CDN180 CCO SPECIFICATIONS

Transcription

1 CDN180 CCO SPECIFICATIONS Revision /30/97

2 Table of Contents OVERVIEW 1 VIRTUAL PROCESSOR OBJECT (VPO) CLASS CODE: 80 (0X50) 2 VPO Class Attributes 2 VPO, Instance 1 Attributes 2 VPO Common Services 3 Logical Register Assignments 6 CCO COUNTER OBJECT CLASS CODE: 81 (0X51) 7 CCO Counter Class Attributes 7 CCO Counter, Instance 1..4 Attributes 7 CCO Counter Common Services 7 Counter Assignments 10 CCO TIMER OBJECT CLASS CODE: 82 (0X52) 11 CCO Timer Object Class Attributes 11 CCO Timer, Instance 1..4 Attributes 11 CCO Timer Common Services 11 Timer Assignments 16 CCO COMPARATOR OBJECT CLASS CODE: 83 (0X53) 17 CCO Comparator Object Class Attributes 17 CCO Comparator, Instance 1..4 Attributes 17 CCO Comparator Common Services 18 Comparator Assignments 19 Revision /30/97

3 Revision History 1.0 First Release, removed from CDN180 DeviceNet Spec. 11/96 ii

4 Overview The CDN180 (Multifunction I/O) device operates as a slave on the DeviceNet network. The unit supports Explicit Messages and Polled I/O Messages of the predefined master/slave connection set. It does not support the Explicit Unconnected Message Manager (UCMM). The DIP Combinatorial Control Object Set (CCO) defines an object based control language designed to support simple combinatorial control algorithms within a DeviceNet Slave device. The purpose of CCO is to allow the user to develop simple control algorithms which are executed on DeviceNet based devices. Many control applications require relatively simple logic to be performed between a limited number of discrete I/O points. The general requirement is that the current state (ON/OFF) of both the inputs and the outputs must be accessible. These I/O states are combined using conventional AND and OR functions to produce a desired output STATE. The Virtual Processor is implemented as a simple stack oriented execution engine. The data stack is 1 bit wide and 8 bits deep, allowing nesting of operations up to 7 levels. The CCO language provides the ability to combine single bit operands using logical AND, OR, XOR and INVERT operators. The AND operations are performed between a logical register and the current bit on the top of the stack. The OR, XOR and INVERT operations operate on the current stack bit(s). Additional stack oriented instructions include DUP (duplicate stack entry) and SWAP (swap top two stack entries). These functions support more complex nested ladder programs. CCO is further enhanced with the inclusion of specific objects which provide counter, timer and comparison functions. These, and the Virtual Processor object, are referred to as the CCO object set. Revision /30/97

5 Virtual Processor Object (VPO) Class Code: 80 (0x50) A Virtual Processor Object manages a control program on the device. VPO Class Attributes Attribute Access Name Type Value 1 Get Revision UINT 1 2 Get Max Object Instance UINT 1 6 Get Max Class Identifier UINT 7 7 Get Max Instance Attribute UINT 73 VPO, Instance 1 Attributes Attribute Access Name Type Value (NOTES) 1 Get/Set Mode USINT (1) 2 Get Status USINT (2) 3 Get Max Inst. Pointer USINT (3) 80 4 Get/Set Instruction Pointer USINT (4) 5 Get/Set Instruction Value USINT (5) 6 Get Stack Map USINT (6) 7 Get Data Map ULONG (7) 8 Get/Set Output Filter Mask ULONG (8) 10 Get Reg 0 Path Length USINT (9) 11 Get/Set Reg 0 Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT Log.Seg., Attribute USINT Attribute Number USINT Get Reg 31 Path Length USINT (9) 73 Get/Set Reg 31 Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT 2

6 VPO Common Services Log.Seg., Attribute USINT Attribute Number USINT Service Code Class Instance Service Name 14 (0x0E) Yes Yes Get_Attribute_Single 16 (0x10) No Yes Set_Attribute_Single (1) Mode The CCO Mode attribute is bit mapped variable. MODE BIT Description 0 Run/Standby 1 Fault 2 Single Step The Run/Standby bit controls the execution of the application program. If 1, the program is executed. If 0 the program is in idle. The Fault bit, when set, indicates a fault has occurred. The Status register will contain the error code of the last fault encountered. The Single Step bit controls single stepping within the program. If set (and Run/Standby is set) a single VPO instruction will be executed and the Run/Standby bit will then be cleared. These bits may be combined to provide the following MODE VALUE: MODE VALUE Description 0 Standby, no fault 1 Running, no fault 2 Standby, Fault detected 4 Single Step, Standby 5 Single Step, Running 6 Single Step, Fault detected If a error occurs in the CCO application program (i.e.: invalid target BRANCH address) bit 1 of the mode value is set and program execution halts. The Statement Pointer will reference the instruction number which caused the fault. 3

7 If bit 2 and bit 0 of the mode value is set the program will execute a single instruction, increment the instruction pointer, clear bit 0 of the mode value and then halt. If a fault occurs the instruction counter is not incremented and bit 1 is set. (2) Status The current status indicates what has caused an error. The status is cleared when the object first starts execution (Run bit transitions from 0 to 1). The following error codes are defined: Status Interpretation Description 0 E_OK No error has been detected 1 E_INSTRUCTION Invalid instruction value detected 2 E_REFERENCE Invalid register reference 3 E_TARGET Invalid target address 4 E_INVALIDIO Invalid Map Register entry (3) Max Instruction Pointer The number of instructions supported by the CDN180 VPO instance is 80. If an attempt is made to branch to an location which exceeds the Max Instruction Pointer a fault will occur and the status will be set to E_TARGET. (4) Instruction Pointer The instruction pointer indicates the instruction to be executed. When mode bit 0 is set the execution engine will start executing at the instruction referenced by the Instruction Pointer. If a fault occurs the instruction pointer indicates which instruction caused the fault. In single step mode the instruction pointer is incremented after each instruction is executed. The instruction pointer is automatically incremented whenever the instruction value is read or written. Programs may be transferred into (out of) the VPO by clearing the Run/Standby bit, setting the Instruction Pointer to 0 and then making repeated writes (reads) to the Instruction Value register. (5) Instruction Value The instruction value contains the actual instruction to be executed. Programs may be loaded by writing to the Instruction Value. The value written will be stored in the location indicated by the instruction pointer and the instruction pointer will be incremented. 4

8 (6) Stack Map The Stack Map contains the current stack value(s). The least significant bit represents the <tos>. The Stack Map is read only. (7) Data Map The Data Map contains the 32 internal register variables as a packed Boolean array. The least significant bit represents register bit 0. The Data Map is read only. (8) Output Filter Mask The Output Filter Map acts as a MASK value during I/O Polling. If a bit within the 32 bit packed data value is set a corresponding output bit is masked during a POLL update through the DeviceNet connection. This allows outputs to be controlled by the VPO program instead of being written by the remote I/O scan. Only DOP instances may be filtered. (10, ) Register Path Length Each of the 32 logical registers may be mapped to other DeviceNet object attributes (Discrete Input Points, Output Points, CCO objects etc.). If the path length is 0 then the corresponding logical register maps to an internal storage location which may be used as an auxiliary control relay. If the Register Path Length is non-zero the corresponding Register Path must contain a valid reference to a DeviceNet resource. The resources which may be accessed are summarized below. (11, ) Register Path The Register Path defines the mapping between a VPO logical register (0..31) and a DeviceNet resource. A Path will take the form: 20:Class:24:Instance:30:Attribute The constant 20 indicates that the following USINT entry contains the class number. The constant 24 indicates that the following USINT entry contains the instance number. The constant 30 indicates that the following USINT entry contains the attribute number. Refer to the DeviceNet specifications, Volume 1, Appendix I for further information on path data structures. 5

9 The resources available to CCO is device dependent. Attempting to set a path to a class/instance/attribute which is not CCO accessible will result in a 'resource not available' error response. The following resources are available for the CDN180. Logical Register Assignments Resource Type Range Class Instance Attribute DIP State (8 Hex) DOP State (9 Hex) Counter State (51 Hex) Counter Reset (51 Hex) Timer State (52 Hex) Timer Reset (52 Hex) Comparator State (53 Hex)

10 CCO COUNTER Object Class Code: 81 (0x51) The CCO Counter Object provides a presetable down counter for use with CCO control programs. CCO Counter Class Attributes Attribute Access Name Type Value 1 Get Revision UINT 1 2 Get Max Object Instance UINT 4 6 Get Max Class Identifier UINT 7 7 Get Max Instance Attribute UINT 7 CCO Counter, Instance 1..4 Attributes Attribute Access Name Type Value (NOTES) 1 Get/Set Counter State BOOLEAN (1) 2 Get/Set Force Preset BOOLEAN (2) 3 Get/Set Type USINT (3) 4 Get Current Value UINT (4) 5 Get/Set Preset UINT (5) 6 Get Preset Path Length USINT (6) 7 Get/Set Preset Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT Log.Seg., Attribute USINT Attribute Number USINT CCO Counter Common Services Service Code Class Instance Service Name 14 (0x0E) Yes Yes Get_Attribute_Single 16 (0x10) No Yes Set_Attribute_Single 7

11 (1) Counter State The Counter State defines the Boolean state of the counter element as defined by the Type attribute. When written it causes the counter to decrement according to the Type field. When read it returns the current state of the counter. The State field is the primary interface used by a CCO program to control a counter. Referencing the State attribute as an input element will return the current state of the counter in the VPO <tos>. Writing the State as an output element will control the counter using the VPO <tos> as well as returning with the VPO <tos> set equal to the current state of the counter. (2) Force Preset If the condition defined in the Preset Polarity field of the Type attribute is met the counter value will be reset to the Preset Value. The State will return to the inactive state as defined by the type field. The Force Preset allows a CCO program to force a counter to the reset state. Referencing the Force Preset attribute as an input element will return the current state of the counter in the VPO <tos>. Writing the Force Preset as an output element will reset the counter using the VPO <tos> as well as returning with the VPO <tos> set equal to the current state of the counter. (3) Type The bit mapped Type attribute defines the characteristics of the counter. Type Bit Description 0,1 State Input Polarity Toggle if input is Toggle if input is Toggle on 1 to 0 transition (falling edge) Toggle on 0 to 1 transition (rising edge) 2 Terminal Count Mode. If set, counter will stop counting when it reaches 0. If clear the counter will automatically reset to the Preset value on the next count. 8

12 3,4 Force Preset Polarity Reset if input is Reset if input is Reset on 1 to 0 transition (falling edge) Reset on 0 to 1 transition (rising edge) 5 State Polarity. If set, State will be set to 1 on terminal count. If 0, State will be set to 0 on terminal count. (4) Current Value The current value returns the current counter value. (5) Preset Value The counter will be reset to the Preset Value as described in the Type attribute description if the Preset Path Length is 0. If the Preset Path Length is non-zero the Preset Path determines which attribute is used to supply the preset value. (6) Preset path Length The Preset Path Length determines whether the Preset Value (0) or some other DeviceNet Resource supplies the counter preset value. (7) Preset path The preset path determines the resource used to provide a counter preset value. The Path will take the form: 20:Class:24:Instance:30:Attribute The constant 20 indicates that the following USINT entry contains the class number. The constant 24 indicates that the following USINT entry contains the instance number. The constant 30 indicates that the following USINT entry contains the attribute number. Refer to the DeviceNet specifications, Volume 1, Appendix I for further information on path data structures. 9

13 Counter Assignments The Counter Preset path may be assigned to the following attributes. Resource Type Details Class Instance Attribute AIP Value 8 bit analog input 10 (0A Hex) AIP Value 16 bit period input 10 (0A Hex) AIP Value 12 bit analog input 10 (0A Hex) COUNTER 16 bit counter value 81 (51 Hex) TIMER 16 bit timer value 82 (52 Hex) AOP Value 8 bit analog output 11 (0B Hex) AOP Value 16 bit analog output 11 (0B Hex)

14 CCO TIMER Object Class Code: 82 (0x52) The CCO Timer Object provides a presetable timer for use with CCO control programs. CCO Timer Object Class Attributes Attribute Access Name Type Value 1 Get Revision UINT 1 2 Get Max Object Instance UINT 4 6 Get Max Class Identifier UINT 7 7 Get Max Instance Attribute UINT 8 CCO Timer, Instance 1..4 Attributes Attribute Access Name Type Value (NOTES) 1 Get/Set Timer State BOOLEAN (1) 2 Get/Set Force Preset BOOLEAN (2) 3 Get Time Base USINT (3) msec/timer Tick 4 Get/Set Mode USINT (4) 5 Get Current Value UINT (5) Timer Ticks 6 Get/Set Preset UINT (6) Timer Ticks 7 Get Preset Path Length USINT (7) 8 Get/Set Preset Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT Log.Seg., Attribute USINT Attribute Number USINT CCO Timer Common Services Service Code Class Instance Service Name 14 (0x0E) Yes Yes Get_Attribute_Single 16 (0x10) No Yes Set_Attribute_Single 11

15 (1) State The State defines the Boolean state of the timer element as defined by the Mode attribute. When read, it returns whether the timer is active or not. The POLARITY mode bit determines whether a 1 or 0 is returned when the timer is active. When written the State determines whether the timer is activated or reset depending on the Timer POLARITY, TRANSITION and TRIGGER mode bits. The State field is the primary interface used by a CCO program to control a timer. Referencing the State attribute as an input element will return the current state of the timer in the VPO <tos>. Writing the State as an output element will control the timer using the VPO <tos> as well as returning with the VPO <tos> set equal to the current state of the timer. (2) Force Preset If the condition defined in the Preset Polarity field of the Type attribute is met the timer value will be reset to the Preset Value. The State will return to the inactive state as defined by the Mode field. (3) Time Base The Time Base determines the number of milliseconds per Timer Tick.. The fixed value is 10 milliseconds per timer tick, providing a maximum of seconds. (4) Type The Mode attribute defines the characteristics of the timer. Mode Bit Description 0 Input Polarity. Determines if 1 or rising edge activates the timer. See Below. 1 Input Transition. Determines if level or transition causes timer to become active. If 0 then timer is level controlled. If 1 transitions on the input activate the timer. 2 Input Trigger. Determines if the timer is retriggerable. See Below 12

16 3,4 Force Preset Polarity Reset if input is Reset if input is Reset on 1 to 0 transition (falling edge) Reset on 0 to 1 transition (rising edge) 5 State Polarity. If set, State will be return 1 when the timer is active. If 0, State will return 0 when the timer is active. The Input Polarity, Transition and Trigger mode bits determine the overall operation of the timer. The timer may operate in either a level or edge trigger mode and with/without the ability to be retriggered during the timing function. Trigger Transition Polarity Description When input is 0 the timer will become active and will start to time out. When timer times out the state will become inactive. If the input becomes 1 the timer will become inactive will stop timing When input is 1 the timer will become active and will start to time out. When timer times out the state will become inactive. If the input becomes 0 the timer will become inactive will stop timing When input transitions from 1 to 0 the timer will become active and will start to time out. When timer times out the state will become inactive. Another 1 to 0 transition on the input during the time out period will have no affect When input transitions from 0 to 1 the timer will become active and will start to time out. When timer times out the state will become inactive. Another 0 to 1 transition on the input during 13

17 the time out period will have no affect When input is 0 the timer will become active. When the input goes to 1 the timer begins to time out. When timer times out the state will become inactive. If the input becomes 0 during the timer period the timer value is reset to the preset value, the timer stops timing and the timer state remains active When input is 1 the timer will become active. When the input goes to 0 the timer begins to time out. When timer times out the state will become inactive. If the input becomes 1 during the timer period the timer value is reset to the preset value, the timer stops timing and the timer state remains active When input transitions from 1 to 0 the timer will become active and will start to time out. When timer times out the state will become inactive. Another 1 to 0 transition on the input during the time out period will cause the timer to be reset to the timer preset value When input transitions from 0 to 1 the timer will become active and will start to time out. When timer times out the state will become inactive. Another 0 to 1 transition on the input during the time out period will cause the timer to be reset to the timer preset value. (5) Current Value The current value returns the current timer value. The current value is given in Timer Tick units. (6) Preset Value 14

18 The timer will be reset to the Preset Value as described in the Mode attribute description. The Preset time is given in Timer Tick units. (7) Preset path Length The Preset Path Length determines whether the Preset Value (0) or some other DeviceNet Resource supplies the counter preset value. (8) Preset path The preset path determines the resource used to provide a timer preset value. The Path will take the form: 20:Class:24:Instance:30:Attribute 15

19 The constant 20 indicates that the following USINT entry contains the class number. The constant 24 indicates that the following USINT entry contains the instance number. The constant 30 indicates that the following USINT entry contains the attribute number. Refer to the DeviceNet specifications, Volume 1, Appendix I for further information on path data structures. Timer Assignments The Timer Preset path may be assigned to the following attributes. Resource Type Details Class Instance Attribute AIP Value 8 bit analog input 10 (0A Hex) AIP Value 16 bit period input 10 (0A Hex) AIP Value 12 bit analog input 10 (0A Hex) COUNTER 16 bit counter value 81 (51 Hex) TIMER 16 bit timer value 82 (52 Hex) AOP Value 8 bit analog output 11 (0B Hex) AOP Value 16 bit analog output 11 (0B Hex)

20 CCO COMPARATOR Object Class Code: 83 (0x53) The CCO Comparator Object provides a general purpose comparator for use with CCO control programs. CCO Comparator Object Class Attributes Attribute Access Name Type Value 1 Get Revision UINT 1 2 Get Max Object Instance UINT 4 6 Get Max Class Identifier UINT 7 7 Get Max Instance Attribute UINT 11 CCO Comparator, Instance 1..4 Attributes Attribute Access Name Type Value (NOTES) 1 Get Output State BOOLEAN (1) 2 Get/Set Type USINT (2) 3 Get/Set Variable 1 UINT (3) 4 Get/Set Variable 1 Length USINT 5 Get/Set Variable 1 Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT Log.Seg., Attribute USINT Attribute Number USINT 6 Get/Set Variable 2 UINT 7 Get/Set Variable 2 Length USINT 8 Get/Set Variable 2 Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT Log.Seg., Attribute USINT Attribute Number USINT 9 Get/Set Variable 3 UINT 10 Get/Set Variable 3 Length USINT 17

21 11 Get/Set Variable 3 Path STRUCT of Log. Seg., Class USINT Class Number USINT Log.Seg., Instance USINT Instance Number USINT Log.Seg., Attribute USINT Attribute Number USINT CCO Comparator Common Services Service Code Class Instance Service Name 05 (0x05) Yes Yes Reset 14 (0x0E) Yes Yes Get_Attribute_Single 16 (0x10) No Yes Set_Attribute_Single (1) Output State The Output State defines the Boolean state of the comparator element as defined by the Type attribute. (2) Type The type attribute defines the characteristics of the Comparator. Type Description 0 Output condition met if: (Var2 - Var3) < Var1 < (Var2 + Var3) 1 Output condition met if: Var2 < Var1 < Var3 2 Complement of type 0 3 Complement of type 1 (3) Variable Paths The paths for variable1..3 are settable. If the path is set to NULL than the variable values are constants. The Variable Path Length determines whether the Variable is a constant (Path length = 0) or some other DeviceNet Resource supplies the variable value. The variable path determines the resource used to provide a timer preset value. The Path will take the form: 18

22 20:Class:24:Instance:30:Attribute The constant 20 indicates that the following USINT entry contains the class number. The constant 24 indicates that the following USINT entry contains the instance number. The constant 30 indicates that the following USINT entry contains the attribute number. Refer to the DeviceNet specifications, Volume 1, Appendix I for further information on path data structures. Comparator Assignments The Comparator paths may be assigned to the following attributes. Resource Type Details Class Instance Attribute AIP Value 8 bit analog input 10 (0A Hex) AIP Value 16 bit period input 10 (0A Hex) AIP Value 12 bit analog input 10 (0A Hex) COUNTER 16 bit counter value 81 (51 Hex) TIMER 16 bit timer value 82 (52 Hex) AOP Value 8 bit analog output 11 (0B Hex) AOP Value 16 bit analog output 11 (0B Hex)