with the safety remarks can result in malfunctions, personal injury or damage of property.
Transport and storage
• Transport and storage in the original packaging only.
• Never drop the gateway or expose it to major shocks.
Mounting
• Avoid impacts or shocks on the housing.
Disposal
• Gateway components are to be disposed of according to the legal regulations prevailing in the respective
country.
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4 Commissioning
4.1 Mechanical mounting
The gateway provides a small housing for DIN rail mount. It can easily be opened using a screwdriver and
partially pulled out in order to set user ID (MAC ID), Baudrate and bus termination.
• Grid width 22,5 mm, height approx. 100 mm, depth approx. 110 mm
• For mounting onto 35 mm DIN rails
For mounting onto the DIN rail slide the gateway at its rear hinges onto the DIN rail and then press down to
lock.
4.2 Electrical connection
4.2.1 Electrical commissioning
• Do not carry out any electrical modifications at the gateway.
• Do not carry out any wiring work when the gateway is live.
• Make sure that the entire equipment is installed in line with EMC requirements. Ambient installation and
wiring affect the electromagnetic compatibility of the gateway. Install gateway and supply cables in
separate rooms or far away from cables with high interference emission (frequency converters, protections,
etc).
• Provide separate supply voltage for the gateway where working with consumers with high interference
emission.
• Connect the gateway to protective earth (PE) conductor using shielded cable. The braided shield must be
connected to cable gland or plug. Ideally, aim at a bilateral connection to protective earth (PE), i.e. housing
via mechanical assembly and cable shield via downstream devices. In case of earth loop problems, earth
on one side only as a minimum requirement.
Failure to observe these instructions may result in malfunctions, material damage or personal injury.
4.2.2 Supply voltage connection
Gateway and SPA are connected to power supply utilizing screw terminals 5 (GNDB) and 6 (UB) or 7
(GNDB) and 8 (UB). Terminals 5 and 7 as well as 6 and 8 are internally connected to each other for looping
the operating voltage further to other consumers (for example to the SPA).
4.2.3 Shield connection / functional earth
Connection of protective earth is at terminal 1 which at the same time serves for shield connection of the
RS485 bus. Pin 1 and the housing of the 9-pin D-Sub connector (DeviceNet) are connected to each other. PE
(protective earth) connection is additionally carried out by DIN rail mount. For this purpose the DIN rail must
be connected to functional earth utilizing low-impedance.
To prevent a bridge from the internal drain circuit to earth the DeviceNet Drain connection respectively the
DeviceNet cable shield must not be connected to the SUB-D connector housing.
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4.2.4 DeviceNet - RS485-bus interface connection
DeviceNet
utilizing the 9- pin SUB-D female
connector
PIN Function
1
2 CAN _L
3
4
5
6
7 CAN_H
8 Drain
9
RS485
utilizing the screw terminals
Connection to protective earth (PE)
is additionally provided by the DIN
rail mount. Gateway power supply
UB = 24 VDC +/-20 %, ca.50 mA;
Each spindle position display
requires supplementary supply
UB = 24 VDC +/-20 %, 30 mA.
Gateway supply is provided by
UB/GNDB supply of the RS485
interface.
Terminal Function
1 Schutzerde
2 Signal-GND
3 Rx/Tx +
4 Rx/Tx –
5 GNDB
6 UB
7 GNDB
8 UB
1
2
3
4
5
6
7
8
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4.3 Device settings
4.3.1 How to open the housing
Snap-lock
Setting the DeviceNet user ID (Mac ID) and Baudrate requires partial opening of the gateway housing.
Please use a small screw-driver, press-in the snap-locks provided on top and bottom behind the screw
terminals and pull out the housing halfway until stop so that the operating elements are accessible. The
housing is closed again by pulling it back to its original position until both locks snap in again.
4.3.2 Setting the DeviceNet user ID (Mac ID)
The DeviceNet user ID (Mac ID) is set decimally within the range from 00 to 63 using two BCD rotary
switches. (Any settings higher than 63 are automatically assigned 63)
Default: Mac ID 63
Example: 01
4.3.3 Setting the Baudrate
Binary setting of the Baudrate is by utilizing the 3-pole DIP switches 1 to 3.
Default : Baudrate 125kBit/s
Baudrate DIP switch position
1 2 3
125 kBit/s
OFF OFF OFF
250 kBit/s OFF OFF ON
500 kBit/s OFF ON OFF
Example: 500KBit/s
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4.3.4 Setting the DeviceNet bus termination
If GK473 DeviceNet is the final device in the bus line the CAN bus must be terminated by resistor that is
activated by setting the one-pole DIP switch to “ON”.
Default :OFF.
ON
1
ON = final user
OFF = user X
4.3.5 EDS file
For gateway projecting in the DeviceNet project there is an EDS file available for comfortable importation into
the projecting software. (-> Download in the Internet or available as accessory.)
GK473_DN.eds
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5 DeviceNet interface description
5.1 Data exchange DeviceNet Master <-> Slave
DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association) as
an open fieldbus communication standard based on CAN protocol. DeviceNet is in line with European
Standard EN 50325 and specified and administered by ODVA. DeviceNet is an object-oriented bus system
operating according to the producer/consumer communication principle. DeviceNet appliances can be client
(Master) or server (Slave) or even both. Client and server may be either producer, consumer or both.
Layer 2 (Data Link Layer) is based on the Controller Area Network (CAN).
The DeviceNet network is a connecting structure for communication between maximum 64 bus users utilizing
Baudrates of 125, 250 or 500 kBaud. The DeviceNet topology provides besides the two signals CAN-L and
CAN-H for data transmission also two 24 VDC supply lines enabling the DeviceNet users to be directly
powered from the bus or from an external source (GK473 external supply only). The maximum length of the
DeviceNet depends on the selected cable size and Baudrate. Installation is according to bus topology –
trunkline/dropline- with bilateral terminating resistors. The terminating resistors provide 120 Ohm.
GK473 DeviceNet gateway operates as a Class 2 Slave in the DeviceNet bus network. The device supports
I/O Poll connections and Change-Of-State messages of the predefined Master Slave Connection Set. It does
not support "Explicit Unconnected Message Manager" (UCMM).
I/O Poll
While polling the DeviceNet-Master is transmitting a Poll Request to GK473 replied by the status information
stored in the GK473 on the connected RS485 sub bus and users .
The 48 Byte data packet comprises the following information:
The individual bits represent the respective status at the relating sub bus ID.
Byte 0..15 “SPA not in position”
Byte 16..31 “SPA in error state”
Byte 32..47 “SPA in time out state”
COS (Change of State)
The data content is according to I/O Poll.
GK473 will only produce and transfer data to the DeviceNet master upon any change of state at the RS485
sub bus. Utilizing the Change-of-State messages means a considerable reduction of data volume in the
DeviceNet bus.
After having implemented the COS connection user data amounting to 48 bytes will be transmitted once.
Second the message will only be transmitted (produced) if the previous state changes.
Advantage:
Normally all bytes are 0 -> all SPA’s are in position, no SPA error and no SPA time out.
Input data for the control will be only produced upon change of state.
This way the bus load is kept down to a minimum.
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5.2 Data exchange DeviceNet <-> RS485 sub- bus
The Gateway is enabling communication between the SPA’s RS485 protocol and the DeviceNet fieldbus.
The PLC (DeviceNet Master) output data to the gateway comprise all commands relevant for the addressed
spindle position display. The command is completed by start and stop token as well as by CRC byte (cyclic
redundancy check) and forwarded by the gateway via RS485 interface.
In direction vice-versa, start and stop token as well as CRC byte (cyclic redundancy check) will be taken out
of the RS485 message, but latter is passed with unchanged content to the data block of a DeviceNet
message so that it is available at the PLC as consistent input data.
Furthermore, the gateway provides additional functions to relieve the master PLC and to simplify PLC
programming.
6 DeviceNet CIP Object Implementation
DeviceNet is based on Common Industrial Protocol (CIP)
The following CIP objects are implemented in GK473:
Mandatory objects:
Class Code Object Name Number of Instances
0x01 Identity 1
0x03 DeviceNet 1
0x04 Assembly 1
0x05 Connection 3
0x2B Acknowledge Handler 1
Vendor Specific Objects
Class Code Object Name Number of Instances
0x64 GK473 1
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Identity Object, Class 0x01
Class Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Revision UINT 0x0001
Class Services Service Code
Get Attribute Single 0x0E
Instance Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Vendor ID UINT 0x01D4
2 Get Device Type UINT 0x000C
3 Get
Product Code
UINT 0x002D
4 Get Revision
STRUCT
of:
USINT:Major
fieldbus version
USINT: Minor
fieldbus version
0x0101
5 Get Status WORD
Refer to Common
Industrial
Specification
6 Get Serial Number UDINT 0x00000001
7 Get Product Name SHORT_STRING
“GK473
DeviceNet”
8 Get State USINT
Refer to Common
Industrial
Specification
Instance Services Service Code
Get Attribute Single 0x0E
Set Attribute Single 0x10
RESET 0x05
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Message Router Object, Class 0x02
Implemented but no visible attributes or services.
DeviceNet Object, Class 0x03
Class Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Revision UINT 0x0002
Class Services Service Code
Get Attribute Single 0x0E
Instance Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get MAC ID UISNT
2 Get Baud Rate USINT
3 Get
BOI (Bus Off Interrupt)
BOOL
4 Get Bus Off Counter USINT
5 Get Allocation Information
STRUCT
of:
Allocation choice Byte Byte
Master’s MAC ID USINT
6 Get MAC ID Switch changed BOOL
7 Get Baud Rate Switch changed BOOL
8 Get MAC ID Switch Value USINT
9 Get Baud Rate Switch Value USINT
Instance Services Service Code
Get Attribute Single 0x0E
Set Attribute Single 0x10
Allocate Master/Slave connection
Set
0x4B
Release Master/Slave connection
Set
0x4C
Assembly Object, Class 0x04
Class Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Revision UINT 0x0002
Class Services Service Code
Get Attribute Single 0x0E
Instance Attributes – Instance/Connection 0x65
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
3 Get
RS485 Subbus, SPA status information
complete
ARRAY[48] of
USINT
Instance Services Service Code
Get Attribute Single 0x0E
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Connection Object, Class 0x05
Class Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Revision UINT 0x0001
Class Services Service Code
Get Attribute Single 0x0E
Create 0x08
Instance 1 = Explicit Messaging Connection
Instance 2 = I/O Poll Connection
Instance 4 = Change of State (COS) Connection
Instance 2 IO Poll Connection Attributes
Attribute
ID
Access
Rule
Name
DeviceNet
Data type
Value
Description
1 Get State
USINT
0x01
0 = Non existent
1 = Configuring
3 = Established
4 = Timeout
2 Get Instance type USINT 0x01 I/O Connection
3 Get Transport Class Trigger
BYTE
0x83
Defines the behaviour of the connection
4 Get Produced Connection ID
UINT
0x3FF
CAN ID for transmission
5 Get Consumed Connection ID UINT 0x5FD CAN ID for reception
6 Get
Initial Comm
Characteristics
BYTE
0x01
Defines Message Groups to
consume/produce date
7 Get Produced Connection Size
UINT
0x0030
Number of bytes transmitted across
this connection
8 Get
Consumed Connection
Size
UINT
0x0000
Number of bytes received across
this connection
9 Get/Set Expected Packet Rate UINT Timing associated with this connection
12 Get Watchdog Time out action
USINT
0x00
0 = Transition to the timed out state
1 = Auto Delete
2 = Auto Reset
3 = Deferred Delete
13 Get
Produced Connection Path
length
UINT
0x0006
Number of bytes in the produced
Connection path attribute
14 Get Produced Connection Path
EPATH
0x200424653003
Application object producing data
on this connection
15 Get
Consumed connection
Path length
UINT
0x0006
Number of bytes in the consumed
Connection path length attribute
16 Get
Consumed Connection
Path
EPATH
0x200424653003
Specifies the application object(s)
that are to receive the data consumed
by this connection object
17 Get/Set Production Inhibit Time UINT 0x0000 Production Inhibit Time
Instance Services Service Code
Delete 0x09
Reset 0x05
Apply Attributes 0x0D
Get Attribute Single 0x0E
Set Attribute Single 0x10
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Acknowledge Handler Object, Class 0x2B
Class Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Revision UINT 0x0001
2 Get Max instance UINT 0x0001
Class Services Service Code
Get Attribute Single 0x0E
Instance Attributes
Attribute
ID
Access
Rule
Name
DeviceNet
Data type
Value
Description
1 Get/Set Acknowledge timer
UINT
0x0018
Time (in ms) to wait for
acknowledge
before resending
2 Get/Set Retry Limit
USINT
0x20
Number of Ack Timeouts to wait
before informing the producing
application of a
RetryLimit_Reached event.
3 Get/Set
Producing
Connection Instance
USINT
0x0004
Connection Instance which
contains the path of the
producing I/O application object
which will be notified of Ack
Handler events.
4 Get
Ack List Size
BYTE
0x01
Maximum number of members
in Ack List
5 Get
Ack List
BYTE
Array
of
UINT
0x00
List of active connection
instances which are receiving
Acks
6 Get
Data with Ack
Path List Size
BYTE
0x01
Maximum number of members
in Data with Ack Path List
7 Get
Data with Ack
Path List
BYTE
Array
of
UINT
USINT
Padded
EPATH
0x01040006206424013005
List of connection
instance/consuming application
object pairs. This attribute is
used to forward data received
with acknowledgment.
Instance Services Service Code
Get Attribute Single 0x0E
Set Attribute Single 0x10
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7 GK473 Object, Class 0x64
Class Attributes
Attribute ID Access Rule
Name
DeviceNet
Data type
Value
1 Get Revision UINT 0x0001
2 Get Max instance UINT 0x0001
Class Services Service Code
Get Attribute Single 0x0E
Instance Attributes
Attribute
ID
Access Rule
Name
DeviceNet
Data type
Value
Description
1 Get/Set Autoscan SPA BOOL 1 Autoscan of RS485 sub bus ON (0)-/OFF (1)
2
RWTransfer
Service
Code 0x32
Transfer SPA
command
transparent
ARRAY[16] of
USINT
0x20
For transparent transfer of all SPA commands
to the DeviceNet master“ through“ GK473 and
vice-versa
3 Get
RS485 Sub bus,
SPA state
information
complete
ARRAY[48] of
USINT
Information in binary code on state, number and
IDs of the SPAs (spindle position displays)
connected to RS485 sub bus
Byte 0..15 “SPA not in position”
Byte 16..31 “SPA in error states”
Byte 32..47 “SPA in timeout state”
4 Get SPA connected
ARRAY[16] of
USINT
Information in binary code on number and IDs
of SPAs connected to RS485 sub bus
5 Get SPA not in position
ARRAY[16] of
USINT
Information in binary code on number and IDs
of SPAs connected to RS485 sub bus being in
state not in position
6 Get SPA in error state
ARRAY[16] of
USINT
Information in binary code on number and IDs
of SPAs connected to RS485 sub bus being in
error state
7 Get
SPA in timeout
state
ARRAY[16] of
USINT
Information in binary code on number and IDs
of SPAs connected to RS485 sub bus being in
timeout state
Instance Services Service Code
Get Attribute Single 0x0E
Set Attribute Single 0x10
RWTransfer 0x32 Vendor Specific
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7.1 Attribute 1: Autoscan SPA
Class Instance Attribute Access Rule
Name
DeviceNet
Data type
Default
Value
100 1 1 Get/Set
Autoscan SPA, Automated scan of the
RS485 Sub bus ON/OFF
BOOL 1
Default: 1= ON
During operation the gateway is performing automatic and cyclic scanning operations of all SPAs connected
to verify whether they are “in position”. Upon request this information is batched under a special command
for DeviceNet read-in. The AutoScan function relieves the CANopen master from proceeding cyclic SPA
scanning operations itself.
This operating mode is necessary to make the batched information objects (GK473 class Attribute 3..7)
provide valid data.
However, there might be situations where this is not desired
Several commands to the SPA are only valid for the time being until another command is received (for
example indicate SPA ID in the lower display line). The AutoScan attribute would make these commands
ineffective. Furthermore, the scanning procedure keeps the RS485 bus busy and consequently the
commands received from the DeviceNet master can be processed by the gateway faster with AutoScan off.
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7.2 Attribute 2: Transparent transfer of a SPA command
Class Instance Attribute Access Rule
Name
DeviceNet
Data type
Default
Value
100 1 2
Transparent
Transfer
Service Code
0x32
(Vendorspecific)
Transparent transfer of SPA command
ARRAY[16]
of USINT
This object is for transparent transfer of all commands to the spindle position displays (SPA) utilizing the
vendor specific service Code 0x32.
Basically there is a transparent transfer of all commands under codes „A“...“z“ from DeviceNet Master to SPA
and vice-versa what enables addressing the SPAs individually or collectively by broadcast command. The
gateway does not verify whether a registered SPA is connected or not, neither the command code is verified.
The gateway replies to every command received by the DeviceNet-Master (PLC).
Response is by
• transparent transfer of the SPA reply, if an individual SPA was addressed and duly replied
• an abort message if the addressed SPA did not reply within the timeout window (approx. 100 ms)
Any timeout administered by the DeviceNet Master for monitoring of gateway reply should not be less than
400 ms.
The DeviceNet Master transmits to GK473 the transmission data within the limits SOH and EOT out of the
complete command to the addressed spindle position display (SPA). Length is always 16 bytes since digits
not utilized are filled up with 0.
Example: Programming the target (profile no = 17; target = -12,50; SPA identifier 0)
SOH Adr Cmd Profile no. = 17 Target = -12,50 EOT CRC
Transmission
01h 20h 53h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h FBh
In the other direction (responding SPA) start and stop token as well as CRC byte are taken out of the RS485
message which in its remaining content is transferred unchanged into the data block of a DeviceNet message
so that it will be available at the PLC as consistent input data.
Example: Programming the target (profile no = 17; target = -12,50; SPA identifier 0)
SOH Adr Cmd Profile no. = 17 Target = -12,50 EOT CRC
Response
01h 20h 53h 31h 37h 2Dh 30h 31h 32h 35h 30h 04h FBh
For details regarding content and format of SPA commands please refer to the respective user
manual.
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Example for transparent transfer of a SPA command
SPA identifier 0 (0x20) command: read current value „R“ (0x52)
Excerpt of operating manual SPA N140 :
This command is for reading the 6-digit current value (bottom line of the display). Data volume is always 6
Byte. A negative value comes with “-“ sign (2Dh) followed by 5 data Bytes. Positive values are returned as 6
data Bytes less sign. Values of less than 6 (5) digits come with preceding zeroes.
Example: Current value = -32,50
SOH Adr Cmd EOT CRCTransmission
01h 20h 52h 04h 40h
SOH Adr Cmd Current value = –32,50 EOT CRC
Response
01h 20h 52h
2Dh 30h 33h 32h 35h 30h
04h 54h
More examples in the annex.
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Batched information : GK473 class Instance Attribute 3..7
These objects are for convenient monitoring of the RS485 sub bus state and consequently the status of all
spindle position displays.
Prior condition of updated data is active Auto Scan SPA what means cyclic scanning of the RS485 sub bus.
Any change of state is saved in the GK473 memory for optional read-in into the PLC by Explicit Message, I/O
Poll or Change of State (COS).
7.3 Attribute 3: RS485 Sub-bus, full SPA status information
Class Instance Attribute Access Rule
Name
DeviceNet
Data type
Default
Value
100 1 3 Get RS485 sub-bus, full SPA status information
ARRAY[48]
of USINT
Output are 48 Bytes indicating the complete present status of the spindle position displays (SPAs) on the
RS485 sub-bus.
SPA identifiers and the respective states provide the following binary codes:
The data packet comprises the following information:
Byte 0..15 “SPA not in position”
Byte 16..31 “SPA in error state”
Byte 32..47 “SPA in timeout state”
Example below:
SPA with identifiers 1,2,7 und 30 are not in position
SPA with identifer 5 is in error state (no motor supply)
SPA with identifier 58 is in timeout state (cable break, no reply)
Manual_GK473_DeviceNet_EN.doc 20/31 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Example using the RSNetworx class instance editor
Byte[0]..[15]
binär
Byte[16]..[31]
binär
Byte[32]..[47]
binär
0 31 62 93 2
0
0 31 62 93 2
0
0 31 62 93 2
0
1 32 63 94 2
1
1 32 63 94 2
1
1 32 63 94 2
1
2 33 64 95 2
2
2 33 64 95 2
2
2 33 64 95 2
2
3 34 65 96 2
3
3 34 65 96 2
3
3 34 65 96 2
3
4 35 66 97 2
4
4 35 66 97 2
4
4 35 66 97 2
4
5 36 67 98 2
5
5 36 67 98 2
5
5 36 67 98 2
5
6 37 68 bc 2
6
6 37 68 bc 2
6
6 37 68 bc 2
6
7 38 69 res. 2
7
7 38 69 res. 2
7
7 38 69 res. 2
7
8 39 70 res. 2
0
8 39 70 res. 2
0
8 39 70 res. 2
0
9 40 71 res. 2
1
9 40 71 res. 2
1
9 40 71 res. 2
1
10 41 72 res. 2
2
10 41 72 res. 2
2
10 41 72 res. 2
2
11 42 73 res. 2
3
11 42 73 res. 2
3
11 42 73 res. 2
3
12 43 74 res. 2
4
12 43 74 res. 2
4
12 43 74 res. 2
4
13 44 75 res. 2
5
13 44 75 res. 2
5
13 44 75 res. 2
5
14 45 76 res. 2
6
14 45 76 res. 2
6
14 45 76 res. 2
6
15 46 77 res. 2
7
15 46 77 res. 2
7
15 46 77 res. 2
7
16 47 78 res. 2
0
16 47 78 res. 2
0
16 47 78 res. 2
0
17 48 79 res. 2
1
17 48 79 res. 2
1
17 48 79 res. 2
1
18 49 80 res. 2
2
18 49 80 res. 2
2
18 49 80 res. 2
2
19 50 81 res. 2
3
19 50 81 res. 2
3
19 50 81 res. 2
3
20 51 82 res. 2
4
20 51 82 res. 2
4
20 51 82 res. 2
4
21 52 83 res. 2
5
21 52 83 res. 2
5
21 52 83 res. 2
5
22 53 84 res. 2
6
22 53 84 res. 2
6
22 53 84 res. 2
6
23 54 85 res. 2
7
23 54 85 res. 2
7
23 54 85 res. 2
7
24 55 86 res. 2
0
24 55 86 res. 2
0
24 55 86 res. 2
0
25 56 87 res. 2
1
25 56 87 res. 2
1
25 56 87 res. 2
1
26 57 88 res. 2
2
26 57 88 res. 2
2
26 57 88 res. 2
2
27 58 89 res. 2
3
27 58 89 res. 2
3
27 58 89 res. 2
3
28 59 90 res. 2
4
28 59 90 res. 2
4
28 59 90 res. 2
4
29 60 91 res. 2
5
29 60 91 res. 2
5
29 60 91 res. 2
5
30 61 92 res. 2
6
30 61 92 res. 2
6
30 61 92 res. 2
6
SPA not in position, SPA identifier
31 62 93 res. 2
7
SPA in error state , SPA identifier
31 62 93 res. 2
7
SPA in timeout state , SPA identifier
31 62 93 res. 2
7
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