Baumer GK473 Owner's manual

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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Baumer GK473 Owner's manual

Baumer GK473 Owner's manual

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