Anybus-S CC-Link. Fieldbus Appendix. Rev HMS Industrial Networks AB. Germany Japan Sweden U.S.A UK

Transcription

1 Fieldbus Appendix Anybus-S CC-Link Rev HMS Industrial Networks AB Germany Japan Sweden U.S.A UK sales-ge@hms-networks.com sales-jp@hms-networks.com sales@hms-networks.com sales-us@hms-networks.com uk-sales@hms-networks.com

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3 Table of Contents Table of Contents Preface Chapter 1 Chapter 2 About This Manual How To Use This Document... P-1 Important User Information... P-1 Related Documents... P-2 Document History... P-2 Revision List... P-2 Conventions & Terminology... P-3 Support... P-3 About the Anybus-S CC-Link Features Conformance Note External View Network Status LEDs Basic Operation General Modes of Operation CSP-files Initialisation Sequence General Generic Anybus-S Mode Fieldbus Specific Mode Data Exchange Data Representation (CC-Link v.1) Data Representation (CC-Link v.2)...2-5

4 Table of Contents II Chapter 3 Chapter 4 Appendix A Appendix B Appendix C Appendix D Fieldbus Specific Mailbox Messages FB_INIT FB_SET_V Fieldbus Specific Area Overview ERR ERR2 - Transmission Status ERR3 - Error information (number of received data) MST1 - M -> R Status information (ST1) MST Connectors Application Connector...A-1 Fieldbus Connector...A-1 Mechanical Specification Straight Switches & Connectors... B-1 Angled Switches & Connectors... B-2 Environmental Specification Temperature... C-1 Relative Humidity... C-1 EMC compliance... C-1 Electrical Characteristics Power Supply...D-1 Shielding/Protective Earth...D-1 Galvanic Isolation...D-1

5 Preface About This Manual How To Use This Document This document provides an overview of the Anybus-S CC-Link, and should be used in conjunction with the Anybus-S Parallel Design Guide. It describes how to configure and operate the module, and provides examples showing how to use its features over a CC-Link network. The reader of this document is expected to be familiar with hardware and software design and to have basic knowledge in the CC-Link fieldbus system, and communication systems in general. For general information about the Anybus-S platform, consult the general Anybus-S Parallel Design Guide. Important User Information The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB, reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document. There are many applications of this product. Those responsible for the use of this device must ensure that all the necessary steps have been taken to verify that the application meets all performance and safety requirements including any applicable laws, regulations, codes, and standards. Anybus is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their respective holders.

6 About This Manual P-2 Related Documents Document Name Publication Author Anybus-S Parallel Design Guide - HMS CC-Link Specification (Profile) BAP CLPA CC-Link Conformance Test Specification BAP-C A CLPA CC-Link Cable Wiring Manual CC Mitsubishi Document History Summary of Recent Changes ( ) Change Page(s) Merged chapters Initialisation + Data Transfer into Basic Operation 2-1 Renamed Run-time Errors and Status Information to Fieldbus Specific Area 4-1 Rewrote chapter Basic Operation 2-1 Added Chapter Fieldbus Specific Mailbox Messages 3-1 Moved FB_INIT to chapter Fieldbus Specific Mailbox Messages 3-1 Added CC-Link v.2 specific functionality 2-1, 2-5, 3-3 Corrected MST15 & MST16 bits 4-3 Misc. minor changes - Revision List Revision Date Author Chapter(s) Description PeP - First version PeP - Minor updates PeP - Conformance note + minor updates PeP - Minor updates PeP PeP - B Corrected data size Corrected DPRAM offset for status registers Various minor changes Updated measurements ToT 2 Correction to FB_INIT mailbox message PeP 2, 3, 4 Misc. changes + added CC-Link v2 functionality PeP 4 Corrected MST15 & MST16 bits

7 About This Manual P-3 Conventions & Terminology The following conventions are used throughout this document: Numbered lists provide sequential steps Bulleted lists provide information, not procedural steps Mailbox commands that must to be sent during module initialization must be sent between the START_INIT and END_INIT commands. The term module is used when referring to the Anybus-S CC-Link The term application is used when referring to the hardware that is connected to the Anybus Application Connector. Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value. All pictures in this document shows the standard version of this product. However, other connectors, leds and switches may be present depending on configuration. 16/32 bit values are written in big endian Motorola format All measurements expressed in this document have a tolerance of ±0.25mm unless otherwise stated. Support HMS Sweden (Head Office) support@hms-networks.com Phone: +46 (0) Fax: +46 (0) Online: HMS America us-support@hms-networks.com Phone: Toll Free: Anybus Fax: Online: HMS Germany ge-support@hms-networks.com Phone: Fax: Online: HMS Japan jp-support@hms-networks.com Phone: Fax: Online:

8 Chapter 1 About the Anybus-S CC-Link This product is a member of the Anybus concept of interchangeable fieldbus modules. This makes it fully interchangeable with any fieldbus system supported by the Anybus-S platform. The Anybus-S CC-Link is a slave module for the CC-Link fieldbus system. It contains all the functionality needed to turn an application into a complete CC-Link remote device, and it can be customised to appear as a vendor specific CC-Link implementation rather than a generic Anybus-S module. Features Up to 128 I/O (bit) points and 16 words (16 bit) of data (CC-Link v.1) Up to 896 I/O (bit) points and 128 words (16 bit) of data (CC-Link v.2) Up to 4 occupied stations Supported baud rates range from 156kbps to 10Mbps Possibility to customize Vendor Code, Model Code and Version via application interface Baudrate and Station Number configuration via switches or application interface Galvanically isolated bus electronics CC-Link Remote Device Conformance Note The Anybus-S CC-Link has been tested standalone and found to comply with the CC-Link Conformance Test specification (Publication: BAP-C A). However, even though the Anybus-S complies to this specification the final product will need re-certification. Special care will have to be taken when designing the power supply that feeds power to the Anybus Application Connector, since this drastically affects the final test results. (See CC-Link Conformance Test Specification (Publication: BAP-C A) section 2 Noise Test ) The application alone is responsible for maintaining compatibility with the profiles defined in the CC-Link Specification (Profile), publication BAP E. This documentation is available free of charge to all registered CLPA members. To sign up as a member, please contact the CLPA (

9 About the Anybus-S CC-Link 1-2 External View # Description 1 Application Connector 2 Fieldbus Connector 3 Baud Rate Selector 4 Station Number (x10) 5 Station Number (x1) 6 Network Status LEDs Application Connector The application connector features a standard Anybus-S 2kbyte parallel DPRAM interface. For further information, please consult the general Anybus-S Parallel Design Guide. Fieldbus Connector The standard connector is a 5 pin pluggable screw connector. For more information about available connector types and their pin assignments, see A-1 Connectors. 156k FB_INIT 625k Baud Rate Switch This rotary switch is used to specify the baudrate of the module. This 2.5M can also be specified in the FB_INIT mailbox command. In this case, the switch must be set to 9. 5M Station Number These two rotary switches are used to specify the station number of the module. (Two digit decimal). Valid settings range from 1 up to This can also be specified in the FB_INIT mailbox command. In this case, the switches must be set to x 1x M 1. If more than one station is occupied by the module, the highest possible station number is reduced by the number of occupied stations minus one.

10 About the Anybus-S CC-Link 1-3 Network Status LEDs LED 1 - RUN Colour State Indicates: Green On Normal operation Off Network non-participating or timeout status No power on the module LED 2 - ERRL Colour State Indicates: Red On CRC error detected Illegal station number or illegal baudrate selected Off Normal operation No power on the module LED 3 - RDLED Colour State Indicates: Green On Data being received Off No data reception No power on the module LED 4 - SDLED Colour State Indicates: Green On Data being transmitted Off No data transmission No power on the module

11 Chapter 2 Basic Operation General Modes of Operation The module features two modes of operation: Generic Anybus-S Mode No special initialisation settings are needed to run in this mode, and the module will operate with the following properties: - CC-Link version: 1 - Vendor Code: 0212h (HMS Industrial Networks) - Model (Machine) Code: 01h (PLC) - Version: 02h (Version B) - Station Number: - (Set by onboard switches) - Baudrate: - (Set by onboard switches) - No. of Stations: (Determined by ANYBUS_INIT) - Max. Data Size (points): 128 (Determined by ANYBUS_INIT) - Max. Data Size (words): 16 (Determined by ANYBUS_INIT) Fieldbus Specific Mode This mode requires additional mailbox messages to be issued during initialisation, which enables the module to operate as follows: - CC-Link version: 1 or 2 (CC-Link v.2 enabled by issuing FB_SET_V2) - Vendor Code: - (Specified in FB_INIT) - Model (Machine) Code: - (Specified in FB_INIT) - Version: - (Specified in FB_INIT) - Station Number: - (Set by onboard switches or in FB_INIT) - Baudrate: - (Set by onboard switches or in FB_INIT) - No. of Stations: (Determined by ANYBUS_INIT or FB_SET_V2) - Max. Data Size (points): 896 (Determined by ANYBUS_INIT or FB_SET_V2) - Max. Data Size (words): 128 (Determined by ANYBUS_INIT or FB_SET_V2) CSP-files To simplify network configuration, CC-Link devices may be associated with CC-Link System Profile, also known as a CSP-file. This file contains a description of the device and can be used by some CC- Link system utilities to simplify the configuration process. HMS supplies general CSP-files, compatible with the Generic Anybus-S Mode. If operating in one of the two fieldbus specific modes, a custom CSP-file should be created according to the structure described in the CC-Link Specification (Profile) (Publication: BAP E).

12 Basic Operation 2-2 Initialisation Sequence General The I/O lengths specified in ANYBUS_INIT must match the following criteria: Input I/O Length: >=0 byte a Output I/O Length: >=0 byte a Input DPRAM Length: <= Input I/O Length Output DPRAM Length: <= Output I/O Length Input Total Length: = Input I/O Length Output Total Length: = Output I/O Length a. The sum of the I/O lengths (Input + Output) must be >0 Additionally, when using CC-Link v.2, the specified I/O lengths must match the settings in FB_SET_V2 (see 3-3 FB_SET_V2 ). Generic Anybus-S Mode To operate in this mode, perform a standard initialisation by issuing the following mailbox commands: 1. START_INIT This command starts the initialisation process. 2. ANYBUS_INIT This command specifies the basic behaviour of the module such as I/O sizes etc. 3. END_INIT This command ends the initialisation process.

13 Basic Operation 2-3 Fieldbus Specific Mode To operate in this mode, issue the following mailbox commands: 1. START_INIT This command starts the initialisation process. 2. ANYBUS_INIT This command specifies the basic behaviour of the module such as I/O sizes etc. 3. FB_INIT See 3-1 FB_INIT. 4. FB_SET_V2 (Optional) This step is optional, and instruct the module to exchange data via CC-Link v.2. If implemented, the settings specified in ANYBUS_INIT must match the settings specified in this command. See also 3-3 FB_SET_V2. 5. END_INIT This command ends the initialisation process.

14 Basic Operation 2-4 Data Exchange Data Representation (CC-Link v.1) Data Sizes The module will use the I/O lengths specified in ANYBUS_INIT to determine the number of occupied stations, which in turn determines the actual I/O size used on CC-Link as follows: I/O Size in Anybus Init Occupied Stations Bit Data (in bytes) Word Data (in bytes) 0 < length 4 1 s 0 4 < length 12 4 length < length length < length length < length length < length Data Layout The Input and Output Data each consists of a block if Bit data immediately followed by a block of Word data. No other information is exchanged via the Input and Output Data areas. The data is exchanged in a transparent manner, which means that the application alone is responsible for using the Bit and Word data in consistency with the selected CC-Link profile. Example In this example, the following settings are used in ANYBUS_INIT: Input I/O Length: 36 Output I/O Length: 36 Input DPRAM Length: 36 Output DPRAM Length: 36 Input Total Length: 36 Output Total Length: causing the following memory layout: Area Location in DPRAM Contents Size (bytes) Input 0000h - 000Bh Bit Data (X) Ch h Word Data (RWr) 24 Output 0200h - 020Bh Bit Data (Y) Ch h Word Data (RWw) 24

15 Basic Operation 2-5 Data Representation (CC-Link v.2) When operating in Fieldbus Specific + CC-Link v2 -mode, the module can optionally use an extended number of bus cycles to exchange larger data sizes. Note that this feature requires a CC-Link v.2 capable master. Also note that this feature affects data throughput. Data Sizes The correlation between the number of occupied stations and the number of extension cycles are defined in the following table: Occupied Stations Extension Cycle 2 Extension Cycles 4 Extension Cycles 8 Extension Cycles Points Bytes Points Bytes Points Bytes Points Bytes 32 bits 4 32 bits 4 64 bits bits 16 4 words 8 8 words words words bits 8 96 bits bits bits 48 8 words words words words bits bits bits bits words words words words bits bits bits bits words words words words 256 When running in this mode, the data sizes specified in ANYBUS_INIT must match the corresponding data sizes in the table above, or the module will indicate an error in the FB_SET_V2 response. Data Layout From the application point of view, the data is structured just as in CC-Link v.1-mode. Again, the data is exchanged in a transparent manner, which means that the application alone is responsible for using the Bit and Word data in consistency with the desired CC-Link profile. Example Using 4 extension cycles & 2 occupied stations gives the following memory layout: Area Location in DPRAM Contents Size (bytes) Input 0000h h Bit Data (X) h h Word Data (RWr) 64 Output 0200h h Bit Data (Y) h h Word Data (RWw) 64 In this case, the following settings must be used in ANYBUS_INIT: Input I/O Length: 88 Output I/O Length: 88 Input DPRAM Length: <=88 Output DPRAM Length: <=88 Input Total Length: 88 Output Total Length: 88

16 Chapter 3 Fieldbus Specific Mailbox Messages FB_INIT Description This command is used to specify various fieldbus-specific parameters. Note: This command can only be issued during initialisation. Command Initiator Command Name Command no. Extended Header Data Message Data Application FB_INIT 0001h Fault information Station number, Baud rate, Vendor Code, Model Code and Version. Command and response layout Command Expected response Message ID (ID) (ID) Message information 4002h 0002h Command 0001h 0001h FB_INIT Data size 000Ah 000Ah 10 bytes of data (5 words) Frame count 0001h 0001h Frame number 0001h 0001h Offset high 0000h 0000h Offset low 0000h 0000h Extended word Extended word Extended word Extended word Extended word Extended word Extended word Extended word 8 (reserved - set to 0000h) Fault Information Message dataword 1 Station number Station number Message dataword 2 Baud Rate Baud Rate Message dataword 3 Vendor Code Vendor Code Message dataword 4 Model Code Model Code Message dataword 5 Version Version

17 Fieldbus Specific Mailbox Messages 3-2 Fault Information If the Message Information -word in the response indicates Invalid Other, further details about the error can be found here as follows: Value 0001h 0002h 0003h Error Invalid station number Invalid baud rate Invalid model code Station Number A CC-Link remote device may be assigned a station number of 1 to 64. However, if the module occupies multiple stations, the highest possible station number possible is reduced according to the table below. Note: The station number switch must be set to 99 in order for this settings to have effect. Occupied Stations Valid Station Numbers h to 0040h h to 003Fh h to 003Eh h to 003Dh Baud Rate Note: The baud rate switch must be set to 9 in order for this settings to have effect. Value 0000h 0001h 0002h 0003h 0004h Baud Rate 156 kbps 625 kbps 2.5 Mbps 5 Mbps 10 Mbps Vendor Code The Vendor Code is an application specific 16 bit value assigned by the CC-Link Partner Association Model Code Range 0001h - 00FFh Version Range 0001h - 00FFh 1 1. When operating in CC-Link V2 mode, the valid range is reduced to 0001h - 003Fh.

18 Fieldbus Specific Mailbox Messages 3-3 FB_SET_V2 Description This command instructs the module to exchange data using CC-Link V2. Note: This command can only be issued during initialisation. Command Initiator Command Name Command no. Extended Header Data Message Data Application FB_SET_V2 0002h Fault information Number of occupied station and extension cycles. Command and Response Layout Command Expected response Message ID (ID) (ID) Message information 4002h 0002h Command 0002h 0002h FB_SET_V2 Data size 0002h 0002h 2 bytes of data Frame count 0001h 0001h Frame number 0001h 0001h Offset high 0000h 0000h Offset low 0000h 0000h Extended word Extended word Extended word Extended word Extended word Extended word Extended word Extended word 8 (reserved - set to 0000h) Fault Information Message data byte 1 Occupied Stations Occupied Stations Message data byte 2 Extension Cycles Extension Cycles

19 Fieldbus Specific Mailbox Messages 3-4 Fault Information If the Message Information -word in the response indicates Invalid Other, further details about the error can be found here as follows: Value 0001h 0002h 0003h 0004h 0005h Error Invalid number of occupied stations Invalid number of extension cycles The IN I/O size previously set by ANYBUS_INIT does not correspond to the number of occupied stations and extension cycles The OUT I/O size previously set by ANYBUS_INIT does not correspond to the number of occupied stations and extension cycles The software version previously sent in FB_INIT is not valid in version 2 or higher (bit 6 and 7 must both be zero) Occupied Stations Number of occupied stations. Valid range: Extension Cycles Number of extension cycles. Valid settings: 1, 2, 4 or 8.

20 Chapter 4 Fieldbus Specific Area Overview The Fieldbus Specific Area holds various CC-Link status registers: Location 640h 641h 642h 643h 644h Contents ERR1 ERR2 ERR3 MST1 MST2 ERR1 b7 b6 b5 b4 b3 b2 b1 b0 (reserved) BSERR SSERR (reserved) BERR STERR STERR (Station Number setting Error information) 0: Normal 1: Error (Value 0, 65 or greater has been set) BERR (Baud rate switch setting Error information) 0: Normal 1: Error (A value greater than 4 has been set) SSERR (Station number setting Switch change Error information) 0: Normal 1: Error (The value has been altered during runtime) BSERR (Baud rate Switch change Error information) 0: Normal 1: Error (The value has been altered during runtime)

21 Fieldbus Specific Area 4-2 ERR2 - Transmission Status b7 b6 b5 b4 b3 b2 b1 b0 (reserved) 1 ERR22 ERR21 ERR20 ERR20 (CRC error) 0: Normal 1: Error ERR21 (Time out error) 0: Normal 1: Error ERR22 (Carrier detection status) 0: Normal 1: Error ERR3 - Error information (number of received data) b7 b6 b5 b4 b3 b2 b1 b0 (reserved) ERR32 ERR31 ERR30 ERR30 (Number of RY data or RWw data error) 0: Normal 1: Insufficient number of data for the host ERR31 (Number of RY data error) 0: Normal 1: Insufficient number of data for the host ERR32 (Number of RWw data error) 0: Normal 1: Insufficient number of data for the host

22 Fieldbus Specific Area 4-3 MST1 - M -> R Status information (ST1) b7 b6 b5 b4 b3 b2 b1 b0 MST17 MST16 MST15 MST14 MST13 MST12 MST11 MST10 MST10 (PC CPU) 0: Stop 1: Run MST11 (PC CPU) 0: Normal 1: Abnormal MST12 (Refresh) 0: Stop 1: Start MST13 (Transient) 0: No 1: Yes MST14 (Transient reception) 0: Enable 1: Disable MST15 & MST16 MST16 MST15 Master CC-Link version 0 0 V1 0 1 V2 1 0 V3 (future use) 1 1 V4 (future use) MST17 0: Main master station 1: Standby master station

23 Fieldbus Specific Area 4-4 MST2 b7 b6 b5 b4 b3 b2 b1 b0 MST27 MST26 MST25 MST24 MST23 MST22 MST21 MST20 MST20 - MST23 Value Number of Y information transmission points 0 0 point points (32 bytes) points (64 bytes) points (96 bytes) points (128 bytes) points (160 bytes) points (192 bytes) points (224 bytes) points (256 bytes) MST24 - MST27 Value Number of RWw transmission points 0 0 point 1 32 points (64 bytes) 2 64 points (128 bytes) 3 96 points (192 bytes) points (256 bytes) points (320 bytes) points (384 bytes) points (448 bytes) points (512 bytes)

24 Appendix A Connectors Application Connector (Consult the general Anybus-S Parallel Design Guide for further information) Fieldbus Connector For more information about cables and wiring, consult the CC-Link Cable Wiring Manual, publication CC pin D-sub (Female) Pin Signal Housing Shield 1 NC 2 NC 3 Communication line (DB) 4 Digital GND (DG) 5 Frame GND (FG / PE) 6 NC 7 NC 8 Communication line (DA) 9 NC Female Pluggable Screw Pin Signal 1 Communication line (DA) 2 Communication line (DB) 3 Digital GND (DG) 4 Shield 5 Frame Ground (FG / PE) 1 5 2mm Board to Board Pin Signal 1 Shield 2 Frame GND (FG / PE) 3 Digital GND (DG) 4 NC 5 Communication line (DA) 6 Communication line (DB) 7 NC 8 NC 9 NC 10 NC 1 10

25 0 Appendix B Mechanical Specification Note: All measurements expressed in this chapter have a tolerance of ±0.25mm unless otherwise stated. Straight Switches & Connectors ,2mm 4.6 Ø Ø 5.9 Ø

26 0 Mechanical Specification B-2 Angled Switches & Connectors Ø Ø 2.8 Ø ,2mm

27 Appendix C Environmental Specification Temperature Operating +0 to +70 degrees Celsius Test performed according to IEC and IEC Non Operating -15 to +85 degrees Celsius Test performed according to IEC and IEC Relative Humidity The product is designed for a relative humidity of 5 to 95% non-condensing. Test performed according to IEC EMC compliance Emission According to EN :1993 Tested per 55011:1990, class A, radiated Immunity According to EN :1999 Tested per EN :1995 EN :1996 EN :1995 EN :1995 EN :1996

28 Appendix D Electrical Characteristics Power Supply Supply Voltage Both the module electronics and the fieldbus interface requires a regulated 5V DC power supply. For more information regarding power requirements, consult the Anybus-S Design Guide. Power Consumption The maximum power consumption is 100mA on the bus interface, 200 ma on the module electronics. The total current consumption for both power ports is 300mA. Shielding/Protective Earth A connection to PE is provided through on one of the front mounting holes according to the Anybus- S specification. Galvanic Isolation The bus power is separated from other electronics via an onboard DC/DC converter. The send and receive signals are isolated via opto-couplers.

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