Delta Tau Acc-72P Owner's manual

Brand: Delta Tau

Model: Acc-72P

Type: Owner's manual

^1 USER MANUAL

^2 Accessory 72P

^3 PCI Fieldbus Interface

^4 3Ax-603784-xUxx

^5 September 26, 2007

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

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.

Dispose in accordance with applicable regulations.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

NEW MANUAL CREATION

09/26/07

M. COGUR

Accessory 72P 
Table of Contents  i 
Table of Contents 
INTRODUCTION ....................................................................................................................................................... 1 
Applying the PMAC Gateway .................................................................................................................................. 1 
Fieldbus Connection Hints ................................................................................................................................... 3 
SyCon Configuration ................................................................................................................................................. 3 
System Requirements ................................................................................................................................................ 3 
Installation Procedure ................................................................................................................................................ 3 
THEORY OF OPERATION ...................................................................................................................................... 4 
JEXP Interface........................................................................................................................................................... 5 
Memory Pointer Mailbox .......................................................................................................................................... 5 
Data Mailbox ............................................................................................................................................................. 6 
Reading Incoming Data ............................................................................................................................................. 6 
Reporting Input Status ............................................................................................................................................... 6 
HARDWARE ............................................................................................................................................................... 8 
E-Points ..................................................................................................................................................................... 8 
Setting the Base Address of the PMAC Gateway .................................................................................................. 9 
Setting the DPRAM Pointer Mailbox Address of the PMAC Gateway ................................................................. 9 
Setting the DPRAM Data Mailbox Address of the PMAC Gateway ..................................................................... 9 
DPRAM MEMORY MAP ........................................................................................................................................ 10 
Process Data Handshake .................................................................................................................................... 10 
Process Data Transfer Modes ............................................................................................................................ 11 
PROFIBUS ................................................................................................................................................................. 13 
Profibus Specifications ............................................................................................................................................ 13 
Profibus Layout Diagram ........................................................................................................................................ 14 
Profibus LEDs ......................................................................................................................................................... 15 
Diagnostic LEDs ................................................................................................................................................. 15 
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 ..................................................................................................................................................... 23 
Diagnostic LEDs ................................................................................................................................................. 23 
DeviceNet Typical Interconnection ......................................................................................................................... 23 
DeviceNet Fieldbus Configuration .......................................................................................................................... 24 
DeviceNet Master Settings .................................................................................................................................. 24 
DeviceNet Slave Settings .................................................................................................................................... 24 
DeviceNet Sycon Configuration.............................................................................................................................. 24 
DeviceNet Master Settings .................................................................................................................................. 25 
DeviceNet Insert Slave ........................................................................................................................................ 25 
DeviceNet Slave Configuration ............................................................................................................................... 25 
Downloading the Configuration to PMAC Gateway ............................................................................................... 26 
DeviceNet Debugging ............................................................................................................................................. 26 
DeviceNet Auto Network Scan ............................................................................................................................... 26 
CANOPEN ................................................................................................................................................................. 28 

    Accessory 72P 
ii Table of Contents 
CANopen Specifications ......................................................................................................................................... 28 
CANopen Layout Diagram ..................................................................................................................................... 29 
CANopen LEDs ...................................................................................................................................................... 30 
Diagnostic LEDs ................................................................................................................................................. 30 
CANopen Typical Interconnection .......................................................................................................................... 31 
CANopen Fieldbus Configuration ........................................................................................................................... 32 
CANopen Master Settings ................................................................................................................................... 32 
CANopen Slave Settings...................................................................................................................................... 32 
CANopen SyCon Configuration.............................................................................................................................. 33 
CANopen Master Settings ....................................................................................................................................... 33 
CANopen Insert Slave ............................................................................................................................................. 34 
Configuring the Slave for CANopen ....................................................................................................................... 34 
Downloading the Configuration for CANopen ....................................................................................................... 34 
CC-LINK .................................................................................................................................................................... 35 
CC-Link Specifications ........................................................................................................................................... 35 
CC-Link Layout Diagram ....................................................................................................................................... 36 
CC-Link LEDs ........................................................................................................................................................ 37 
Diagnostic LEDs ................................................................................................................................................. 37 
CC-Link Typical Interconnection............................................................................................................................ 38 
CC-Link Fieldbus Configuration ............................................................................................................................. 38 
CC-Link Fieldbus Switch Settings .......................................................................................................................... 39 
CC-Link Fieldbus Baud Rate Settings .................................................................................................................... 40 
CC-Link Fieldbus Configuration ............................................................................................................................. 40 
APPENDIX A — SYCON MANUAL ...................................................................................................................... 41 
APPENDIX B — RECOMMENDED M VARIABLE DEFINITIONS AND EXAMPLE PLC ......................... 59 
MDefs ...................................................................................................................................................................... 59 
Define the Pointers to the Mail Boxes ................................................................................................................ 59 
Address Pointer Offsets ...................................................................................................................................... 59 
Define Memory Locations for the Input Bytes (Receive Process Data) .............................................................. 60 
General Purpose Timers ..................................................................................................................................... 60 
Report All Output Data to the Fieldbus Slave (Send Process Data) ........................................................................ 60 
Time Delay .......................................................................................................................................................... 61 
Read all Commanded Outputs from the Fieldbus Slave (Receive Process Data) .................................................... 61 
Time Delay .......................................................................................................................................................... 61 
Further Processing of the Received Process Data if Required ................................................................................ 61 
APPENDIX C – SAMPLE TURBO PMAC PLC TO TRANSFER 16-BIT INTEGER DATA ......................... 62 
M-Variables (16-bit) for Use in Programs .............................................................................................................. 62 
APPENDIX D – HILSCHER HYPERLINKS ........................................................................................................ 65 
 
 
 
 
 
 
 

Accessory 72P

Introduction 1

INTRODUCTION

This manual provides the information needed to apply the PMAC Gateway (PCI 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. For Control & Communication Link

(CC-Link) option, the first connector is 10 pin IDC male header which provides a RS232 link for

communication with the Compro software. The second connector is the 5 pin Combicon male connector

which is connected to fieldbus link.

The PMAC Gateway PCI 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)

 CC-Link Adapter-Opt11 (5-pin Terminal Block)

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 PCI 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.)

Accessory 72P

2 Introduction

SyCon is provided with the PMAC Gateway under license. PEWin32 is a Delta Tau product and

normally is purchased with the first PMAC.

Accessory 72P

Introduction 3

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 72P

4 Theory of Operation

THEORY OF OPERATION

The PMAC Gateway PCI board is organized as a motherboard/daughter board system. The motherboard

contains the PCI 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 PCI board’s DPRAM.

PMAC Gateway Version

DPRAM Size

ProfiBus Master

2k bytes

ProfiBus Slave

2k bytes

ControlNet Adapter

2k bytes

CANopen Master

8k bytes

CANopen Slave

8k bytes

DeviceNet Master

8k bytes

DeviceNet Slave (COM-DNS)

2k bytes

CC-Link Slave (COM-C-CCS)

8k bytes

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).

Accessory 72P

Theory of Operation 5

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.)

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 72P

6 Theory of Operation

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 72P

Hardware 7

Accessory 72P

8 Hardware

HARDWARE

E-Points

E-Point

Default

Alternate

Description

Connects PE to daughter board

E2-A

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

1-2

Note 2

Enable Low Pass Filter on chip select line

2-3

Note 3

Enable Low Pass Filter on chip select line

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

OFF

N/A

Used only as tie point

OFF

N/A

Wait line to PMAC

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

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

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 72P

Hardware 9

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

X/Y:$078A00-$078AFF

E2B

CS06

Y:$FFD8 – Y:$FFDF

X/Y:$078B00-$078BFF

E2C

CS10

Y:$FFE0 – Y:$FFE7

X/Y:$078C00-$078CFF

E2D

CS12

Y:$FFE8 – Y:$FFEF

X/Y:$078D00-$078DFF

E2E

CS14

Y:$FFF0 – Y:$FFF7

X/Y:$078E00-$078EFF

E2F

CS16

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 72P

10 DPRAM Memory Map

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

1D20H-1D23H

0520H-0523H

Date[4]

DeviceNumber[4]

SerialNumber[4]

Reserved[4]

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

PMAC Gateway

Information

1D34H-1D37H

0534H-0537H

1D38H-1D3BH

0538H-053BH

1D3CH-1D3FH

053CH-053FH

1D40H-1FEFH

0540H-07EFH

N/A

1FF0H

07F0H

RcsVersion

RcsError

HostWatchDog

DevWatchDog

SegmentCount

DeviceAddress

DriverType

integer

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

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 72P

DPRAM Memory Map 11

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 72P

12 DPRAM Memory Map

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 72P

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

3.875 X 8.265

Power Requirements

+5vdc, 700ma (from PCI-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 72P

14 Profibus

Profibus Layout Diagram

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Delta Tau Acc-72P Owner's manual

Delta Tau Acc-72P Owner's manual

Delta Tau Acc-72P Owner's manual

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