2. Delta Tau
  3. Acc-73

Delta Tau Acc-73 Owner's manual

  • Hello! I've carefully reviewed the user manual for the Delta Tau ISA 3Ax-603776-xUxx Fieldbus Interface. This document thoroughly explains the setup, configuration using SyCon software, and use of the device. It explains how to integrate this device with PMAC for various fieldbus protocols, such as ProfiBus, DeviceNet, and CANopen, making data transfer seamless. I’m now ready to answer your questions about device’s features, setup, and use described in this document.
  • What protocols does the PMAC Gateway ISA support?
    How do I configure the PMAC Gateway?
    How is the fieldbus data accessed from PMAC?
^1 USER MANUAL
^2 Accessory 73
^3 ISA Fieldbus Interface
^4 3Ax-603776-xUxx
^5 Sept. 26, 2005
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2005 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
EN
Dispose in accordance with applicable regulations.
Accessory 73
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
Applying the PMAC Gateway .................................................................................................................................. 1
Fieldbus Connection Hints ................................................................................................................................... 2
SyCon Configuration ................................................................................................................................................. 2
System Requirements ................................................................................................................................................ 2
Installation Procedure ................................................................................................................................................ 2
THEORY OF OPERATION ...................................................................................................................................... 3
JEXP Interface........................................................................................................................................................... 4
Memory Pointer Mailbox .......................................................................................................................................... 4
Data Mailbox ............................................................................................................................................................. 5
Reading Incoming Data ............................................................................................................................................. 5
Reporting Input Status ............................................................................................................................................... 5
HARDWARE ............................................................................................................................................................... 7
E-Points ..................................................................................................................................................................... 7
Setting the Base Address of the PMAC Gateway .................................................................................................. 8
Setting the DPRAM Pointer Mailbox Address of the PMAC Gateway ................................................................. 8
Setting the DPRAM Data Mailbox Address of the PMAC Gateway ..................................................................... 8
DPRAM MEMORY MAP .......................................................................................................................................... 9
Process Data Handshake ...................................................................................................................................... 9
Process Data Transfer Modes ............................................................................................................................ 10
PROFIBUS ................................................................................................................................................................. 13
Profibus Specifications ............................................................................................................................................ 13
Profibus Layout Diagram ........................................................................................................................................ 14
Profibus LEDs ......................................................................................................................................................... 14
Diagnostic LEDs ................................................................................................................................................. 14
Profibus Fieldbus Configuration ............................................................................................................................. 15
Profibus Master Settings ..................................................................................................................................... 15
Profibus Slave Settings ....................................................................................................................................... 16
Profibus Sycon Configuration ................................................................................................................................. 16
Profibus Master Settings ......................................................................................................................................... 17
Configuring the Slave for Profibus .......................................................................................................................... 18
Downloading the Slave Configuration for Profibus ................................................................................................ 19
Testing and Monitoring the PMAC Gateway for Profibus ...................................................................................... 19
DEVICENET ............................................................................................................................................................. 21
DeviceNet Specifications ........................................................................................................................................ 21
DeviceNet Layout Diagram ..................................................................................................................................... 22
DeviceNet LEDs ..................................................................................................................................................... 22
Diagnostic LEDs ................................................................................................................................................. 22
DeviceNet Typical Interconnection ......................................................................................................................... 23
DeviceNet Fieldbus Configuration .......................................................................................................................... 23
DeviceNet Master Settings .................................................................................................................................. 23
DeviceNet Slave Settings .................................................................................................................................... 23
DeviceNet Sycon Configuration.............................................................................................................................. 24
DeviceNet Master Settings .................................................................................................................................. 24
DeviceNet Insert Slave ........................................................................................................................................ 25
DeviceNet Slave Configuration ............................................................................................................................... 25
Downloading the Configuration to PMAC Gateway ............................................................................................... 25
DeviceNet Debugging ............................................................................................................................................. 26
DeviceNet Auto Network Scan ............................................................................................................................... 26
CANOPEN ................................................................................................................................................................. 27
Accessory 73
ii Table of Contents
CANopen Specifications ......................................................................................................................................... 27
CANopen Layout Diagram ..................................................................................................................................... 28
CANopen LEDs ...................................................................................................................................................... 28
Diagnostic LEDs ................................................................................................................................................. 28
CANopen Typical Interconnection .......................................................................................................................... 29
CANopen Fieldbus Configuration ........................................................................................................................... 30
CANopen Master Settings ................................................................................................................................... 30
CANopen Slave Settings...................................................................................................................................... 30
CANopen SyCon Configuration.............................................................................................................................. 31
CANopen Master Settings ....................................................................................................................................... 31
CANopen Insert Slave ............................................................................................................................................. 32
Configuring the Slave for CANopen ....................................................................................................................... 32
Downloading the Configuration for CANopen ....................................................................................................... 32
APPENDIX A — SYCON MANUAL ...................................................................................................................... 33
APPENDIX B — RECOMMENDED M VARIABLE DEFINITIONS AND EXAMPLE PLC ......................... 51
MDefs ...................................................................................................................................................................... 51
Define the Pointers to the Mail Boxes ................................................................................................................ 51
Address Pointer Offsets ...................................................................................................................................... 51
Define Memory Locations for the Input Bytes (Receive Process Data) .............................................................. 52
General Purpose Timers ..................................................................................................................................... 52
Report All Output Data to the Fieldbus Slave (Send Process Data) ........................................................................ 52
Time Delay .......................................................................................................................................................... 53
Read all Commanded Outputs from the Fieldbus Slave (Receive Process Data) .................................................... 53
Time Delay .......................................................................................................................................................... 53
Further Processing of the Received Process Data if Required ................................................................................ 53
Accessory 73
Introduction 1
INTRODUCTION
This manual provides the information needed to apply the PMAC Gateway (PC ISA Version). A UMAC
compatible version is available and is covered in a separate manual. The PMAC Gateway provides a
high-speed interface to PMAC via PMAC’s JEXP (Expansion Port) interface. A cable is provided with
the PMAC Gateway.
There are two connectors located on the front of the Fieldbus Gateway card. The male DB9 connector is
the Diagnostic Connector and provides a RS232 link for the SyCon software. The second connector is
the Fieldbus Connector and it provides a means to connect to the fieldbus link. The form factor of this
connection is dependent on which fieldbus protocol is being used.
The PMAC Gateway ISA supports the following protocols:
ProfiBus Master-Opt1 (Female DB9)
ProfiBus Slave-Opt2 (Female DB9)
DeviceNet Master-Opt3 (5-pin Terminal Block)
DeviceNet Slave-Opt4 (5-pin Terminal Block)
CANopen Master-Opt5 (Female DB9)
CANopen Slave-Opt6 (Female DB9)
The protocol is dependent upon which hardware and therefore option is selected. The hardware cannot be
programmed for an alternate protocol including master/slave.
PMAC Gateway gets its power from the ISA (PC) bus. The DeviceNet version requires an external
24Vdc power supply for the fieldbus.
Applying the PMAC Gateway
There are ten steps in applying the PMAC Gateway:
1. Install the SyCon and PEWin software on the PC.
2. With the power off, install PMAC Gateway in the PC slot next to PMAC and connect the 50-pin
ribbon cable to JEXP.
3. Connect the PC to the PMAC Gateway card via a straight DB9 serial cable.
4. Launch the SyCon setup utility from the PC.
5. Establish communications to the PMAC Gateway card.
6. Configure the fieldbus and download it to the card. (The default PMAC Gateway configuration can
be used for testing.)
7. Assign PMAC M-Variables to represent fieldbus data and to communicate with the PMAC Gateway
8. Write a PMAC PLC using PMAC M-Variables to report data to the device and transfer data from the
device to the network.
9. Manually test by setting byte values in PMAC, verifying that they get to the appropriate fieldbus
location. Also, check communication from the fieldbus to PMAC.
10. Implement the assigned M-Variables in PLCs or motion programs as required. (Appendix A provides
a reprinted version of the SyCon Manual. Appendix B and C provide examples for M-Variable
assignment and PLC implementation.)
SyCon is provided with the PMAC Gateway under license. PEWin32 is a Delta Tau product and
normally is purchased with the first PMAC.
Accessory 73
2 Introduction
Fieldbus Connection Hints
Use approved cable.
Use approved connectors.
Make sure that terminating resistors are installed in the Master and the last Slave.
Confirm the slave Node address to prevent conflicts.
Provide 24Vdc to power the DeviceNet network.
Provide DC power to each slave as specified by the device manufacturer.
Document the configuration.
SyCon Configuration
SyCon is a universal fieldbus configuration tool developed by Hilscher Corporation that is used to
configure the PMAC Gateway. Delta Tau has licensed SyCon and it is provided as part of the PMAC
Gateway product. The Hilscher license agreement, which will be presented during the installation
process, still applies.
SyCon can configure fieldbus systems like ProfiBus, DeviceNet, and CANopen, along with Interbus,
SDS, etc. This is useful because then Sycon becomes a common tool that provides consistent user
interface for all protocols for both masters and slaves.
SyCon checks the dependencies between the devices, checks for configuration conflicts and warns of
possible errors. Some protocols support standardized files containing information about all features and
limitations of the slave device. SyCon uses these files for the configuration.
After the configuration, switch SyCon into a diagnostic mode. In diagnostic mode, watch all status
information of devices connected to the network. For example, the node list or slave diagnostic
information can be seen. If a slave is not operating correctly, it will be displayed in a different color,
normally red.
System Requirements
PC with 486 Pentium processor or higher
Windows 95 / 98 / NT / ME / XP / 2000
Free disk space: minimum 10 MB
RAM: minute 16 MB
Graphic resolution: 800 x 600 pixel or greater
Floppy disk 1.44M or CDRom
Installation Procedure
1. Insert the CD provided with PMAC Gateway into the CD drive.
2. Run SyCon.exe.
3. Follow the instructions as presented by the installation program.
4. Reboot the system after the installation process is complete.
5. Start Sycon.
6. Select a fieldbus.
7. Install the Master.
8. Install the Slave devices.
9. Test the Slave devices.
Accessory 73
Theory of Operation 3
THEORY OF OPERATION
The PMAC Gateway ISA board is organized as a motherboard/daughter board system. The motherboard
contains the ISA interface, JEXP (Expansion) interface, diagnostics, and the fieldbus connections. The
daughter boards contain the intelligence and the interface electronics required for each fieldbus. There is
a different daughter board for each fieldbus.
A micro controller on the daughter board implements each fieldbus communications protocol. Fieldbus
data is transferred to/from the fieldbus and placed in a dual-ported RAM (memory) on the daughter board.
The structure of this DPRAM is given later in this manual and is common for all the fieldbuses supported.
There are two different DPRAMs used, a 2K-byte device and an 8K-byte device.
The PMAC side of the DPRAM is interfaced to the JEXP (Expansion) interface. PMAC programs access
the fieldbus data by reading or writing data to memory addresses corresponding to the location of the
PMAC Gateway ISA board’s DPRAM.
PMAC Gateway Version
ProfiBus Master
ProfiBus Slave
CANopen Master
CANopen Slave
DeviceNet Master
DeviceNet Slave
The understanding of the PMAC Gateway is best approached by considering the PMAC side and the
Fieldbus side separately. A detailed discussion of each follows. Figure 1 shows a simplified view of the
dual-ported RAM interface between the PMAC Gateway and the PMAC interface.
Figure 1: PMAC Gateway DPRAM Interface
Once the PMAC Gateway is configured, it is a two-step process to read or write data to or from the
fieldbus via a PMAC PLC:
1. Set the start address offset in PMAC Gateway’s DPRAM by writing a value into PMAC Gateway’s
memory pointer mailbox (example: m1000=512).
2. Read input data or write output data to the fieldbus through PMAC Gateway’s data mailbox memory
location. (Example: m1001=m950 to affect outputs or m900=m1001 to read inputs.)
Accessory 73
4 Theory of Operation
JEXP Interface
On the PMAC side, the key to understanding how to use the PMAC Gateway is to understand the JEXP
interface. PMAC’s JEXP (Expansion) interface provides address, data and control signals from PMAC to
peripheral devices. This is a fast 24-bit data path to and from PMAC. One of the limitations of the
interface however is the amount of address space provided.
There are not enough address lines available on this interface to directly map all of the fieldbus data into
PMAC memory. In order to solve the address limitation, a mailbox approach was implemented. All
fieldbus data is communicated to PMAC via a simple 8-bit mailbox. At first glance, it may appear that
moving the fieldbus data through one simple 8-bit memory location creates an unacceptable bottleneck.
This is not the case. This interface is very fast. Fast interface hardware, coupled with PMAC’s fast DSP
and proper software techniques makes for fast operation. Moving 100 bytes of input data and 100 bytes
of output data between PMAC and the PMAC Gateway occurs in less than ½ millisecond with the
slowest PMAC.
From PMAC’s point of view, the PMAC Gateway occupies two memory (I/O) locations. These locations
consist of a Memory Pointer Mailbox and a Data Mailbox. The Memory Pointer Mailbox is where
PMAC sets the starting address in PMAC Gateway’s DPRAM. The Data Mailbox is where PMAC gets
the data stored at the memory location pointed to by the data in the Memory Pointer Mailbox.
Note:
These locations must be mapped as 24 bit M-Variables.
The PMAC Gateway contains circuitry that increments the memory pointer set in the Memory Pointer
Mailbox after a read or write of the Data Mailbox. PMAC only has to set the memory pointer at the
beginning of a data transfer sequence if the DPRAM bytes of interest are in contiguous memory locations.
Memory Pointer Mailbox
A Memory Pointer Mailbox is used to set the starting address at which to read or write fieldbus data.
Hardware on the PMAC Gateway increments these addresses after each read or write of data.
Figure 2 depicts the Memory Pointer Mailbox as M1000. If m1000=0 then the starting address of data
acquired through the Data Mailbox will be 0 offset in PMAC Gateway’s dual-ported RAM.
Figure 2: Setting PMAC Gateway’s DPRAM Start Address
The PMAC Gateway has in its dual-ported memory an area for send process data (slave inputs) and
receive process data (slave outputs). The data in these memory locations is transferred to/from PMAC via
a Data Mailbox register.
Accessory 73
Theory of Operation 5
Data Mailbox
Figures 3 and 4 depict the transfer of data from PMAC to the PMAC Gateway. Note the following things
about these figures:
1. The Data Mailbox (M1001) is defined as a 24-bit unsigned integer.
2. The data transferred between PMAC and the fieldbus are always eight bit integers. This is true
regardless of the eventual meaning of the data. PMAC Gateway supports many functions including
analog I/O, which is signed word oriented. In the case of word oriented I/O, the data is transferred in
two read or write cycles as LSB, MSB.
3. PMAC Gateway incorporates an auto-increment feature to speed up the process of transferring data to
or from PMAC and the fieldbus. The auto increment circuitry in PMAC Gateway bumps the memory
pointer by one location following a data transfer through the Data Mailbox. This is why at first
glance the PMAC programs (refer to figure 3 and 4) appear to be reading or writing to the same
memory location.
Reading Incoming Data
Receive process data is moved from the fieldbus to PMAC in the following manner. Typical meanings of
this data are: digital outputs controlled by PMAC, speed or position reference data from the host, mode
commands, etc.
Figure: 3 Moving Fieldbus Output Data to PMAC from PMAC Gateway
Reporting Input Status
Reporting data to the fieldbus from PMAC is accomplished in the following manner. The meaning of the
data is up to the user. Typical functions may be digital or analog input data obtained by PMAC needed
by the host. Position, velocity and status of motors may be another typical use.
Figure 4: Reporting PMAC Input Data to PMAC Gateway
Accessory 73
6 Theory of Operation
Accessory 73
Hardware 7
HARDWARE
E-Points
E-Point
Default
Alternate
Description
E1
ON
Connects PE to daughter board
E2-A
ON
Note 1
Selects CS04 – sets base address of PMAC Gateway
E2-B
OFF
Note 1
Selects CS06 – sets base address of PMAC Gateway
E2-C
OFF
Note 1
Selects CS10 – sets base address of PMAC Gateway
E2-D
OFF
Note 1
Selects CS12 – sets base address of PMAC Gateway
E2-E
OFF
Note 1
Selects CS14 – sets base address of PMAC Gateway
E2-F
OFF
Note 1
Selects CS16 – sets base address of PMAC Gateway
E3
1-2
Note 2
Enable Low Pass Filter on chip select line
E4
2-3
Note 3
Enable Low Pass Filter on chip select line
E5
1-2
2-3
Connects filter to daughter board
E6-A
OFF
N/A
Counter enable line ON Only for testing
E6-B
OFF
N/A
Counter enable line ON Only for testing
E7
OFF
N/A
Used only as tie point
E8
OFF
N/A
Wait line to PMAC
E9
2-3
1-2
1-2 Enables Reset by switch or PMAC, 2-3 Disabled
E10
2-3
1-2
1-2 Enables Reset by switch or PMAC, 2-3 Disabled
E11-A
ON
Note 1
Sets DPRAM Pointer address to Base+0
E11-B
OFF
Note 1
Sets DPRAM Pointer address to Base+1
E11-C
OFF
Note 1
Sets DPRAM Pointer address to Base+2
E11-D
OFF
Note 1
Sets DPRAM Pointer address to Base+3
E11-E
OFF
Note 1
Sets DPRAM Pointer address to Base+4
E11-F
OFF
Note 1
Sets DPRAM Pointer address to Base+5
E11-G
OFF
Note 1
Sets DPRAM Pointer address to Base+6
E11-H
OFF
Note 1
Sets DPRAM Pointer address to Base+7
E12
1-2
2-3
Sets DPRAM Pointer address to Y Memory
Sets DPRAM Pointer address to X or Y Memory
E13-A
OFF
N 1
Sets DPRAM Data address to Base+0
E13-B
ON
Note 1
Sets DPRAM Data address to Base+1
E13-C
OFF
Note 1
Sets DPRAM Data address to Base+2
E13-D
OFF
Note 1
Sets DPRAM Data address to Base+3
E13-E
OFF
Note 1
Sets DPRAM Data address to Base+4
E13-F
OFF
Note 1
Sets DPRAM Data address to Base+5
E13-G
OFF
Note 1
Sets DPRAM Data address to Base+6
E13-H
OFF
Note 1
Sets DPRAM Data address to Base+7
E14
1-2
2-3
Sets DPRAM Data address to Y Memory
Sets DPRAM Data address to X or Y Memory
Note 1: Only one on at a time. See table for address.
Note 2: For modules purchased prior to 2002, should be changed to 2-3 for a Turbo PMAC (Remove
the filter circuit.)
Note 3: For modules purchased prior to 2002, should be changed to 1-2 for a Turbo PMAC (Remove
the filter circuit.)
Accessory 73
8 Hardware
Setting the Base Address of the PMAC Gateway
E-Point
Chip Select
PMAC Addr
PMAC2 Addr
Turbo PMAC Addr
E2A
CS04
Y:$FFD0 – Y:$FFD7
Y:$FFD0 – Y:$FFD7
X/Y:$078A00-$078AFF
E2B
CS06
Y:$FFD8 – Y:$FFDF
Y:$FFD8 – Y:$FFDF
X/Y:$078B00-$078BFF
E2C
CS10
Y:$FFE0 – Y:$FFE7
Y:$FFE0 – Y:$FFE7
X/Y:$078C00-$078CFF
E2D
CS12
Y:$FFE8 – Y:$FFEF
Y:$FFE8 – Y:$FFEF
X/Y:$078D00-$078DFF
E2E
CS14
Y:$FFF0 – Y:$FFF7
Y:$FFF0 – Y:$FFF7
X/Y:$078E00-$078EFF
E2F
CS16
Y:$FFF8 – Y:$FFFF
Y:$FFF8 – Y:$FFFF
X/Y:$078F00-$078FFF
Setting the DPRAM Pointer Mailbox Address of the PMAC Gateway
E-Point
Address
Comments
E11-A
Base Address + 0
Default
E11-B
Base Address + 1
Only one on at a time
E11-C
Base Address + 2
Only one on at a time
E11-D
Base Address + 3
Only one on at a time
E11-E
Base Address + 4
Only one on at a time
E11-F
Base Address + 5
Only one on at a time
E11-G
Base Address + 6
Only one on at a time
E11-H
Base Address + 7
Only one on at a time
Setting the DPRAM Data Mailbox Address of the PMAC Gateway
E-Point
Address
Comments
E13-A
Base Address + 0
Only one on at a time
E13-B
Base Address + 1
Default
E13-C
Base Address + 2
Only one on at a time
E13-D
Base Address + 3
Only one on at a time
E13-E
Base Address + 4
Only one on at a time
E13-F
Base Address + 5
Only one on at a time
E13-G
Base Address + 6
Only one on at a time
E13-H
Base Address + 7
Only one on at a time
Example (using Default setting for PMAC1):
Non-Turbo M1000->Y:$FFD0,0,24,U DPRAM Memory Pointer Mailbox
M1001->Y:$FFD1,0,24,U Fieldbus Data Mailbox
Turbo M7000->Y:$078A00,0,24,U DPRAM Memory Pointer Mailbox
M7001->Y:$078A01,0,24,U Fieldbus Data Mailbox
Accessory 73
DPRAM Memory Map 9
DPRAM MEMORY MAP
Offset
(8K DPRAM)
Offset
(2K DPRAM)
Usage
Number of
Bytes
Comments
0000H-0DFFH
0000H-01FFH
Outputs/Send Data
512 bytes (in 2K)
3584 bytes (in 8K)
Send Process Data
0E00H-1BFFH
0200H-03FFH
Inputs/Recvd Data
255 bytes
Receive Process Data
1C00H-1D1FH
0400H-051FH
N/A
N/A
N/A
1D20H-1D23H
0520H-0523H
Date[4]
DeviceNumber[4]
SerialNumber[4]
Reserved[4]
4 bytes
4 bytes
4 bytes
4 bytes
PMAC Gateway
Information
1D24H-1D27H
0524H-0527H
1D28H-1D2BH
0528H-052BH
1D2CH-1D2FH
052CH-052FH
1D30H-1D33H
0530H-0533H
PcOsName0[4]
PcOsName1[4]
PcOsName2[4]
OemIdentifier[4]
4 bytes
4 bytes
4 bytes
4 bytes
PMAC Gateway
Information
1D34H-1D37H
0534H-0537H
1D38H-1D3BH
0538H-053BH
1D3CH-1D3FH
053CH-053FH
1D40H-1FEFH
0540H-07EFH
N/A
N/A
N/A
1FF0H
07F0H
RcsVersion
RcsError
HostWatchDog
DevWatchDog
SegmentCount
DeviceAddress
DriverType
integer
byte
byte
byte
byte
byte
byte
PMAC Gateway
Operating System
Information
1FF2H
07F2H
1FF3H
07F3H
1FF4H
07F4H
1FF5H
07F5H
1FF6H
07F6H
1FF7H
07F7H
1FF8H
07F8H
DpmSize
DevType
DevModel
DevIdentifier[3]
Byte
byte
byte
3 bytes
PMAC Gateway
Information
1FF9H
07F9H
1FFAH
07FAH
1FFBH-1FFDH
07FBH-07FDH
1FFEH
07FEH
PMAC Gateway
Flags
Byte
CMD and
Acknowledge PMAC
Gateway to PMAC
Handshake
1FFFH
07FFH
PMAC Flags
Byte
CMD and
Acknowledge PMAC to
PMAC Gateway
Handshake
Process Data Handshake
Since there are two CPUs trying to access the data in the PMAC Gateway’s DPRAM (PMAC and the
Fieldbus), there must be a mechanism to handle the situation when both want access at the same time.
Hardware on the PMAC Gateway prevents collisions from causing problems.
When PMAC Gateway is set to Uncontrolled as it is by default, only the hardware mechanism for
DPRAM access is enabled. This guarantees Byte consistency only. This is the simplest method and in
most systems, works well. Since access by PMAC is very fast, usually there are no problems.
By setting this parameter to Buffered, PMAC Controlled, a mechanism is enabled that allows PMAC to
control the transfer of process data. PMAC can write all its data into the DPRAM of the PMAC Gateway
board and then cause it to be made available to the fieldbus, thus guaranteeing Word consistency.
By setting this parameter to Buffered, PMAC Gateway Controlled, a mechanism is enabled that allows
the PMAC Gateway to control the transfer of process data.
Accessory 73
10 DPRAM Memory Map
Process Data Transfer Modes
Uncontrolled (Asynchronous)
PMAC and PMAC Gateway read and write the DPRAM asynchronously. Hardware on the PMAC
Gateway prevents DPRAM conflicts. If the total data transfer over the fieldbus for this node is more than
the fieldbus can transmit in one network cycle, then this data transfer mode guarantees only byte
consistency in the data which may be acceptable under many circumstances.
The Com bit in the Host Flags location is set as soon as the data exchange over the fieldbus occurs. For
each valid fieldbus cycle, the PMAC Gateway does an updating data exchange with the process data
buffers of the dual-ported memory, ignoring the states of the PdAck and PdCom bits in the Host Flags
and DevFlags.
Accessory 73
DPRAM Memory Map 11
PMAC changes the send process data or read receive process data anytime, without using the PdAck and
PdCom bits synchronization mechanism. Therefore, this operating mode realizes the simplest method to
transfer the process data, but only byte consistency for interrelated data is guaranteed.
Buffered, Controlled by PMAC
The Com bit in the Host Flags location is set as soon as the data exchange over the fieldbus occurs. For
each valid fieldbus cycle, the PMAC Gateway does an updating data exchange with two internal buffers.
By inverting the PdCom bit in DevFlags, the transfer from the dual-port memory data to the internal
buffers is activated by the program.
The PMAC Gateway communicates its access by adjusting the state of the bit PdAck to the state of the
PdCom bit. Therefore, the PdCom and PdAck bits become equal and the PMAC Gateway gets back its
access rights to the dual-port memory buffers.
In this operating mode, bus cycles and dual-ported memory data exchange are not coupled, so delay time
arises in the worst case up to two bus cycles because a running bus cycle must have finished before an
access to internal buffers can be started.
Buffered, Controlled by PMAC Gateway
The Com bit in the Host Flags location is set as soon as the data exchange over the fieldbus occurs. For
each valid fieldbus bus cycle, the PMAC Gateway does an updating data exchange with two internal
buffers. If the PMAC Gateway has the access directly to the process data areas of the dual-ported
memory (i.e. the PdAck and PdCom bits are equal), an exchange between the internal buffers and the
dual-ported memory is executed. The end of the exchange is indicated to PMAC by inverting the PdAck
bit of the Host Flags. Therefore, the PdAck and PdCom bits become unequal and the program gets the
access on both data buffers.
If the program has finished its work on the process-data area, it has received access by inverting the
PdCom bit of the DevFlags. The states of the PdAck and PdCom bits are equal and the PMAC Gateway
gets back the access to the process data of the dual-ported memory.
Accessory 73
12 DPRAM Memory Map
Accessory 73
Profibus 13
PROFIBUS
Profibus represents one of the best-known industrial FieldBus protocols from Europe. Profibus can be
used in a very wide range of applications as a multi-application communications link for industrial
devices, as well as cell-level communication. Profibus is an established standard, first introduced in 1989.
The Profibus protocol was originally developed by the committee founded by the German government.
The resulting protocol was initially adopted as DIN standard 19245 and was then adopted as a European
Common Standard EC50170. Profibus connects to a wide variety of field devices including discrete and
analog I/O, drives, robots, MMI products, pneumatic valves, barcode readers, weigh scales, transducers,
and flow measuring equipment.
Profibus utilizes a non-powered two-wire (RS485) network.
It can transfer a maximum of 244 bytes data per node per cycle.
Communication rates are selectable but overall end-to-end network distance varies as indicated below:
12Mbps with a maximum distance of 100m
93.75Kbps at maximum distance of 1200m without repeaters
Profibus Specifications
Size
3Ux 4HP (UMAC Compatible)
Power Requirements
+5vdc, 700ma (from ISA PC-bus)
Connector Types
50 Pin JEXP (Expansion Port) interface
9 Pin D-Male Diagnostic interface
9 Pin D-Profibus interface
Dual Port Memory Size
2048 Bytes (2K)
Communication Maximum Size
Inputs
Outputs
368 Bytes
244 Bytes
244Bytes
I/O Capacity
1k Bytes
Baud Rate(s)
9.6k up to 12 Mbaud
Max. Nodes
126
Diagnostic RS232C Port
Yes
Program Storage
Flash Memory
Watchdog Timer
Yes
Operating Temperature
0-55Deg C
Profibus Chip Technology
Master = ASPC2
Slave = SPC3
Lab Certified
Yes
Accessory 73
14 Profibus
Profibus Layout Diagram
Profibus LEDs
Diagnostic LEDs
Diagnostic LEDs are provided to give visual indications of board status. The green LEDs are easy to
understand. If everything is okay, the two inner LEDs will be ON. Other states are discussed below. The
yellow LEDs are used to indicate more states than the green ones. Look for patterns as described below
to decipher the meaning.
Accessory 73
Profibus 15
D1
D2
d c b a
Diagnostic
LEDs
Green LED D1-A
Not used on Profibus version
Green LED D1-D
Not used on Profibus version
Green LED D1-C
ON = Ready
OFF = Hardware Error or no power
Flashing Cyclic = Bootstrap loader active
Flashing Non-Cyclic = System or hardware error
Green LED D1-B
ON = Communication Active
OFF = Communication Stopped
Flashing = Parameter Error (i.e. Mismatch)
Yellow LED D2-A
ON = Fieldbus Data Exchange Occurring
OFF = No Fieldbus Data Exchange Occurring
Yellow LED D2-B
ON = Communication Error
OFF = No Communication Error
Yellow LED D2-C
Not used on the Profibus Version
Yellow LED D2-D
Not used on the Profibus Version
Profibus Fieldbus Configuration
The fieldbus side of the PMAC Gateway conforms to the Profibus fieldbus standard. The characteristics
of the fieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC
Gateway using the Sycon Configuration software shipped with the PMAC Gateway. The PMAC
Gateway slave may be configured from the fieldbus master. The following table summarizes the
characteristics that can be configured.
Profibus Master Settings
Item
Parameter
Setting As Shipped
1
Bus speed
1200 K bit/S
2
Handshake mode
No consistence, uncontrolled
3
Behavior after power up
Automatic release of communication by the device
4
Watchdog time
1000 msec
5
Addressing mode
Byte addresses
6
Storage format
Big Endian
7
General
Station address = 0
Accessory 73
16 Profibus
Profibus Slave Settings
Item
Parameter
Setting As Shipped
1
Handshake Mode
No consistence, uncontrolled
2
Configuration Mode
By SyCon
3
Behavior after power up
Automatic release of communication by the device
4
Configuration Data
Standard
5
Watchdog time
1000 msec
6
DPV1 Parameter
Class 2 buffer length = 0
7
General
Station Address = 1
Activate device in actual configuration
Enable Watchdog Control
8
I/O Configuration
1
Length of input data
184 bytes
Length of output data
184 bytes
Number of modules
10
The fieldbus characteristics of the PMAC Gateway are defined in GSD files that come with the SyCon
software. The Profibus master is defined in HIL 7506.GSD and the Profibus slave is defined in
HIL_7501.GSD. The configuration/diagnostic port on PMAC Gateway provides a convenient method for
configuration and for monitoring the fieldbus side of the PMAC Gateway. The following provides an
example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gateway.
Profibus Sycon Configuration
To insert a new master into the configuration, select the Master icon in the menu toolbar and insert a new
master on the bus. Once loaded, the screen should be displayed on the PC.
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