SBPC-21-PB FifeNet to Profibus Gateway

Transcription

1 Fife Corporation PO Box 26508, Oklahoma City, OK 73126, U.S.A. Phone: / Fax: / fife@fife.com SBPC-21-PB FifeNet to Profibus Gateway Customer Instruction Manual PROFIBUS DP 2002 Fife Corporation. All rights reserved.

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3 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL COPYRIGHT All rights reserved. Any reproduction of this Instruction Manual, in any form, in whole or in part, requires the prior written consent of Fife Corporation. The information given in this Instruction Manual is subject to change without notice. We have compiled this Instruction Manual with the greatest possible care and attention. However, the possibility of error cannot be completely excluded. Fife Corporation accepts no legal liability for incorrect information given and the consequences arising therefrom. AnyBus is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their respective holders.

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5 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL TABLE OF CONTENTS GENERAL INFORMATION...1 Introduction...1 Profibus DP Overview...1 Producer/Consumer Model...3 FifeNet...3 SBPC-21-PB Switch/Jumper Configuration...4 SBPC-21-PB External Connections/Switches/Indicators...5 Profibus DP Baud Rate...5 SBPC-21-PB Network Status...6 SBPC-21-PB Error Codes...7 FIFENET THEORY...9 FifeNet Time Slices...9 Multiplexed Time Slices...9 FifeNet Master...10 SBPC-21-PB Data Flow...10 CONFIGURATIONS...13 Hardware Configuration - Single CDP Hardware Configuration - Multiple CDP-01 s...14 Software Configuration...14 GSD File...14 COMMUNICATION MAPPING...15 Profibus to FifeNet Data...15 FifeNet to Profibus Data...16 CONTROL INFORMATION...19 CDP-01 Control Matrix...19 External Lock...19 Status Data Block...22 SPECIAL CONTROL OF FIFENET DEVICES...29 CDP-01 Key Code Data Path...29 CDP-01 Key Codes...30 Simulating Dual-Key Presses...30 CDP-01 LED Panel Data...31 INDEX...33

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7 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 1 GENERAL INFORMATION Introduction The Fife SBPC-21-PB (Serial Bus Protocol Converter) provides a gateway between Fife s proprietary FifeNet network and Profibus. Using the SBPC-21-PB, data originating from FifeNet can be sent on Profibus and data from Profibus can be sent to FifeNet. Profibus DP Overview The supported media for the SBPC-21-PB Profibus is a shielded copper cable consisting of a twisted pair. The baud rate for the bus is between 9.6K baud to a maximum 12M baud. The Profibus DP network is able to carry 126 nodes and the total amount of data for Profibus DP is 244 bytes out per module and 244 bytes in per module. Node 126 is only used for commissioning purposes and should not be used to exchange user data. An example of a Profibus network with an SBPC-21-PB is shown in the diagram below. Figure 1-2: Example of an SBPC-21-PB Network Connection Profibus DP Master Profibus DP Slave #2 RS-232 Profibus Profibus DP Slave #1 Profibus DP Slave #3 FifeNet The SBPC-21-PB connects to both FifeNet and Profibus providing translation between two networks Figure Sheet A Page 1

8 Table 1-1: Technical Features for Profibus DP SUMMARY OF PROFIBUS DP TECHNICAL FEATURES Transmission Technique: Profibus DIN 19245, Part 1 Medium Access: Hybrid medium access protocol according to DIN 19245, Part 1 Communications: Peer-to-Peer (User Data Transfer) or Multicast (Synchronization) EIA RS 485 twisted pair cable or fiber optic. 9.6 kbit/s up to 12 Mbit/s, maximum distance 200m at 1.5 Mbit/s extendible with repeaters. Monomaster or multimaster systems supported. Master and slave devices, maximum 126 stations possible. Cyclic master slave transfer and acyclic master-master data transfer. Operation Modes Synchronization: Enables synchronization of the inputs and/or outputs of all DP slaves. Functionality Security and Protection Mechanisms Cabling and Installation Operate: cyclic transfer of input and output data. Clear: inputs are read and outputs are cleared. Stop: only master-master functions are possible. Sync-Mode: Outputs are synchronized. Freeze-Mode: Inputs are synchronized. Cyclic user data transfer between DP-Master(s) and DP Slave(s). Activation or deactivation of individual DP Slaves. Checking of the configuration of the DP Slaves. Powerful diagnosis mechanisms, 3 hierarchical levels of the diagnosis messages. Synchronization of inputs and/or outputs. Address assignments for the DP-Slaves over the bus with Master Class 2. Configuration of the DP-Master (DPM1) over the bus. Maximum 244 bytes input and output data per DP Slave, typical 32 bytes. All messages are transmitted with Hamming Distance HD=4 Watchdog timer at the DP slaves. Access protection for the inputs/outputs at the DP slaves. Data transfer monitoring with configurable timer DP Master (DPM1). Connecting or disconnecting of stations without affecting of other stations Figure Sheet A Page 2

9 PROTOCOL AND SUPPORTED FEATURES Fieldbus Type PROFIBUS-DP EN (DIN 19245) Protocol Version Version 1.10 Protocol Stack Supplier Siemens Auto Baud Rate Detection Supported Baud Rate Range: 9.6 kbit to 12Mbit PHYSICAL INTERFACE Transmission Media Profibus Bus Line, Type A or B Specified in EN Topology Fieldbus Connector Cable Isolation Profibus DP Ccommunication IC Master-Slave Communication 9-Pin Female DSUB Shielded Copper Cable, Twisted Pair The bus is galvanically separated from the other electronics with an on-board DC/DC converter. Bus signals (A-line and B-line) are isolated via optocouplers. SPC3 Chip from Siemens Producer/Consumer Model The Producer/Consumer Model allows the exchange of information between a sending device ( producer ) and many receiving devices ( consumer ) without requiring the same data to be sent multiple times to different destinations. The producer sends the data once and each consumer on the network receives the data at the same time. The data can be used ( consumed ) or ignored by each receiving device independently. FifeNet uses the Producer/Consumer Model. FifeNet FifeNet s deployment of the Producer/Consumer Model allows data sent by a single device to be received simultaneously by multiple devices on the same network. Each receiving device can choose to use ( consume ) the information or ignore it as its needs dictate. FifeNet is based on a fixed time slicing architecture where transmitting devices send data in fixed, predetermined time intervals Figure Sheet A Page 3

10 SBPC-21-PB Switch/Jumper Configuration Since the SBPC-21-PB participates in two networks at the same time, it must have two network addresses (a FifeNet address and a Profibus node address). The FifeNet address is set via the FifeNet serial port, which is common with many FifeNet peripherals. The Profibus master sets the baud rate for the Profibus network. If the SBPC-21-PB is installed as the end point in a FifeNet network, the jumpers shown below should be installed to provide network termination. Figure 2-2: SBPC-21-PB Top View These jumpers should be installed if the SBPC-21-PB is at the end of a FifeNet network. They provide network termination. The other two jumpers should always be installed as they select half-duplex FifeNet communication. Terminated Not Terminated The 7-segment LED is used to display errors or exceptions. During normal operation, the display will continuously cycle the outer segments. Profibus Termination The end nodes in a Profibus DP network must be terminated to avoid reflections on the bus line. To accomplish this, the Profibus DP module is equipped with a termination switch. If the module is used as the first or last module in a network, the termination switch must be in the ON position. Otherwise, the switch must be in the OFF position. If an external termination connector is used, the switch must be in the OFF position. Profibus node address switches. See the following page for description of these switches. The termination dip switch can only be accessed with the SBPC-21-PB top cover removed. To enable termination, the switch must be in the OFF position. Termination OFF ON Switch Position Up toward top cover. Down toward circuit board Figure Sheet A Page 4

11 SBPC-21-PB External Connections/Switches/Indicators SBPC-21-PB mounting considerations are simplified as all connections to the SBPC-21-PB are on the same side of the box. The node address and rotary switches are accessible after removal of the plastic hole plugs which should be reinstalled after configuration is completed. Figure 1-3: SBPC-21-PB Side View Connection to FifeNet is accomplished using the standard FifeNet connector. Configuration is also downloaded using this connection. LED indicators provide feedback for network troubleshooting. D-SUB Connector Pin Name Signal Housing Shield Connected to PE. 1 Not connected 2 Not connected 3 B-Line Positive RXD/TXD 4 RTS Request to Send 1 5 GND BUS Isolated GND from RS-485 side V BUS Isolated +5VDC from RS-485 side Not connected 8 A-Line Positive RXD/TXD 9 Not connected 1 +5V Bus and GND Bus are used for bus termination. Some devices, like optical transceivers (RS485 to fiber optics), might require external power from these pins. RTS is used in some equipment to determine the direction of transmission. In normal applications only A-Line, B-Line, and Shield are used. The Profibus Node address is set using these rotary switches. This enables address settings from 1-99 in decimal format. The left switch sets the most significant digit and the right switch sets the least significant digit. The node address cannot be changed during operation. Profibus DP Baud Rate The baud rate on a Profibus DP network is set during configuration of the master. Only one baud rate is possible in a Profibus DP installation. The SBPC-21-PB uses auto baud rate detection so the user does not have to configure the baud rate. Baud rates supported are: 9.6 kbit/s kbit/s 3 Mbit/s 19.2 kbit/s 500 kbit/s 6 Mbit/s kbit/s 1.5 Mbit/s 12 Mbit/s Figure Sheet A Page 5

12 SBPC-21-PB Network Status The SBPC-21-PB network status is determined by interpretation of the external LED status indicators as described below. Figure 1-4: SBPC-21-PB LED Indicators Table 1-1 Green Off LED State ONLINE Meaning Indicates that the module is ONLINE and data exchange is possible. Module is not ONLINE Red Off LED State OFFLINE Meaning Indicates that the module is OFFLINE and no data exchange is possible. Module is ONLINE. LED State Off Flashing Red (1 Hz) Flashing Red (2 Hz) Flashing Red (4 Hz) FAULTS No faults present. Meaning Error in configuration: IN and/or OUT length set during initialization of the module is not equal to the length set during configuration of the network. Error in user parameter data: The length/contents of the user parameter data set during initialization of the module is not equal to the length/contents set during configuration of the network. Error in initialization of the Profibus communication ASIC Figure Sheet A Page 6

13 SBPC-21-PB Error Codes The 7-segment LED digit on the SBPC-21-PB main board is used to indicate errors or other potential problems. See page 2 of this manual for the location of this LED. The error codes are divided into the categories listed below. Since there is only a single-digit display and the error codes are 3 digits in length, the error codes are displayed in three parts. The most significant digit will appear first followed by the second and third digits. The display will go blank for a moment and the cycle repeats unless the SBPC-21-PB has been configured to attempt to restart after an error. If this is the case, the error will only cycle once. All state machine errors 5XX are considered nonfatal and only cycle once. Below are the error codes and their meanings: Table 1-2 SBPC PROCESSOR ERRORS F01 Processor attempted to execute and undefined instruction. F02 Software interrupt vector occurred. F03 Attempt to fetch instruction from invalid memory. F04 Attempt to read data from invalid memory. F05 Reserved exception vector. F06 FLASH memory checksum fault. F07 Pool memory allocation error. F08 Byte memory allocation error. F09 Unable to create thread. F0A Unable to create event. F0B Unable to create semaphore. F0C Unable to create mutex. F0D Unable to create queue. F0E Unable to write to queue. F0F Console I/O error. COMMUNICATION MODULE ERRORS E01 The configuration matrix is corrupted. E02 No HMS Anybus module detected. E03 Anybus module failed to initialize (no interrupt received). E04 Anybus module failed to initialize (interrupt stuck). E05 Anybus module failed to initialize (mailbox not ready). E06 Anybus mailbox timeout. E07 Anybus mailbox response indicated error. E08 Anybus mailbox response timeout. E09 Anybus dual-port RAM fault. E0A Anybus output area release timeout. E0B Anybus initialization timeout. STATE MACHINE ERRORS 501 State machine file is corrupted. 502 State machine is disabled. 503 State machine started in shutdown mode. 504 Bad state machine instruction encountered. 505 State machine instruction fetch from address is out of range. 506 State machine stack error (too many nested calls). 507 State machine stack error (too many returns). 508 State machine attempted divide by zero. 509 State machine tried to access more than four timers. 50A State machine variable address is out of range. Errors that begin with F are unrecoverable faults. The SBPC cannot participate in FifeNet or Profibus operations. In the default configuration the SBPC will attempt to restart. Errors that begin with E are associated with the Profibus interface. In the default configuration, the SBPC will attempt to restart. With the exception of error E01, FifeNet is functional; however, the default configuration will attempt to restart which will interrupt FifeNet. Errors that begin with 5 are related to the state machine capability of the SBPC. These errors are cycled only once and do not cause the SBPC to restart Figure Sheet A Page 7

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15 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 2 FIFENET THEORY FifeNet Time Slices Data on FifeNet is divided into time intervals called time slices. The FifeNet protocol runs in fixed repeating cycles. Each time slice can transmit a single 16-bit value. All time slice values are updated every cycle. Multiplexed Time Slices FifeNet devices can send a single 16-bit value in one or more time slices. This is acceptable for values that require high performance such as guiding. The penalty for this performance is the usage of one time slice per value sent. With limited time slices available, network bandwidth can be consumed quickly. If some variables are not needed at a high rate, FifeNet offers a way to multiplex a single time slice to carry multiple data words. There are two multiplex options available in the CDP-01 permitting a single time slice to carry 16 words or 64 words. Multiplexing works by inserting the specified data words in a sequential repeating cycle. The receiving SBPC-21-PB synchronizes with the multiplexed data to extract it. This method trades data update speed for higher data quantities (up to 64 words per time slice). Any combination of real-time or multiplexed data can exist on FifeNet. Figure 2-1: Multiplexed Data Time Slices D1 ACTIVITY D1 is real-time. This data is updated every cycle. T0 T1 T2 T3 D1 D5 D1 D5 D1 D5 D1 D5 MULTIPLEXING D5 is multiplexed or switched to a different variable every cycle. After the last variable is sent, the process repeats continuously. D5 ACTIVITY Tn TS Contents T0 - Edge Right Sensor T1 - Line Edge Sensor T2 - CDP Key Pressed T3 - Status Register Common T4 - Drive 1 Mode T5 - Drive 1 Sensor Mode T6 - Drive 1 Encoder T7 - Drive 1 Status Reg 0 T8 - Drive 2 Mode T9 - Drive 2 Sensor Mode T10 - Drive 2 Encoder T11 - Drive 2 Status Reg 0 T12 - Drive 3 Mode T13 - Drive 3 Sensor Mode T14 - Drive 3 Encoder T15 - Drive 3 Status Reg Figure Sheet A Page 9

16 In the example diagram (Figure 2-1), there is real-time data on D1 and 16 multiplexed data words on D5. D1 contains the Edge Left Sensor value from a CDP-01. D5 is used to send 16 different values from the CDP-01. For the real-time value, the CDP-01 sends the Edge Left Sensor value in D1 every cycle. For the multiplexed time slice, the CDP-01 sends the Edge Right Sensor value in D5 during time T0. During time T1, D5 contains the Line Edge Sensor value. As you can see in the example on the previous page, 17 values are being sent over FifeNet, but only two time slices of network bandwidth are used. The 16 values in time slice 5 are updated at a slower rate than the value in time slice 1. The application dictates which method should be implemented. FifeNet Master The FifeNet protocol uses the time slice architecture described previously for configurable network traffic. Without some synchronization, however, neither the SBPC-21-PB, nor the CDP-01, would know where the time slice boundaries were located. This would create problems when they are trying to send and receive data. This is one of the primary functions of the FifeNet Master, in this case, that would be the SBPC-21-PB. SBPC-21-PB Data Flow In order to effectively connect two dissimilar networks, some means must be provided to collect the data from each network and exchange it in a controlled manner so that no partial or incomplete data is sent on either network. This is accomplished by using a block of memory in the SBPC-21-PB to reassemble FifeNet time slice data and then, when it is complete, transfer it to the Profibus buffers for transmission on Profibus. Keep in mind that the gateway has to be bidirectional so this process works the same way for data traveling from Profibus to FifeNet. The diagram below shows the process: Figure 2-2: SBPC-21-PB Data Flow Block Diagram FifeNet D1 D2 M M Profibus Data D3 A A T R I T R I The time slice buffers hold the raw time slice data. X X This matrix is used to connect any time slice to any memory buffer location. The memory array is used to assemble and hold data passing through the gateway. This matrix is used to connect Profibus data to any memory buffer location. Profibus data is placed here for transmission. FifeNet transmit data is read from here and sent to FifeNet Figure Sheet A Page 10

17 As you can see in Figure 2-2, each time slice has enough memory to store bit data words. This is the maximum amount of data that appears on a FifeNet multiplexed time slice. These data words are referenced by their order of reception in the multiplexed sequence with DW0 being first and DW63 being last. When the time slice is used in the real-time mode, only the first location DW0 in the memory array is used. Multiplexed modes 4, 8, and 16 each use 4, 8, and 16 words of memory, respectively Figure Sheet A Page 11

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19 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 3 CONFIGURATIONS Hardware Configuration - Single CDP-01 The SBPC-21-PB connection diagram is shown below. As you can see, this allows a single CDP-01 at FifeNet address 1 and an SBPC-21-PB at FifeNet address 10. The SBPC-21-PB default Profibus node address is 2, but can be easily changed using the rotary switches in the SBPC-21-PB. Figure 3-1: SBPC-21-PB Network Connection With Single CDP-01 FifeNet Master Address 10 FifeNet Address 1 Profibus Node Address 2 FifeNet SBPC-21-PB to CDP-01 Cable: Fife P/N Profibus Network Figure Sheet A Page 13

20 Hardware Configuration - Multiple CDP-01 s In the network below, the default SBPC-21-PB configuration is used multiple times to provide control to multiple CDP-01 s. Each SBPC-21-PB is connected to a single CDP-01 creating a separate FifeNet network for each CDP-01. Each SBPC-21-PB appears as both a FifeNet node and a Profibus node. Notice the SBPC-21-PB Profibus address must be different for each SBPC-21-PB. The Profibus address is set by rotary switches accessible via holes in the connector side of the SBPC-21-PB. Figure 3-2: SBPC-21-PB Network Connection With Multiple CDP-01 s FifeNet Master Address 10 FifeNet Address 1 FifeNet Master Address 10 FifeNet Address 1 Profibus Address 3 FifeNet SBPC-21-PB to CDP-01 Cable: Fife P/N Profibus Network Software Configuration Configurations have been created to match the single CDP-01 network shown in Figure 3-1. Since the CDP-01 can have one, two, or three drives, a configuration has been created to match the parameters present in each drive configuration. This prevents inefficient use of Profibus bandwidth for data that is inapplicable. The three configurations are: Table 3-1 SBPC-21-PB CDP-01 CONFIGURATION MATRIX MATRIX SBPC-21-PB Default Matrix for use with Single-Drive CDP X X SBPC-21-PB Default Matrix for use with Dual-Drive CDP X X SBPC-21-PB Default Matrix for use with Triple-Drive CDP X X GSD File A GSD file is provided with the SBPC-21-PB. Use this file when adding a new Profibus node to the network and it will automatically set up the configuration for that network node. The table below indicates the quantity of data transferred for single-, dual-, and triple-drive configurations. SINGLE- DRIVE DUAL- DRIVE TRIPLE- DRIVE Field Size Size Size Bit Input (16-bit) Output (16-bit) Figure Sheet A Page 14

21 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 4 COMMUNICATION MAPPING Profibus to FifeNet Data In each of the three configurations (single-, dual-, or triple-drive CDP-01), the Profibus to FifeNet data is the same. The table below shows the configuration mapping for data traveling from Profibus to FifeNet. The control matrix data on data word 1 is present so that if it is mapped to the parallel input for the CDP-01, a great deal of control can be exercised without a special state machine. If this control is insufficient, the data capabilities on Data Words 2 through 6 provide for custom applications using state machine interpretation. Profibus Scheduled Data Word Source 1 Table 4-1 PROFIBUS TO FIFENET DATA SINGLE-, DUAL-, AND TRIPLE-DRIVE CDP-01 Matrix X Single X Dual X Triple SBPC-21-PB Matrix X Single X Dual X Triple Data Type 2 Variable Description 0 WORD Device 1 Command 3 1 WORD Control Matrix 2 WORD [0] Reserved 3 WORD [1] Reserved 4 WORD [2] Reserved 5 INT [3] Reserved 6 INT [4] Reserved Network commands sent to the CDP-01. Simulated key presses, etc. Used to control the CDP-01 in accordance with the control matrix. These values are reserved for state machine communication. 1 = All data words are 16-bit. 2 = Data Types: * INT 16-bit signed value in the range of 32,768 to +32,767. * WORD 16-bit unsigned value in the range of 0 to 65, = Commands to the CDP Figure Sheet A Page 15

22 FifeNet to Profibus Data The following single-, dual-, and triple-drive tables show the default configuration mapping for data traveling from FifeNet to Profibus. Single-Drive CDP-01 Table 4-2 FIFENET TO PROFIBUS DATA SINGLE-DRIVE CDP-01 Matrix: X SBPC-21-PB Matrix: X Profibus Scheduled Data Word Destination 1 Data Type 2 Variable Description 0 WORD Reserved Reserved. 1 2 DWORD Reserved Reserved. 3 4 DWORD Panel Data 0 Panel Data 1 CDP-01 LED panel data. 5 WORD Device 1 Response 3 CDP-01 Fife network responses. 6 INT Edge Left Sensor Value Sensor signal. 7 INT Edge Right Sensor Value Sensor signal. 8 INT Line Center Sensor Value Sensor signal. 9 INT Line Edge Sensor Value Sensor signal. 10 WORD SM Command Feedback Reserved for state machine control. 11 WORD SM Status Feedback Reserved for state machine control. 12 WORD Common Status Register CDP-01 status. 13 WORD Key Pressed Current key pressed on CDP-01 panel. 14 WORD Drive 1 Operation Mode Drive 1 status. 15 WORD Drive 1 Sensor Mode Drive 1 status. 16 WORD Drive 1 Fault Register Drive 1 fault status. 17 WORD Drive 1 Encoder Register Drive 1 encoder status. 18 WORD Drive 1 Alarm Register Drive 1 alarm status. 19 INT Drive 1 Encoder Value Drive 1 encoder value. 1 = All data words are 16-bit. 2 = Data Types: * INT 16-bit signed value in the range of 32,768 to +32,767. * WORD 16-bit unsigned value in the range of 0 to 65,535. * DWORD 32-bit unsigned value in the range of 0 to 4,294,967, = This is the device response from the CDP Figure Sheet A Page 16

23 Dual-Drive CDP-01 Table 4-3 FIFENET TO PROFIBUS DATA DUAL-DRIVE CDP-01 Matrix: X SBPC-21-PB Matrix: X Profibus Scheduled Data Word Destination 1 Data Type 2 Variable Description 0 WORD Reserved Reserved. 1 2 DWORD Reserved Reserved. 3 4 DWORD Panel Data 0 Panel Data 1 CDP-01 LED panel data. 5 WORD Device 1 Response 3 CDP-01 Fife network responses. 6 INT Edge Left Sensor Value Sensor signal. 7 INT Edge Right Sensor Value Sensor signal. 8 INT Line Center Sensor Value Sensor signal. 9 INT Line Edge Sensor Value Sensor signal. 10 WORD SM Command Feedback Reserved for state machine control. 11 WORD SM Status Feedback Reserved for state machine control. 12 WORD Common Status Register CDP-01 status. 13 WORD Key Pressed Current key pressed on CDP-01 panel. 14 WORD Drive 1 Operation Mode Drive 1 status. 15 WORD Drive 1 Sensor Mode Drive 1 status. 16 WORD Drive 1 Fault Register Drive 1 fault status. 17 WORD Drive 1 Encoder Register Drive 1 encoder status. 18 WORD Drive 1 Alarm Register Drive 1 alarm status. 19 INT Drive 1 Encoder Value Drive 1 encoder value. 20 WORD Drive 2 Operation Mode Drive 2 status. 21 WORD Drive 2 Sensor Mode Drive 2 status. 22 WORD Drive 2 Fault Register Drive 2 fault status. 23 WORD Drive 2 Encoder Register Drive 2 encoder status. 24 WORD Drive 2 Alarm Register Drive 2 alarm status. 25 INT Drive 2 Encoder Value Drive 2 encoder value 1 = All data words are 16-bit. 2 = Data Types: * INT 16-bit signed value in the range of 32,768 to +32,767. * WORD 16-bit unsigned value in the range of 0 to 65,535. * DWORD 32-bit unsigned value in the range of 0 to 4,294,967, = This is the device response from the CDP Figure Sheet A Page 17

24 Triple-Drive CDP-01 Table 4-4 FIFENET TO PROFIBUS DATA TRIPLE-DRIVE CDP-01 Matrix: X SBPC-21-PB Matrix: X Profibus Scheduled Data Word Destination 1 Data Type 2 Variable Description 0 WORD Reserved Reserved. 1 2 DWORD Reserved Reserved. 3 4 DWORD Panel Data 0 Panel Data 1 CDP-01 LED panel data. 5 WORD Device 1 Response 3 Fife network response. 6 INT Edge Left Sensor Value Sensor signal. 7 INT Edge Right Sensor Value Sensor signal. 8 INT Line Center Sensor Value Sensor signal. 9 INT Line Edge Sensor Value Sensor signal. 10 WORD SM Command Feedback Reserved for state machine control. 11 WORD SM Status Feedback Reserved for state machine control. 12 WORD Common Status Register CDP-01 status. 13 WORD Key Pressed Current key pressed on CDP-01 panel. 14 WORD Drive 1 Operation Mode Drive 1 status. 15 WORD Drive 1 Sensor Mode Drive 1 status. 16 WORD Drive 1 Fault Register Drive 1 fault status. 17 WORD Drive 1 Encoder Register Drive 1 encoder status. 18 WORD Drive 1 Alarm Register Drive 1 alarm status. 19 INT Drive 1 Encoder Value Drive 1 encoder value. 20 WORD Drive 2 Operation Drive 2 status. 21 WORD Drive 2 Sensor Mode Drive 2 status. 22 WORD Drive 2 Fault Register Drive 2 fault status. 23 WORD Drive 2 Encoder Register Drive 2 encoder status. 24 WORD Drive 2 Alarm Register Drive 2 alarm status. 25 INT Drive 2 Encoder Value Drive 2 encoder value. 26 WORD Drive 3 Operation Mode Drive 3 status. 27 WORD Drive 3 Sensor Mode Drive 3 status. 28 WORD Drive 3 Fault Register Drive 3 fault status. 29 WORD Drive 3 Encoder Register Drive 3 encoder status. 30 WORD Drive 3 Alarm Register Drive 3 alarm status. 31 INT Drive 3 Encoder Value Drive 3 encoder value. 1 = All data words are 16-bit. 2 = Data Types: * INT 16-bit signed value in the range of 32,768 to +32,767. * WORD 16-bit unsigned value in the range of 0 to 65,535. * DWORD 32-bit unsigned value in the range of 0 to 4,294,967, = This is the device response from the CDP Figure Sheet A Page 18

25 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 5 CONTROL INFORMATION CDP-01 Control Matrix The CDP-01 parallel input matrix normally applies to the X7 port on the CDP-01. In the default matrix using the SBPC-21-PB, the CDP-01 parallel input matrix is connected to a time slice. This connection allows serial commands to be used to control the CDP-01 instead of the hardware parallel input. The commands described in the control matrix tables on the following pages apply to the commands issued from Profibus to FifeNet over the network via Data Word 1 in Table 4-1. External Lock There is one command, however, that the CDP-01 firmware will not accept over a serial connection for safety reasons. This command is EXTERNAL LOCK. Even though the CDP-01 matrix has the parallel inputs mapped to a FifeNet time slice, the EXTERNAL LOCK command is still activated by the matrix shown below when this condition appears on the X7 port of the CDP-01. For multidrive CDP-01 s, the command is applied to all drives present. CDP-01 Parallel Input Matrix for Use with SBPC-21-PB Table 5-1 INPUTS Command Via X7 Parallel Port External Lock (All drives applicable.) Single-Drive CDP-01 CDP-01 Matrix: X CDP-01 State Machine: SBPC-21-PB Matrix: X CDP-01 Control Matrix Table 5-2 COMMAND VIA NETWORK HEX DRIVE 1, AUTOMATIC 04 DRIVE 1, MANUAL 08 DRIVE 1, SERVO-CENTER 0C DRIVE 1, JOG LEFT 10 DRIVE 1, JOG RIGHT 20 DRIVE 1, AUTO SETUP 30 DRIVE 1, RGPC SHIFT LEFT 18 DRIVE 1, RGPC SHIFT RIGHT 28 DRIVE 1, RGPC RESET 38 DRIVE 1, SENSOR EDGE LEFT 14 DRIVE 1, SENSOR EDGE RIGHT 24 DRIVE 1, SENSOR EDGE CENTER 34 DRIVE 1, SENSOR LINE CENTER 1C DRIVE 1, SENSOR LINE EDGE 2C DRIVE 1, SENSOR LINE E&C 3C Figure Sheet A Page 19

26 Dual-Drive CDP-01 CDP-01 Matrix: X CDP-01 State Machine: SBPC-21-PB Matrix: X CDP-01 Control Matrix Table 5-3 COMMAND VIA NETWORK HEX DRIVE 1, AUTOMATIC 04 DRIVE 1, MANUAL 08 DRIVE 1, SERVO-CENTER 0C DRIVE 1, JOG LEFT 10 DRIVE 1, JOG RIGHT 20 DRIVE 1, AUTO SETUP 30 DRIVE 1, RGPC SHIFT LEFT 18 DRIVE 1, RGPC SHIFT RIGHT 28 DRIVE 1, RGPC RESET 38 DRIVE 1, SENSOR EDGE LEFT 14 DRIVE 1, SENSOR EDGE RIGHT 24 DRIVE 1, SENSOR EDGE CENTER 34 DRIVE 1, SENSOR LINE CENTER 1C DRIVE 1, SENSOR LINE EDGE 2C DRIVE 1, SENSOR LINE E&C 3C DRIVE 2, AUTOMATIC 05 DRIVE 2, MANUAL 09 DRIVE 2, SERVO-CENTER 0D DRIVE 2, JOG LEFT 11 DRIVE 2, JOG RIGHT 21 DRIVE 2, AUTO SETUP 31 DRIVE 2, RGPC SHIFT LEFT 19 DRIVE 2, RGPC SHIFT RIGHT 29 DRIVE 2, RGPC RESET 39 DRIVE 2, SENSOR EDGE LEFT 15 DRIVE 2, SENSOR EDGE RIGHT 25 DRIVE 2, SENSOR EDGE CENTER 35 DRIVE 2, SENSOR LINE CENTER 1D DRIVE 2, SENSOR LINE EDGE 2D DRIVE 2, SENSOR LINE E&C 3D Figure Sheet A Page 20

27 Triple-Drive CDP-01 CDP-01 Matrix: X CDP-01 State Machine: SBPC-21-PB Matrix: X CDP-01 Control Matrix Table 5-4 COMMAND VIA NETWORK HEX DRIVE 1, AUTOMATIC 04 DRIVE 1, MANUAL 08 DRIVE 1, SERVO-CENTER 0C DRIVE 1, JOG LEFT 10 DRIVE 1, JOG RIGHT 20 DRIVE 1, AUTO SETUP 30 DRIVE 1, RGPC SHIFT LEFT 18 DRIVE 1, RGPC SHIFT RIGHT 28 DRIVE 1, RGPC RESET 38 DRIVE 1, SENSOR EDGE LEFT 14 DRIVE 1, SENSOR EDGE RIGHT 24 DRIVE 1, SENSOR EDGE CENTER 34 DRIVE 1, SENSOR LINE CENTER 1C DRIVE 1, SENSOR LINE EDGE 2C DRIVE 1, SENSOR LINE E&C 3C DRIVE 2, AUTOMATIC 05 DRIVE 2, MANUAL 09 DRIVE 2, SERVO-CENTER 0D DRIVE 2, JOG LEFT 11 DRIVE 2, JOG RIGHT 21 DRIVE 2, AUTO SETUP 31 DRIVE 2, RGPC SHIFT LEFT 19 DRIVE 2, RGPC SHIFT RIGHT 29 DRIVE 2, RGPC RESET 39 DRIVE 2, SENSOR EDGE LEFT 15 DRIVE 2, SENSOR EDGE RIGHT 25 DRIVE 2, SENSOR EDGE CENTER 35 DRIVE 2, SENSOR LINE CENTER 1D DRIVE 2, SENSOR LINE EDGE 2D DRIVE 2, SENSOR LINE E&C 3D DRIVE 3, AUTOMATIC 06 DRIVE 3, MANUAL 0A DRIVE 3, SERVO-CENTER 0E DRIVE 3, JOG LEFT 12 DRIVE 3, JOG RIGHT 22 DRIVE 3, AUTO SETUP 32 DRIVE 3, RGPC SHIFT LEFT 1A DRIVE 3, RGPC SHIFT RIGHT 2A DRIVE 3, RGPC RESET 3A DRIVE 3, SENSOR EDGE LEFT 16 DRIVE 3, SENSOR EDGE RIGHT 26 DRIVE 3, SENSOR EDGE CENTER 36 DRIVE 3, SENSOR LINE CENTER 1E DRIVE 3, SENSOR LINE EDGE 2E DRIVE 3, SENSOR LINE E&C 3E Figure Sheet A Page 21

28 Status Data Block For reference, the CDP-01 Status Data Blocks are listed in the tables on the following pages: NOTE: In the Data Word Bit # fields on the following tables: _ 0 = Low, 1 = High, Blank = Ignore DW3, DW4: CDP-01 LED Panel Data PANEL DATA WORD 0: DW3 PANEL DATA WORD 1: DW4 Bit CDP-01 LED Bit CDP-01 LED 0 LED 12 (Line Edge Sensor Mode 0 1 LED 11 (Line Center Sensor Mode) 1 2 LED 10 (Edge Right Sensor Mode) 2 3 LED 9 (Edge Left Sensor Mode) 3 4 LED 17 (Polarity) 4 5 LED 16 (Gain) 5 6 LED 15 (Guide Point) 6 7 LED 14 (Auto Setup) LED 3 (Manual Key) 9 9 LED 2 (Servo-Center Key) LED 1 (Auto Key) 11 Not Used 11 LED 8 (Sensor Key) 12 Drive 3 LED 12 LED 4 (F1 Key) 13 Drive 2 LED 13 LED 5 (F2 Key) 14 Drive 1 LED 14 LED 6 (F3 Key) 15 LED 13 (Setup Key) 15 LED 7 (ASC Key) DW5: Device 1 Response DEVICE 1 RESPONSE: DW5 Data Word Bit No Description Automatic Servo-Center Manual Jog Plus Jog Minus Edge Left Edge Right Center Line Center Line Edge Line Edge & Center 0 0 Drive Drive Drive Figure Sheet A Page 22

29 Status Data Block (cont d) DW6: EDGE LEFT Sensor Value DW7: EDGE RIGHT Sensor Value DW8: LINE CENTER Sensor Value DW9: LINE EDGE Sensor Value NOTE: These data words contain the normalized values of the connected sensors. Data Type: Signed 16-bit number Range: -32,768 to +32,767 DW12: Common Status Register COMMON STATUS REGISTER: DW12 Data Word Bit No Description 0 0 Drive 1 Panel Active 0 1 Drive 2 Panel Active 1 0 Drive 3 Panel Active 1 1 External A/D Converter Installed 1 1 Drive 3 Installed 1 1 Drive 2 Installed 1 Status of Parallel Output A 1 Status of Parallel Output B 1 Status of Parallel Input 0 1 Status of Parallel Input 1 1 Status of Parallel Input 2 1 Status of Parallel Input 3 1 Status of Parallel Input 4 1 Status of Parallel Input 5 Bit = 1 indicates transistor on (output active). Bit = 0 indicates transistor off (output inactive) Figure Sheet A Page 23

30 Status Data Block (cont d) DW13: Key Pressed To ensure proper recognition, a key must be depressed for a minimum of 500 ms. KEY PRESSED: DW13 Data Word Bit No. Key Hex Value ASC 0 0x07FF F3 0 0xBFFF F2 0 0xDFFF F1 0 0xEFFF Sensor 0 0xF7FF Automatic 0 0xFBFF Servo-Center 0 0xFDFF Manual 0 0xFEFF Drive Select 0 0xFF7F Setup 0 0xFFBF Jog Plus 0 0xFFDF Jog Minus 0 0xFFEF RGPC Right 0 0xFFF7 RGPC Left 0 0xFFFB Remote Calibration 0 0xFFFD Error x0FFF Timeout xF0FF No Key Pressed xFF0F Saving xFFF0 Undefined Key x Figure Sheet A Page 24

31 Status Data Block (cont d) DW14, DW20, DW26: Drive-Specific Operating Mode DW14 Drive 1 DW20 Drive 2 DW26 Drive 3 OPERATING MODE: DW14, DW20, DW26 Data Word Bit No Description Automatic Servo-Center Manual Jog Left Jog Right Setup (Auto or Man is Also Set) DW15, DW21, DW27: Drive-Specific Sensor Selection and Temperature Fault DW15 Drive 1 DW21 Drive 2 DW27 Drive 3 SENSOR SELECTION: DW15, DW21, DW27 Data Word Bit No Description Edge Left (X2) Edge Right (X1) Edge Center (X1 and X2) Line Center (X3) Line Edge (X3) Line Edge and Center (X3 with VTB-20) 1 Fault Overtemperature Figure Sheet A Page 25

32 Status Data Block (cont d) DW16, DW22, DW28: Drive-Specific Fault Register DW16 Drive 1 DW22 Drive 2 DW28 Drive 3 FAULT REGISTER (SR0): DW16, DW22, DW28 Data Word Bit No Description 1 Fault Motor Drive Power Supply 1 Fault Motor Overcurrent 1 Fault +12V Power Supply 1 Fault -12V Power Supply 1 Fault Analog Ground 1 Fault A/D Converter Initialization 1 Fault Overtemperature DW17, DW23, DW29: Drive -Specific Encoder Register DW17 Drive 1 DW23 Drive 2 DW29 Drive 3 ENCODER REGISTER (SR2): DW17, DW23, DW29 Data Word Bit No Description 1 Encoder Counterclockwise Stroke Limit 1 Encoder Clockwise Stroke Limit 1 Counterclockwise Web Measurement Limit 1 Clockwise Web Measurement Limit 1 Counterclockwise Limit Switch 1 Clockwise Limit Switch Figure Sheet A Page 26

33 Status Data Block (cont d) DW18, DW24, DW30: Drive-Specific Alarm Register DW18 Drive 1 DW24 Drive 2 DW30 Drive 3 ALARM REGISTER (SR3): DW18, DW24, DW30 Data Word Bit No Description 1 Encoder Stroke Alarm 1 Web Measurement Alarm 1 Loss of Null 1 ASC (Automatic Sensor Control) Active 1 Fault Serial Power 1 Drive Centered 1 Drive in Shutdown 1 Counterclockwise Maximum Motor Speed 1 Clockwise Maximum Motor Speed 1 Motor Blocked; Motor Current 1 SSC (Sensor Signal Comparator) Active 1 Counterclockwise Maximum Motor Current 1 Clockwise Maximum Motor Current 1 Valid Motor Installed DW19: Drive 1 Encoder Value DW25: Drive 2 Encoder Value DW31: Drive 3 Encoder Value NOTE: These data words contain the normalized values of the connected encoders. Data Type: Signed 16 bit-number. Range: -32,768 to +32, Figure Sheet A Page 27

34 Figure Sheet A Page 28

35 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 6 SPECIAL CONTROL OF FIFENET DEVICES NOTE: This section is intended to be used for special commands not available in the control matrix via keypad emulation or for setup purposes. CDP-01 Key Code Data Path When a key is pressed on a FifeNet CDP-01, the key code goes through many steps before any action is taken. The keys are scanned and the key is detected, but the key is not acted upon yet. Instead, the key is buffered until the FifeNet Master polls the CDP-01 with a command that asks, What keys are pressed on your panel? The CDP-01 responds with the key code representing which key (or keys) are currently pressed. Normally, the FifeNet Master then issues a command back to the CDP-01 with the key code and a command that tells the CDP-01 which keys are pressed. Now that the CDP-01 has received the command from the FifeNet Master telling it that a key has been pressed, it will act on that key. (This is why a FifeNet CDP-01 keypad does not work when the network is down.) FifeNet Master Figure 6-1: CDP-01 Key Code Data Path 1) What keys are pressed? 2) My AUTO key is pressed. 3) Your AUTO key is pressed. By skipping steps 1 and 2 in the sequence above, and injecting key codes/commands into the command stream for the CDP-01, the SBPC-21-PB can simulate keys being pressed on the CDP-01 s local panel. This provides the ability to make a fully functional remote control over the network Figure Sheet A Page 29

36 CDP-01 Key Codes The CDP-01 keypad is shown below, along with the key codes for each key. The key codes can be used to send a command to the CDP-01 to simulate a key pressed on the CDP-01 keypad. Commands are sent via a 16 bit command word, Register 0 in Table 4-1. Commands are issued by placing an 8-bit command byte in the lower half of the command word and an 8-bit action byte in the upper half of the command word. The Key Pressed command is byte 0x13. The Manual key code is 0x88. To simulate that the Manual key is pressed, send the command word 0x8813 to the CDP-01. As long as the command is issued, the CDP-01 acts as though the key is being held down. Even the actual keys on the CDP-01 keypad will be ignored until the command is cleared by writing zero 0x0000 to the command word. This provides the ability to lock out the CDP-01 keypad. If local keypad operation was needed concurrently with network control, the command should be maintained until the correct feedback is obtained. Feedback is obtained by monitoring the CDP-01 status data block parameters of Section 5. For instance, Register 0x40D could be monitored to verify that the key pressed command was received and Register 0x405 could be monitored to see what the CDP-01 response was to the key pressed command. Figure 6-2: CDP-01 Key Codes KEY Automatic Servo-Center Manual F1 F2 F3 ASC Sensor Setup Jog Minus Drive Select Jog Plus HEX CODE 0xAA 0x99 0x88 0xCC 0xDD 0xEE 0xFF 0xBB 0x66 0x44 0x77 0x55 Simulating Dual-Key Presses It is also possible to simulate dual-key presses. Single-key presses contain values like 0x44 for Jog Minus or 0x55 for Jog Plus. To simulate two keys pressed simultaneously, combine the two key codes like this: Jog Minus combined with Jog Plus is 0x54. Any two keys can be combined as long as the key code with the higher value is placed in the upper nibble. This allows simulation of setup functions. Key combinations of three keys or more cannot be simulated by network commands Figure Sheet A Page 30

37 CDP-01 LED Panel Data To make remote control complete, we must have a way to duplicate the CDP-01 panel LED s. The CDP-01 keypad contains integrated LED s to indicate operating modes, sensors selected, and many other parameters. The CDP-01 can be configured to send its panel LED data over FifeNet so that remote devices can duplicate the CDP-01 panel state. We have to look a little deeper to understand how to use this capability. Since there are 31 LED s on the CDP-01 panel, the information has to use the multiplexed mode to send all the LED states. The CDP-01 sends the panel data in two parts: Input Registers 0x403 and 0x404 as shown in Section 5, Status Data Block. The first word (Input Register 0x403) contains the state of 15 panel LED s, while the second word (Input Register 0x404) contains the remaining 16 LED states. The logic is negative so a bit that is zero indicates that this LED is on. By using the panel data, the setup procedures in the CDP-01 reference manual can be monitored to ensure proper sequence of steps. Figure 6-3: CDP-01 LED Panel Data Figure Sheet A Page 31

38 Figure Sheet A Page 32

39 SBPC-21-PB CUSTOMER INSTRUCTION MANUAL 7 INDEX Address FifeNet... 4 Profibus... 4 CDP-01 Commands... 29, 30 Key Codes LED Panel Data Parallel Input Simulating Dual-Key Press Codes CDP-01, Key... 29, 30 Error Codes... 7 Commands FifeNet to Profibus, Dual FifeNet to Profibus, Single FifeNet to Profibus, Triple Profibus to FifeNet, Dual Profibus to FifeNet, Single Profibus to FifeNet, Triple Special Configuration CDP-01, Multiple CDP-01, Single Drive, FifeNet to Profibus Drive, Profibus to FifeNet Network Switch/Jumper... 4 Connections FifeNet... 5 Network... 1 Consumer...See Producer/Consumer Model Control Matrix Dual-Drive Single-Drive Triple-Drive Data Flow Data Mapping Profibus to FifeNet Data Transfer Error Codes... 7 FifeNet Definition...3 Master...10 GSD File...14 Indicators Channel Status...6 Network Status...6 Jumpers...4 Key Codes CDP , 30 LED s 7-Segment...7 Error...6, 7 Status...6 Matrix Files...14 Network Node Setup...14 Status...6 Panel Data CDP Parallel Input CDP Produced Data Dual-Drive...17 Single-Drive...16 Triple-Drive...18 Producer... See Producer/Consumer Model Producer/Consumer Model...3 Profibus Node...14 SBPC-21-DN Definition...1 Software Matrix Files...14 Parallel Input Matrix...19 State Machine...15 Status Data Block DW12, Common Status Register...23 DW13, Key Pressed...24 DW14, Drive 1 Operating Mode Figure Sheet A Page 33

40 DW15, Drive 1 Sensor Selection DW16, Drive 1 Fault Register DW17, Drive 1 Encoder Register DW18, Drive 1 Alarm Register DW19, Drive 1 Encoder Value DW20, Drive 2 Operating Mode DW21, Drive 2 Sensor Selection DW22, Drive 2 Fault Register DW23, Drive 2 Encoder Register DW24, Drive 2 Alarm Register DW25, Drive 2 Encoder Value DW26, Drive 3 Operating Mode DW27, Drive 3 Sensor Selection DW28, Drive 3 Fault Register DW3, CDP-01 Panel Data Word DW30, Drive 3 Alarm Register...27 DW31, Drive 3 Encoder Value...27 DW4, CDP-01 Panel Data Word DW5, Device 1 Response...22 DW6, EDGE LEFT Sensor Value...23 DW7, EDGE RIGHT Sensor Value...23 DW8, LINE CENTER Sensor Value...23 DW9, LINE EDGE Sensor Value...23 Switch Settings...5 Time Slices Multiplexed...9 Real-Time Figure Sheet A Page 34

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