Anybus AB4004 User guide

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HMS Industrial Networks

Mailing address: Box 4126, 300 04 Halmstad, Sweden

Visiting address: Stationsgatan 37, Halmstad, Sweden

Connecting Devices

TM

E-mail: [email protected]

Web: www.anybus.com

Fieldbus Appendix

Anybus-S DeviceNet

Doc.Id. SCM-1200-041

Rev. 2.53

Preface About This Document

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

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

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

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

Conventions & Terminology.............................................................................................................. P-2

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

Chapter 1 About the Anybus-S DeviceNet

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

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

Conformance Note ...............................................................................................................................1-1

Overview ................................................................................................................................................1-2

Network Status LEDs ..........................................................................................................................1-2

Chapter 2 Basic Operation

General Information.............................................................................................................................2-1

Software Requirements ..................................................................................................................2-1

Electronic Data Sheet (EDS).......................................................................................................2-1

CIP Identity Information .....................................................................................................................2-2

MAC ID & Baud Rate Configuration................................................................................................2-3

Data Exchange.......................................................................................................................................2-4

General Information......................................................................................................................2-4

I/O Data.....................................................................................................................................2-4

Parameter Data (Explicit Data) ..................................................................................................2-4

Chapter 3 CIP Object Implementation

General Information.............................................................................................................................3-1

Identity Object, Class 01h....................................................................................................................3-2

General Information......................................................................................................................3-2

Class Attributes ...........................................................................................................................3-2

Instance Attributes........................................................................................................................3-2

Device Status ................................................................................................................................3-3

Service Details: Reset ....................................................................................................................3-3

Message Router, Class 02h...................................................................................................................3-4

General Information......................................................................................................................3-4

Class Attributes ...........................................................................................................................3-4

Instance Attributes........................................................................................................................3-4

DeviceNet Object, Class 03h ..............................................................................................................3-5

General Information......................................................................................................................3-5

Class Attributes ...........................................................................................................................3-5

Instance #1 Attributes .................................................................................................................3-5

Table of Contents

Table of Contents II

Assembly Object, Class 04h ................................................................................................................3-6

General Information......................................................................................................................3-6

Class Attributes ...........................................................................................................................3-6

Instance Attributes - Instance/Connection Point 64h ....................................................................3-7

Instance Attributes - Instance/Connection Point 65h... 69h..........................................................3-7

Instance Attributes - Instance/Connection Point 96h ....................................................................3-7

Instance Attributes - Instance/Connection Point 97h... 9Bh .........................................................3-7

Connection Object, Class 05h.............................................................................................................3-8

General Information......................................................................................................................3-8

Class Attributes ...........................................................................................................................3-8

Instance Attributes........................................................................................................................3-9

Instance 1 (Explicit Messaging Connection) Attributes ...............................................................3-10

Instance 2 (Polled Connection) Attributes....................................................................................3-10

Instance 3 (Bit-strobe connection) Attributes................................................................................3-10

Instance 4 (COS/Cyclic connection) Attributes ...........................................................................3-11

Instance 10... 14 (UCMM Explicit Server Instances) Attributes ...............................................3-11

Acknowledge Handler Object, Class 2Bh .......................................................................................3-12

General Information....................................................................................................................3-12

Class Attributes .........................................................................................................................3-12

Instance Attributes......................................................................................................................3-12

I/O Data Input Mapping Object, Class A0h..................................................................................3-13

General Information....................................................................................................................3-13

Class Attributes .........................................................................................................................3-13

Instance Attributes, Instance 01h................................................................................................3-13

I/O Data Output Mapping Object, Class A1h ..............................................................................3-14

General Information....................................................................................................................3-14

Class Attributes .........................................................................................................................3-14

Instance Attributes, Instance 01h................................................................................................3-14

Diagnostic Object, Class AAh...........................................................................................................3-15

General Information....................................................................................................................3-15

Class Attributes .........................................................................................................................3-15

Instance Attributes, Instance 01h................................................................................................3-15

Parameter Data Input Mapping Object, Class B0h .......................................................................3-16

General Information....................................................................................................................3-16

Class Attributes .........................................................................................................................3-16

Instance Attributes, Instance 01h................................................................................................3-17

Parameter Data Output Mapping Object, Class B1h ....................................................................3-18

General Information....................................................................................................................3-18

Class Attributes .........................................................................................................................3-18

Instance Attributes, Instance 01h................................................................................................3-19

Chapter 4 Mailbox Interface

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

Configuration Switch............................................................................................................................4-2

Set Dip Switch (SET_DIPSWITCH) .......................................................................................4-2

Set Dip Switch 2 (SET_DIPSWITCH_2)................................................................................4-3

Get Dip Switch (GET_DIPSWITCH)......................................................................................4-4

Set MAC ID and Baud Rate (SET_MAC_AND_BR)..........................................................4-5

Table of Contents III

Mapping ..................................................................................................................................................4-7

Parameter Data Input Area Mapping (PARAMETER_INPUT_MAP) ...............................4-7

Parameter Data Output Area Mapping (PARAMETER_OUTPUT_MAP).........................4-9

I/O Data Input Area Mapping (IO_INPUT_MAP) .............................................................4-11

I/O Data Output Area Mapping (IO_OUTPUT_MAP) ......................................................4-13

Other .....................................................................................................................................................4-15

Set Product Info (SET_PRODUCT_INFO)...........................................................................4-15

Set Product Info All (SET_PRODUCT_INFO_ALL) ........................................................4-16

Set Product Code (SET_PRODUCT_CODE) .......................................................................4-17

Enable Quick Connect (ENABLE_QUICK_CONNECT) .................................................4-18

Get ID Reset Parameter (GET_ID_RESET_PARAM).......................................................4-19

Disable UCMM functionality (DISABLE_UCMM)..............................................................4-20

Enable data consistency (ENABLE_DATA_CONSISTENCY) ........................................4-21

Set Serial Number (SET_SERIAL_NUMBER) ..................................................................4-22

Chapter 5 Fieldbus Specific Area

Memory Map..........................................................................................................................................5-1

Appendix A Miscellaneous

Control Register Area .......................................................................................................................... A-1

Appendix B Connectors

Application Interface ........................................................................................................................... B-1

DeviceNet Connector.......................................................................................................................... B-1

Appendix C Mechanical Specification

Measurements, Connectors & Switches ........................................................................................... C-2

Angled Switches & Connectors .................................................................................................... C-2

Straight Switches & Connectors................................................................................................... C-3

Appendix D Technical Specification

Electrical Specification ........................................................................................................................D-1

Protective Earth (PE) Requirements ............................................................................................D-1

Supply Voltage............................................................................................................................D-1

Power Consumption .....................................................................................................................D-1

Environmental Specification ..............................................................................................................D-1

EMC Compliance (CE) .......................................................................................................................D-1

Appendix E Quick Connect

Preface

About This Document

How To Use This Document

This document is intended to be used as a supplement to the Anybus-S Parallel Design Guide. The read-

er of this document is expected to have basic knowledge in the DeviceNet fieldbus system, and com-

munication systems in general.

Please consult the general Anybus-S Parallel Design Guide for further information about the Anybus-S

platform.

Important User Information

The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB,

reserve the right to modify our products in line with our policy of continuous product development. The

information in this document is subject to change without notice and should not be considered as a com-

mitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for

any errors that may appear in this document.

There are many applications of this product. Those responsible for the use of this device must ensure

that all the necessary steps have been taken to verify that the application meets all performance and safe-

ty requirements including any applicable laws, regulations, codes, and standards.

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

erty of their respective holders.

The examples and illustrations in this document are included solely for illustrative purposes. Because of

the many variables and requirements associated with any particular implementation, HMS Industrial

Networks cannot assume responsibility or liability for actual use based on these examples and illustra-

tions.

Warning: This is a class A product. In a domestic environment this product may cause radio interfer-

ence in which case the user may be required to take adequate measures.

ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged

if ESD control procedures are not followed. Static control precautions are required when

handling the product. Failure to observe this may cause damage to the product.

About This Document P-2

See also...

• 2-2 “CIP Identity Information”

• 3-2 “Identity Object, Class 01h”

IMPORTANT: The generic EDS-file supplied by HMS can be used with the standard CIP Identity settings. To com-

ply with CIP-specification requirements, any changes in this file also requires a new Vendor ID.

For further information, contact HMS and/or ODVA.

Basic Operation 2-2

CIP Identity Information

By default, the module supports the generic CIP-profile with the following identity settings:

• Vendor ID: 005Ah (HMS Industrial Networks)

• Device Type: 000Ch (Communications Adapter)

• Product Code: 000Ch (Anybus-S DeviceNet)

• Product Name: ‘Anybus-S DeviceNet’

See also...

• 3-2 “Identity Object, Class 01h”

• 4-15 “Set Product Info (SET_PRODUCT_INFO)”

• 4-16 “Set Product Info All (SET_PRODUCT_INFO_ALL)”

IMPORTANT: The default identity information is valid only when using the standard EDS-file supplied by HMS.

To comply with CIP-specification requirements, custom EDS-implementations require a new Vendor ID.

For further information, contact HMS and/or ODVA.

Basic Operation 2-3

MAC ID & Baud Rate Configuration

On a DeviceNet network, each node must be assigned it’s own unique Mac ID. The Mac ID is a value

between 0 an 63 used to identify each node. The Mac ID and Baud rate settings can be set either using

a physical DIP-switch or via the application interface using mailbox commands.

Switches 1 and 2 specify the baudrate, while switches 3 though 8 specify the Mac ID:

Depending on the physical orientation of the module is mounted, it may be necessary to change the bit

definition of the switches to comply with the DeviceNet specification. This is achieved by reading the

physical switch value (see 4-4 “Get Dip Switch (GET_DIPSWITCH)”), alter it as required, and write it

back (see 4-5 “Set MAC ID and Baud Rate (SET_MAC_AND_BR)”).

Optionally, the MAC ID and Baud Rate can be specified from the network. This functionality is disabled

by default, but can be enabled using the ‘SET_MAC_AND_BR’-command.

See also...

• 4-4 “Get Dip Switch (GET_DIPSWITCH)”

• 4-5 “Set MAC ID and Baud Rate (SET_MAC_AND_BR)”

IMPORTANT: The recommendations regarding the switches has changed somewhat compared to older revisions of the

product. Note however that the module is fully backwards compatible regarding this functionality, and still supports the

‘SET_DIPSWITCH’- and ‘SET_DIPSWITCH2’-commands.

S1S2Baudrate S3S4S5S6S7S8Mac ID

OFF OFF 125k OFF OFF OFF OFF OFF OFF 0

OFF ON 250K OFF OFF OFF OFF OFF ON 1

ON OFF 500K OFF OFF OFF OFF ON OFF 2

ON ON (reserved) OFF OFF OFF OFF ON ON 3

... ... ... ... ... ... ...

ON ON ON ON OFF OFF 60

ON ON ON ON OFF ON 61

ON ON ON ON ON OFF 62

ON ON ON ON ON ON 63

Basic Operation 2-4

Data Exchange

General Information

DeviceNet is based on the Control and Information protocol (CIP) which is also the application layer

for ControlNet and EtherNet/IP.

See also...

• 3-1 “CIP Object Implementation”

I/O Data

I/O Data is represented on DeviceNet through dedicated instances in the Assembly Object.

See also...

• 3-6 “Assembly Object, Class 04h”

• 3-13 “I/O Data Input Mapping Object, Class A0h”

• 3-14 “I/O Data Output Mapping Object, Class A1h”

• 4-11 “I/O Data Input Area Mapping (IO_INPUT_MAP)”

• 4-13 “I/O Data Output Area Mapping (IO_OUTPUT_MAP)”

Parameter Data (Explicit Data)

Parameter Data can be accessed through explicit messages towards the Parameter Input- and Output

Mapping Objects.

The actual mapping between Parameter Data and instance attributes can be specified using the

‘PARAMETER_INPUT_MAP’ and ‘PARAMETER_OUTPUT_MAP’ commands.

See also...

• 3-16 “Parameter Data Input Mapping Object, Class B0h”

• 3-18 “Parameter Data Output Mapping Object, Class B1h”

• 4-7 “Parameter Data Input Area Mapping (PARAMETER_INPUT_MAP)”

• 4-9 “Parameter Data Output Area Mapping (PARAMETER_OUTPUT_MAP)”

Chapter 3

CIP Object Implementation

General Information

The Anybus-S DeviceNet implements the following standard objects:

• Identity Object, Class 01h

• Message Router, Class 02h

• DeviceNet Object, Class 03h

• Assembly Object, Class 04h

• Connection Object, Class 05h

• Acknowledge Handler Object, Class 2Bh

In addition, the following vendor specific objects are implemented:

• I/O Data Input Mapping Object, Class A0h

• I/O Data Output Mapping Object, Class A1h

• Diagnostic Object, Class AAh

• Parameter Data Input Mapping Object, Class B0h

• Parameter Data Output Mapping Object, Class B1h

CIP Object Implementation 3-2

Identity Object, Class 01h

General Information

Object Description

-

Implemented Services

Class services: Get Attribute Single

Instance services: Get Attribute Single

Reset (see 3-3 “Service Details: Reset”)

Class Attributes

Instance Attributes

# Access Name Type Value

1 Get Revision UINT 0001h

# Access Name Type Value

1Geta

a. Can be customized.

Vendor ID UINT 005Ah (HMS Industrial Networks AB)

2GetaDevice Type UINT 000Ch (Communications Adapter)

3GetaProduct Code UINT 000Ch (Anybus-S DeviceNet)

4GetaRevision Struct of:

USINT,

USINT

(Major fieldbus version)

(Minor fieldbus version)

5 Get Status WORD (see 3-3 “Device Status”)

6GetaSerial Number UDINT (assigned at manufacturing)

7GetaProduct Name SHORT_STRING ‘Anybus-S DeviceNet’

CIP Object Implementation 3-3

Device Status

Service Details: Reset

There are two types of network reset requests on DeviceNet:

• Type 0: ‘Power Cycling Reset’

This causes the module to restart the DeviceNet software layer. The communication between

the application and the Anybus module remains unaffected.

• Type 1: ‘Out of box reset’

This causes the module to revert to an ‘out of box’ configuration and restart the internal Device-

Net software layer. The communication between the application and the Anybus module re-

mains unaffected.

Optionally, the application can be notified of network reset requests through the Event Notification

functionality (RST-bit).

The application can then retrieve the type of reset through the ‘GET_ID_RESET_PARAM’-mailbox

command, and perform the desired actions based on this information. Note however that the module

will still perform the actions described above.

See also...

• 4-19 “Get ID Reset Parameter (GET_ID_RESET_PARAM)”

• Anybus-S/M Parallel Design Guide (‘Event Notification’)

bit(s) Name

0 Module Owned (A master/scanner has allocated the module)

1 (reserved)

2 Configured (always set to zero)

3 (reserved)

4... 7 Extended Device Status:

Value: Meaning:

0000b Unknown

0010b Faulted I/O Connection (not implemented)

0011b No I/O connection established

0100b Non-volatile configuration bad (not implemented)

0110b Connection in Run mode

0111b Connection in Idle mode

(other) (reserved)

8 Set for minor recoverable faults

9 Set for minor unrecoverable faults

10 Set for major recoverable faults

11 Set for major unrecoverable faults

12... 15 (reserved)

CIP Object Implementation 3-4

Message Router, Class 02h

General Information

Object Description

-

Supported Services

Class services: -

Instance services: -

Class Attributes

-

Instance Attributes

-

CIP Object Implementation 3-5

DeviceNet Object, Class 03h

General Information

Object Description

-

Supported Services

Class Get Attribute Single

Instance: Get Attribute Single

Set Attribute Single

Allocate Master/Slave Connection Set (4Bh)

Release Group 2 Identifier Set (4Ch)

Class Attributes

Instance #1 Attributes

# Name Access Type Value

1 Revision Get UINT 0002h

# Name Access Type Value

1MAC IDa

a. Attributes only settable if enabled using ‘SET_MAC_AND_BR’. See also 4-5 “Set MAC ID and Baud Rate

(SET_MAC_AND_BR)”.

Get (Set) USINT (actual MAC ID)

2Baud RateaGet (Set) USINT Value: Meaning:

0 Operating at 125 kbps

1 Operating at 250 kbps

2 Operating at 500 kbps

3 BOI Get/Set BOOL False

4 Bus off Counter Get/Set USINT 00h

5 Allocation Information Get Struct of:

BYTE,

USINT

Allocation choice byte

MAC ID of master

6MAC ID Switch changed Get BOOL Value: Meaning

True MAC ID switches has changed since startup

False MAC ID switches has not changed since startup

7Baud rate Switch changed Get BOOL Value: Meaning

True Baudrate switches has changed since startup

False Baudrate switches has not changed since startup

8MAC ID Switch Value Get USINT (actual value of node address switches)

9Baud Rate Switch Value Get USINT (actual value of baud rate switches)

10 Quick Connectb

b. Optional; attribute only available if this feature has been enabled using ‘ENABLE_QUICK_CONNECT’. See also

4-18 “Enable Quick Connect (ENABLE_QUICK_CONNECT)”.

Get/Set BOOL Value: Meaning

False Disable Quick Connect (default)

True Enable Quick Connect

Note: This setting is stored in non-volatile memory.

CIP Object Implementation 3-6

Assembly Object, Class 04h

General Information

Object Description

This object provides access to the I/O Data in the Input- and Output Data areas. The Assembly Object

uses static assemblies. The instance IDs are in the vendor specific range.

See also...

• 3-13 “I/O Data Input Mapping Object, Class A0h”

• 3-14 “I/O Data Output Mapping Object, Class A1h”

• 4-11 “I/O Data Input Area Mapping (IO_INPUT_MAP)”

• 4-13 “I/O Data Output Area Mapping (IO_OUTPUT_MAP)”

Services

Class services: Get Attribute Single

Instance services: Get Attribute Single

Set Attribute Single

Class Attributes

# Access Name Type Value

1 Get Revision UINT 0001h

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Anybus AB4004 User guide

Anybus AB4004 User guide

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