Table of Contents. C. Control and Signal Modules...3 DH9-M, DH5-T InstaTool DeviceNet Modules...3

Transcription

1 Table of Contents C. Control and Signal Modules...3 DH9-M, DH5-T InstaTool DeviceNet Modules Product Overview InstaTool DeviceNet Module Installation Installing Removal InstaTool DeviceNet Configuration Utility Schematic Operation InstaTool Master Node MAC ID Baud Rate Termination Resistor Module Status LED Network Status LED InstaTool Tool Module Termination Resistor Tool ID Module Status LED Network Status LED Downstream Large I/O Device and the ATI InstaBus Software Operation Maintenance Troubleshooting Recommended Spare Parts Specifications Drawings Appendix A C - 1

2 Glossary of Terms TERM Air Blow Auxiliary Power Available Communication Error EOAT InstaBus InstaBus Module Failure InstaTool Latch Lock Latch Solenoid Energized RTL RTL Relay RTLV SuperNode Tool Presence TSI TSI Relay TSIV TSRV Unlatch Unlock Unlatch Solenoid Energized DEFINITION The output supported by some ATI Master DeviceNet nodes for operation of the valve on the Air Blow module. An input indicating the presence of Auxiliary Power Supply to the ATI Master module. An input indicating a communication error between ATI Master and Tool modules. End-Of-Arm-Tool (end effector). The CAN-based sub-network formed on the EOAT with the ATI Tool module acting as the master and associated I/O devices as slaves. An input indicating a downstream node communication failure. Custom ATI solution that eliminates lengthy delay times associated with DeviceNet and tool changers. The output supplied to the ATI Master DeviceNet node to couple the tool changer (only valid for double solenoid valve equipped units). A proximity sensor input indicating that the coupling mechanism is in the Lock position. An input indicating current draw from the valve and the Lock solenoid coil (only valid for double solenoid valve equipped units). A proximity sensor input that senses when the ATI Tool is close. A relay circuit present on the ATI Master module that is triggered by the RTL sensor and allows the tool changer to be uncoupled when there is no Tool present. A control reliable input provided for health status monitoring of the RTL Relay. The large I/O device supported on some ATI InstaTool Tool modules. An input indicating that ATI Master and Tool module electrical pins are in contact. The Tool Stand Interlock feature is a custom ATI safety solution and circuit designed to only allow tool changer release while in the stand or storage location. A relay circuit present on the ATI Tool module that is triggered by a tool stand limit switch in order to close the TSI circuit and allow tool changer release. A control reliable input supported for monitoring of a tool stand limit switch used with the TSI circuit. A control reliable input provided for health status monitoring of the TSI Relay. The output supplied to the ATI Master DeviceNet node to uncouple the tool changer. A proximity sensor input indicating that the coupling mechanism is in the Unlock position. An input indicating current draw from the valve and the Unlock solenoid coil. C - 2

3 C. Control and Signal Modules DH9-M, DH5-T InstaTool DeviceNet Modules 1. Product Overview 1.1 InstaTool DeviceNet Module The InstaTool DeviceNet modules are required to provide a means for the customer to communicate with and control the tool changer. In general, InstaTool is preferred over standard DeviceNet in applications where there can be numerous tool changes per cycle and where minimized cycle time is important. Refer to Section 3 of this manual for detailed DeviceNet programming information and operational capability. The DH9-M module supports the use of an integrated single solenoid valve, which is provided on the valve adapter module (9121-Jxx), for Lock/Unlock control of the tool changer (Note that double solenoid valves are not supported). The user is only required to provide a pneumatic supply source to the tool changer. A second output is supported for integration of an Air Blow module (9121-UCx). An air supply source is also required for the Air Blow module. Please refer to the appropriate manual for specific module and tool changer requirements. Power and signal connectors are provided for interfacing on the Master and Tool modules (see Fig 1.1). When the tool changer is coupled, the Master and Tool modules pass signals using a spring-loaded pin block. A flexible boot surrounds the pin block to seal the connection from moisture and liquid while coupled. The DH9-M module is designed with special features to afford the user the opportunity to operate the tool changer in the safest manner possible. In addition to providing the standard Lock, Unlock, and Ready-to- Lock sensor inputs, the InstaTool modules are outfitted with Tool Stand Interlock (TSI). The TSI feature consists primarily of a physical break in the unlatch solenoid valve circuit. The TSI circuit is designed to allow tool changer release ONLY when the tool is in the stand or storage location. A momentary action double-pole, single-throw mechanical limit switch is recommended to be used in concert with TSI. The limit switch is integrated on the EOAT (see Figures. 1.1 and 1.2). An interface to the TSI circuit is made available to the customer via a 4-Pin Eurofast (12mm) connector on the DH5-T module. An off the shelf cord set can be utilized to connect this interface to the limit switch assembly. In order to allow the tool changer to uncouple when a Tool is not present, a relay circuit (RTL Relay) in parallel with the TSI circuit is utilized. The RTL Relay circuit is located in the Master module and is triggered by the RTL sensor. If the RTL sensor is low, indicating no Tool presence, then the RTL Relay circuit is closed allowing the solenoid valve circuit to be completed and the tool changer to be uncoupled. If the RTL sensor is high, indicating Tool presence, then the RTL Relay circuit is open and the TSI circuit is passed through to the Tool side. ce on the Tool side, the TSI circuit is closed by another relay circuit (TSI Relay). The TSI Relay is located in the Tool module and is triggered by closure of the limit switch. When the EOAT is in the stand and the limit switch is closed, the TSI Relay is closed, thus making the TSI circuit through the tool side. When the EOAT is out of the stand the TSI Relay is open and the TSI circuit remains open regardless of any unintentional Unlatch command. Monitoring of the Relays, limit switch and TSI circuit is achieved using the RTLV, TSRV and TSIV inputs, respectively. Refer to Table 3.8 for suggested fault monitoring conditions. The DH9 Master module firmware requires that the TSIV input be true in order for the Unlatch output command to be executed when a tool is present (i.e. RTL is high). the DH5 Tool version, the TSIV input is made available to the customer along with the TSI circuit via the 4-Pin TSI connector. Refer to the TSI connector details in drawings in Section 8 of this manual. C - 3

4 The Tool module employs a series of thumbwheel switches for setting of the Tool ID input. This allows the customer to distinguish between the different Tools that are being used in a robotic cell or on a production line. See Section 3.4 for DeviceNet bitmap and I/O information. Figure 1.1 InstaTool DH9 DeviceNet Master and DH5 Tool Modules Tool Stand Interlock Safety Feature: The Tool Stand Interlock (TSI) Feature is provided with this tool changer. A 4-Pin Eurofast connector found on the Tool module is designed for use with a tool stand present switch. Two sets of NO, double-pole single-throw, contacts are required on the switch. e set energizes a tool-side relay to make the Valve circuit, while the second set provides an input for fault monitoring. This switch should be integrated onto the EOAT to sense when the tool is in the stand. If an Unlatch command is given and the tool is not docked properly, the Unlatch command will not be recognized. This prevents the accidental release of the tool outside of the tool stand. A teach plug is available to override the TSI safety feature during initial setup and maintenance situations. Please refer to the manual for specific details regarding the TSI feature. Figure 1.2 Tool Stand Interlock (TSI)! CAUTION: This tool changer is equipped with Tool Stand Interlock (TSI). Special procedures are required to uncouple the tool changer. C - 4

5 2. Installation The control/signal modules are typically installed by ATI prior to shipment. The steps below outline the field installation or removal as required. DANGER: Power and air should always be removed prior to maintenance or repair. 2.1 Installing 1. It may be necessary to clean the mounting surface on the tool changer prior to installing the module in order to remove any debris that may be present. 2. Typically, proximity sensor and valve cables need to be connected to the Master side control module. These connections need to be made after fastening the module to the Master Plate. 3. (2) Small o-rings should be seated in grooves on the mounting face of the Master Plate. These o- rings should be lightly lubricated with Magnalube (or similar) prior to module attachment. 4. Align the module to the holes in the tool changer mounting surface using the dowels that are pressed into the module housing. Push the module up flush with the tool changer mounting surface. 5. Apply Loctite 242 (or similar) thread locker to the socket head cap screws and tighten using a hex key. Avoid over tightening so that the threads are not stripped in the Master/Tool Plates. 2.2 Removal 1. All customer connections up to the module need to be disconnected. 2. Remove the socket head cap screws and pull the module off the tool changer. 2.3 InstaTool DeviceNet Configuration Various parameters for the InstaTool DeviceNet modules need to be configured prior to operating the tool changer. Please refer to Section 3 of this manual for detailed information on installation and operation of the InstaTool DeviceNet modules. 2.4 Utility Schematic Refer to the drawings in Section 8 of this manual for customer interface and wiring details for the InstaTool modules.! CAUTION: All pneumatic fittings and tubing must be capable of withstanding the repetitive motions of the application without failing. The routing of electrical and pneumatic lines must minimize the possibility of stress pullout, kinking, etc. Failure of some critical electrical and/or pneumatic lines to function properly may result in injury to personnel and equipment. C - 5

6 3. Operation The InstaTool DeviceNet modules enable the customer to control and communicate with the tool changer through a network using standard DeviceNet protocol. A DeviceNet node is established on the DH9 Master module, but not on the Tool module. The Tool module acts as the master controller for a CAN-based sub-network (InstaBus) established on the EOAT. The DH5 Tool module supports the use of a single, large I/O device (e.g. a DeviceNet valve manifold) on the InstaBus. The Master and Tool modules interface with each other utilizing a proprietary serial communication scheme. All tool changer and InstaBus I/O is provided to the customer through the Master node. The InstaTool modules employ a Harting connector on the Master module and standard DeviceNet Mini style connectors, 5-pin for signal and 4-pin for Auxiliary power on the Tool module. Please refer to Figure 3.1 below for an overall system topology of the InstaTool product and to drawings in Section 8 for specific module wiring and connector interface information. Prior to use of the tool changer and the InstaTool modules, various hardware settings must be configured. Communicating with the InstaTool DeviceNet Modules requires knowledge of DeviceNet standards and operation. Figure 3.1 InstaTool Topology at the End Effector C - 6

7 3.1 InstaTool Master Node The InstaTool Master Node operates as a Group 2-ly Server on the DeviceNet network. The Master Node supports Explicit Messages, Polled and Change of State/Cyclic of the predefined Master/Slave Connection set. The Master Node does not support the Explicit Unconnected Message Manager (UCMM). MAC ID, Baud Rate, and Termination Resistor settings for the Master Node are configured through a DIP switch. (2) LEDs provide network and module status. To configure the DIP switch, remove the plastic window and seal as shown in the drawing in Section 8. When replacing the window, ensure that the seal is positioned correctly to prevent fluid leakage MAC ID The MAC ID is set by either hardware or software configuration. The range is In order for the MAC ID to be set by software, all DIP switch positions must be on. If the MAC ID is set by software, the Baud Rate must also be set by software. Refer to Figure 3.2 for detailed information on DIP switch setup Baud Rate Baud Rate is set by either hardware or software configuration. The possible settings are 125, 250 or 500Kbps. In order for the Baud Rate to be set by software, DIP switch positions 7 and 8 must be on. See Figure 3.2 for DIP switch setup Termination Resistor When DIP switch position 9 is on, a 120Ω resistor is placed across the CAN High and Low lines and termination to the CAN network is provided. If switch 9 is off, termination must be supplied by another device or through a termination cap at the end of the network cable Module Status LED The module status LED is identified on the device board as MS. It provides device status such as power-on and proper operation. Refer to drawings in section 8 of this manual for details of the location of the LED on the Master module. The following table outlines the various LED states and what they mean: Color State Indication None No Power Solid Unrecoverable Fault Recoverable Fault (Tool Connected) Red Serial Communication Errors Flashing Invalid Tool ID Tool Module Returns an Error Message Green Solid Normal Operation Flashing No Tool Connected Table 3.1 InstaTool Master Module Status LED C - 7

8 3.1.5 Network Status LED The network status LED is identified on the device board as NS. It provides communication status such as connected or not connected. Refer to drawings in section 8 of this manual for details of the location of the LED on the Master module. The following table outlines the LED states and what they mean: Color State Indication None No Power or No Network Detected Red Solid Unrecoverable Fault Flashing Output Error or Configuration Error Green Solid Normal Runtime Operation Flashing Device Is In Idle or Not Allocated to a Master Table 3.2 InstaTool Master Network Status LED SHOWN IN FACTORY DEFAULT SETTING Legend: ON OFF = Node 54 S w itch in O FF position Switch in O N position 10 - O FF: Reserved 9 - O N: Connects the 120Ω T erm ination R esistor 7, 8: Set communication Baud Rate as below; OFF, 8-OFF: 125Kbps 7-ON,8-OFF: 250Kbps 7-OFF, 8-ON: 500Kbps 7-O N, 8-O N: SW setable 1-6: Set MAC ID Example: MAC ID of 27 ON OFF P osition 1 is Least S ignificant Figure 3.2 InstaTool Master Module DIP Switch Settings C - 8

9 3.2 InstaTool Tool Module The Tool module is not a node on the DeviceNet network. The function of the Tool module is to supply Tool ID and downstream I/O to the Master node Termination Resistor e termination resistor is installed inside the tool module. The customer must terminate the end of the trunk line with an additional DeviceNet 120Ω resistor Tool ID The Tool ID for a particular tool is established from the setup of (5) thumbwheel switches. The InstaTool Tool module is available with switches configured to provide 5 independent (0 9) readings. To set Tool ID number for each respective end effector remove the plastic window and seal as shown in the drawing in Section 8. When replacing the window, ensure that the seal is positioned correctly to prevent fluid leakage. Refer to Figure 3.3 for detailed information on Tool ID switch setup Module Status LED The module status LED indicates the operating state of the tool module. In general, a combination of solid or flashing green indicates normal operation. Refer to drawings in Section 8 of this manual for details of the location of the LED on the Tool module. The following table outlines the LED states and what they mean: Color State Indication None No Power Flashing (0.5 Hz) No Communications From the ATI Master Module Green Flashing (2.5 Hz) Valid Communications From the ATI Master Module Table 3.3 InstaTool Tool Module Status LED Network Status LED The network status LED indicates the operating state of the InstaBus. In general, a combination of solid or flashing green indicates normal operation. Refer to drawings in Section 8 of this manual for details of the location of the LED on the Tool module. The following table outlines the LED states and what they mean: Color State Indication None No Power Solid Configuration Error Red Flashing e or More Slaves Are Timed Out Green Flashing Solid All Slaves are Communicating Properly Configuration Mode Entered, All Slaves are line Table 3.4 InstaBus Network Status LED C - 9

10 3.3 Downstream Large I/O Device and the ATI InstaBus The InstaTool Tool module functions as the master controller for the downstream ATI InstaBus (reference Fig.3.1) The InstaBus uses the same physical layer requirements as CAN (or DeviceNet). It utilizes a trunk line-drop line topology with Mini-style connectors. Up to 160 I/O points are available on the InstaBus. The large I/O device does not occupy a MAC ID on DeviceNet; however, it is assigned a Node ID of 01 on the InstaBus. Figure 3.3 gives details of the custom DIP switch settings used to configure the DH5-T module for a downstream large I/O device. Refer to Appendix A at the end of this manual for an example application and setup details. NOTE: The DIP Switch Orientation Shown above is rotated 180 from the pictures below. Network LED NOTE: The DIP Switch Orientation Shown in this photo is relative to the module view below. Module LED Figure 3.3 InstaTool DH5 Tool Module DIP Switch Settings SW5 SW1 Tool ID Switches (Refer to the bitmap later on in this section for details of the switches and the order of information) Figure 3.4 InstaTool Tool Module, Tool ID Switch Settings C - 10

11 3.4 Software A working EDS file for the InstaTool module is available from our website ( or by ; reference the part number given below: DH9-M EDS file I/O maps for the DeviceNet nodes are provided in the Tables 3.6 and 3.7 below. This information allows user DeviceNet programming to translate the DeviceNet module interface to discrete I/O. The master module MAC ID Node is switch-selectable by the user with the factory default setting of Node 54. Robot Inputs and Outputs are user-assigned and may be programmed as discrete bits or in 8-bit bytes. Robot Inputs from ATI Master InstaTool DeviceNet Module (Node 54) Byte Bit # Name Description/Function 0 Lock Tool Changer Lock Prox I/P 1 Unlock Tool Changer Unlock Prox I/P 2 Unlatch Solenoid Energized Unlatch Solenoid Energized I/P 3 Auxiliary Power Available Auxiliary Power Present I/P 1 4 RTL Ready-to-Lock Prox I/P 5 TSIV TSI Switch Verify I/P 6 Latch Solenoid Energized Latch Solenoid Energized I/P 7 RTLV RTL Relay Verify I/P 0 TSRV TSI Relay Verify I/P 1 InstaBus Module Failure D-Stream Node Comm. Fail I/P 2 Tool Presence Hard-Connect Tool PresenceI/P 3 Communication Error Tool Mod. Comm. Timeout I/P 2 4 Tool ID Switch1 bit1 (LSD) Tool ID I/P Bit Data 5 Tool ID Switch1 bit2 6 Tool ID Switch1 bit4 7 Tool ID Switch1 bit8 (MSD) 0 Tool ID Switch2 bit1 1 Tool ID Switch2 bit2 2 Tool ID Switch2 bit4 3 Tool ID Switch2 bit8 3 4 Tool ID Switch3 bit1 5 Tool ID Switch3 bit2 6 Tool ID Switch3 bit4 7 Tool ID Switch3 bit8 0 Tool ID Switch4 bit1 1 Tool ID Switch4 bit2 2 Tool ID Switch4 bit4 3 Tool ID Switch4 bit8 4 4 Tool ID Switch5 bit1 5 Tool ID Switch5 bit2 6 Tool ID Switch5 bit Tool ID Switch5 bit8 Customer available Inputs (160 available I/O points) InstaBus Downstream Customer Defined I/P Table 3.6 InstaTool Master Input Map C - 11

12 Robot Outputs to ATI Master InstaTool DeviceNet Module (Node 54) Byte Bit # Name Description/Function 0 Air Blow ToolChanger Air Blow Valve O/P 1 Unlatch ToolChanger Valve Unlatch O/P Customer available Outputs (160 available I/O points) InstaBus Downstream Customer Defined O/P Table 3.7 InstaTool Master Output Map 3.5 Operation Please refer to the flow chart in Figure 3.5 for a logical description of the DeviceNet commands, couple/uncouple procedure, and diagnostic checks. Table 3.8 is provided below with suggested fault monitoring conditions. Sensor/Input1 State1 Sensor/Input2 State2 Comment RTL Low Slave Module Present* **RTL Not Operating Properly. RTL Low RTLV High **RTL Relay or RTL Not Operating Properly. RTL High RTLV Low RTL Relay or RTL Not Operating Properly. TSIV Low TSRV High TSIV High TSRV Low **TSI Relay or Switch Not Operating Properly TSI Relay or Switch Not Operating Properly TSIV High Clear of Stand Yes **Switch Failed Closed or Tied? TSRV High Clear of Stand Yes TSI Relay Failed Closed? * Slave Module Present as evidenced by Tool Presence Input or ability to read Tool ID ** Dangerous situation where an unintentional Unlatch command could result in Tool release. Table 3.8 Fault Monitoring C - 12

13 TSI Circuit Unlocked State RTL Initiate Unlatch TSIV Signal Status Check Air Supply Check Circuit Unlock Signal Status Move Master Away from Tool & Stand Check TSI Circuit Position Tool Changer for Uncoupling Auxiliary Power Supply Status Unlatch Solenoid Status Check Valve Check Circuit WORKING MODE Check TSI Circuit TSIV Signal Status Is Tool in its Stand? Position Tool Changer for Coupling Check Circuit RTL Signal Status Lock Signal Status Unlock Signal Status Check Valve Initiate Unlatch Locked State "Missed" Tool Figure 3.5 InstaTool DeviceNet Logic Description, Operation and Diagnostic Chart C - 13

14 4. Maintenance The InstaTool DeviceNet modules are designed to provide a long life with little maintenance required. Contact pins on the Tool module should be inspected and cleaned periodically to ensure electrical contact is maintained. Care should be taken not to bend or pull out the contacts when cleaning. Do not use an abrasive media to clean the contact pins as erosion may occur to the contact surface. If the tool changer is being used in dirty environments (e.g. welding or deburring applications) care should be taken to limit the exposure of the tool changer. Unused Tool assemblies should be covered to prevent debris from settling on the mating surface. Also, the Master assembly should be exposed for only a short period of time during Tool change and down time. In this instance the customer should determine a suitable inspection schedule. Recommended tool changer preventative maintenance and inspection schedules are provided in the tool changer modular manuals. Detailed drawings are provided in Section 8 of this manual. 5. Troubleshooting Refer to the flow chart in Figure 3.5 for troubleshooting information, as well as the table below: Symptom Unit will not lock or unlock Sensors not operating properly (but DeviceNet is operating correctly). Loss of DeviceNet Communication Possible Cause / Correction Verify that ball bearings are not moving freely. Clean and lubricate as needed (see Section 4 Maintenance). Check air supply. Check that exhaust port is properly vented (check muffler). Verify that DeviceNet and DeviceNet signals are operating correctly. Verify that the Master and Tool are within the specified No-Touch zone when attempting to lock. Verify that cables are connected correctly. Verify that the sensors are set correctly (Refer to SIP Kit Installation). Ensure that the Tool Plate is securely held to the Master Plate, that nothing is trapped between their surfaces, and that there is no air trapped in the Unlock (U) air port. Check/Replace DeviceNet cabling up- and down-stream of tool changer modules. Inspect DeviceNet Module contact pins for debris/wear. Check nodes up- and down-stream of tool changer nodes for failures. These failures can masquerade as tool changer node faults. Verify DeviceNet network and cabling is properly tuned. Lower Baud Rate if communication problems persist. C - 14

15 6. Recommended Spare Parts See Drawings in Section 8 of this manual. 7. Specifications InstaTool Modules Refer to the ODVA manual for detailed DeviceNet specifications. InstaTool Master Factory configuration DH9-M MAC ID 54, Baud 500 Kbps, termination resistance on, Harting connector, Air Blow Valve support. Current Draw* 63mA No tool attached, tool changer unlocked. 125mA 183mA Tool coupled, no downstream I/O, TSIV off. Tool coupled, no downstream I/O, TSIV on. InstaTool Tool Factory configuration DH5-T Mini style Bus, and Aux. Power connectors (female). (5) Independent Tool ID switches, each reading a (0 9) position, Quick Boot Valve Support. Current Draw* 61mA Tool by itself. DH5-T Supports Mechanical Limit Switch interface with TSI circuit. *Current Draw totals for DeviceNet-powered circuits, not including downstream I/O devices and Auxiliary powered valves. Please refer to the module manufacturer for these specifications. C - 15

16 8. Drawings C - 16

17 C - 17

18 Appendix A ATI InstaTool Setup Example: Step 1: (2) EOATs outfitted as detailed below: EOAT #1: Material Handling with (1) Large Valve manifold block (Manifold I/O size is 32I and 16O) EOAT #2: Material Handling with (1) Large Valve manifold block (Manifold I/O size is 64I and 16O) Set the Tool ID for each EOAT on the ATI Tool Module. For this example EOAT #1 will be given Tool ID and EOAT #2 will be given Tool ID Step 2: Make sure the DIP switches on each end effector are set properly for support of a large I/O device. For both Tools, the DIP switches will be set as detailed below: Step 3: Step 4: Step 5: Make cabling connections from the ATI Tool module downstream to the large I/O device. Standard 5-conductor DeviceNet-type cabling is required to be routed downstream, and Auxiliary Power connected as needed with appropriate 4-conductor cabling. Use Tee connectors, as necessary, and be sure to maintain Trunkline-Dropline topology on the 5-conductor line, as with standard DeviceNet (CAN) specifications. Be careful and make sure the 4- Pin connections to the large I/O device are supported by the Tool module. Set the node number on the large I/O device to 01. Typically, there is a rotary switch on the I/O device available for setting the node number. The ATI InstaTool is now ready to be used in application. A power up cycle is required at setup to initialize the module settings. Perform one-to-two tool changer cycles prior to reading of downstream I/O and normal production use. Step 6: An example input bitmap for Tool #11001 is listed below as supplied to DeviceNet from the ATI master node 54; Coupled Tool changer locked and away from the storage nest Uncoupled Tool changer unlocked and ATI master away from ATI tool Byte 1 Robot Inputs from ATI Master InstaTool DeviceNet Module (Node 54) Bit Bit Value Bit Value # Coupled Uncoupled Name Lock Unlock Unlatch Solenoid Energized Auxiliary Power Available RTL TSIV Latch Solenoid Energized RTLV C - 18

19 TSRV InstaBus Module Failure Tool Presence Communication Error Tool ID Switch1 bit1 (LSD) Tool ID Switch1 bit Tool ID Switch1 bit Tool ID Switch1 bit8 (MSD) Tool ID Switch2 bit Tool ID Switch2 bit Tool ID Switch2 bit Tool ID Switch2 bit Tool ID Switch3 bit Tool ID Switch3 bit Tool ID Switch3 bit Tool ID Switch3 bit Tool ID Switch4 bit Tool ID Switch4 bit Tool ID Switch4 bit Tool ID Switch4 bit Tool ID Switch5 bit Tool ID Switch5 bit Tool ID Switch5 bit Tool ID Switch5 bit8 0 available 0 Large I/O Device, Node 1 1 available 0 2 available 0 3 available 0 4 available 0 5 available 0 6 available 0 7 available 0 0 available 0 1 available 0 2 available 0 3 available 0 4 available 0 5 available 0 6 available 0 7 available 0 0 available 0 1 available 0 2 available 0 3 available 0 4 available 0 5 available 0 6 available 0 7 available 0 0 available 0 1 available 0 2 available 0 3 available 0 4 available 0 5 available 0 6 available 0 7 available 0 Bytes 9 24 are present but unused (0). C - 19