HARTING Industrial Ethernet MICA Guide

Transcription

1 HARTING Industrial Ethernet MICA Guide

2 1. Edition HARTING IT Software Development, Espelkamp, Germany All rights reserved, including those of the translation. No part of this manual may be reproduced in any form (print, photocopy, microfilm or any other process), processed, duplicated or distributed by means of electronic systems without the written permission of HARTING IT Software Development GmbH & Co. KG, Espelkamp. Subject to alterations without notice. This Industrial Ethernet MICA Guide explains how to administrate and configure MICA for Ethercat, Profinet, and Ethernet/IP environments. The following text refers to Base Version V1.5, Interface Version and Container Version HARTING IT Software Development

3 Contents 1 Functionality and Application Area Scope of Application and Range of Application Integration into the Fieldbus Ports and LEDs The Container GUI-Webinterface Overview Parameters Configuration REST-Interface Editing the Process Image Access Onto the Process Image During Runtime ADI and Mapping Up/Download module/info.json Example: Editing the Process Image Error Codes Connection to a Master Example SIEMENS TIA Creation of the ESI File Integration of the MICA into the Hardware Configuration of the PLC Active Configuration During Runtime.. Fehler! Textmarke nicht definiert. 4 Application Example PROFINET-MQTT-GPIO Goals Installation and Configuration of the Containers Explanation of the Application Example Explanation of the Development PROFINET Container / Process image Anybus2MQTT Container / Python Implementation MQTT Broker GPIO Container HAIIC Industrial Ethernet MICA Guide, Edition

4 1 Functionality and Application Area 1.1 Scope of Application and Range of Application The HARTING Industrial Ethernet MICAs are designed for controlled device applications in fieldbus networks and provides two basic functionalities: 1. Process image configuration of the fieldbus device. 2. Access to data of the process image during runtime. The process image is the interface of the MICA with the fieldbus master defined by the application. The two basic functionalities are implemented by the Anybus container. The application logic takes place by an application specific container, which accesses the functions of the Anybus container over a REST interface. Figure 1: Anybus Container and Interfaces This way, users can develop and run software logic, which can only be implemented inside a PLC with difficultyon the MICA. While inside of the PLC the tools are fixed, e.g. by the necessity to use a development environment prescribed by the manufacturer, all toolchains and libraries provided by Linux can be used to implement the application logic on the MICA. MICA offers a self-contained system to separate the two application areas. This way application developers can implement the fieldbus specific properties of the functional logic (e.g. connection with a cloud) without deeper knowledge of the PLC and the fieldbus specific peculiarities. The interface between the two is described by the process image. For the PLC programmer the integration of the application logic on the MICA follows the same scheme as the integration into familiar periphery, e.g. a compactor. Historically connection to fieldbus systems occurs almost exclusively with serial devices like e.g. axis controllers, digital and analog in- and outputs, compactors, test systems and robots. The definition of the process image is therefore fixed and no customization is necessary. The Industrial Ethernet MICAs disrupt the serial character of the employment - even for a single application case a fieldbus connection of the application logic must be created. 4 HARTING IT Software Development

5 For a quick introduction you can skip chapters 2 and 3 and find an example without PLC in chapter Integration into the Fieldbus Industrial Ethernet MICAs are integrated as devices into the fieldbus. Every MICA possess a specific ESI description that the fieldbus master needs to know. During the configuration of the bus system the MICAs are introduced to the master, while the actual data exchange is conducted in cycles during runtime. Figure 2a: Integration into the EtherCAT fieldbus HAIIC Industrial Ethernet MICA Guide, Edition

6 Figure 3b: Integration into the PROFINET fieldbus 6 HARTING IT Software Development

7 Figure 4c: Integration into the EtherNet/IP fieldbus 1.3 Ports and LEDs EtherCAT Figure 5: Frontview of the EtherCAT MICA HAIIC Industrial Ethernet MICA Guide, Edition

8 The EtherCAT MICA has four ports: Label ETH1 ETH2 I/O PoE Description Output EtherCAT port Input EtherCAT port GPIO interface and voltage supply (24V) Power-over Ethernet The operating mode of the I/O Ports and the PoE Ports and their LEDs are described in the HARTING MICA Hardware Development Guide. The four LEDs placed vertically between the ETH ports give information about the Ethercat interface: Label ETH2 ETH1 ERR RUN Description Off: No link found Green: Link found, no activity Green blinks: Link found, activity Off: No link found Green: Link found, no activity Green blinks: Link found, activity Shows EtherCAT communication error. Off: No error / no power. Red blinking: invalid configuration Red single blink: Slave has changed EtherCAT status autonomously Red double blink: Controller timeout Red: controller error, Anybus Module in EXCEPTION state, contact support, blinking: Booting error Off: EtherCAT Modul in Init state or no power Green: EtherCAT in Operational state Table 1: Description of the EtherCAT LEDs 8 HARTING IT Software Development

9 1.3.2 PROFINET Figure 6: Frontview of the PROFINET MICA The PROFINET MICA has four ports: Label X2 X1 I/O PoE Description Output PROFINET port Input PROFINET port GPIO interface and voltage supply (24V) Power-over Ethernet The operating mode of the I/O Ports and the PoE Ports and their LEDs are described in the HARTING MICA Hardware Development Guide. The four LEDs placed vertically between the X ports give information about the Profinet interface: Label X1 X2 MS Description Off: No link found Green: Link found, no activity Green blinks: Link found, activity Off: No link found Green: Link found, no activity Green blinks: Link found, activity Module Status LED. Off: Not initialized / No Power OR Module in SETUP or NW_INIT state. Green: Normal operation / Module has shifted from the NW_INIT state Green, 1 flash: Diagnostic events present. Red: Exception error / or major internal error (combined with a red network status led) Alternating Red / Green: Firmware update, do not power off. HAIIC Industrial Ethernet MICA Guide, Edition

10 NS Off: No power or no connection to IO Controller Green: Online (RUN) / Connection to IO Controller established, IO Controller in RUN state Green, 1 flash: Online (STOP) / Connection established, IO Controller in STOP state or IO Data bad / RT synchronization not finished. Green, blinking: Used by engineering tools to identify nodes. Red: Major internal error (combined with red MS led) Red, 1 flash: Station name not set. Red, 2 flashes: IP address not set Red, 3 flashes: Expected identification differs from real identification. Table 1: Description of the PROFINET LEDs EtherNet/IP Figure 7: Frontview of the EtherNet/IP MICA The EtherNet/IP MICA has four ports: Label X2 X1 I/O PoE Description Output EtherNet/IP port Input EtherNet/IP port GPIO interface and voltage supply (24V) Power-over Ethernet The operating mode of the I/O Ports and the PoE Ports and their LEDs are described in the HARTING MICA Hardware Development Guide. The four LEDs placed vertically between the X ports give information about the Profinet interface: Label X1 X2 Description Off: No link found Green: Link found, no activity Green blinks: Link found, activity Off: No link found 10 HARTING IT Software Development

11 MS NS Green: Link found, no activity Green blinks: Link found, activity Module Status LED. Off: Not initialized / No Power OR Module in SETUP or NW_INIT state. Green: Normal operation / Module has shifted from the NW_INIT state Green, 1 flash: Diagnostic events present. Red: Exception error / or major internal error (combined with a red network status led) Alternating Red / Green: Firmware update, do not power off. Off: No power or no connection to IO Controller Green: Online (RUN) / Connection to IO Controller established, IO Controller in RUN state Green, 1 flash: Online (STOP) / Connection established, IO Controller in STOP state or IO Data bad / RT synchronization not finished. Green, blinking: Used by engineering tools to identify nodes. Red: Major internal error (combined with red MS led) Red, 1 flash: Station name not set. Red, 2 flashes: IP address not set Red, 3 flashes: Expected identification differs from real identification. Table 1: Description of the Ethernet/IP LEDs HAIIC Industrial Ethernet MICA Guide, Edition

12 2 The Container A container is a lightweight virtual machine which shares a Linux kernel with the hosting system (called base system is this document). The MICA containers contain applications as well as all needed libraries and scripts. The applications are separated from each other and the base system which significantly reducing dependencies within a MICA. Please read the HARTING Programming Guide for details. If you need to reinstall the Anybus container please refer to the HARTING MICA Administrator Guide. Figure 8: Anybus Container on the MICA WebGUI 2.1 GUI-Webinterface The Anybus web interface of the container is separated into the fields MODULE, NETWORK and SERVICES. Only the field MODULE is relevant for the PROFINET fieldbus 12 HARTING IT Software Development

13 interface. The process image can be edited over the web interface and the process data can be displayed and edited. Open the container WebGUI with a left mouse click onto the container icon Overview Figure 9: Overview Page In the Overview window, the employed network type as well as data about the container version are displayed Parameters In the Parameters window the current values of the ADIs are displayed and can be modified by selecting and setting the Value field. The ADIs are the process image. Figure 10: Parameters Window HAIIC Industrial Ethernet MICA Guide, Edition

14 2.1.3 Configuration Figure 11: Configuration Page In the configuration window you can adjust the number of the ADIs and Mappings and herewith configure the process image. An ADI is a data field within the process image with a fixed data type. The mapping determines which configured ADIs should appear in the process image. In most cases a mapping entry exists to every ADI. Furthermore you can adjust the latency and the cycle delay. For higher values the CPU capacity utilization on the MICA sinks while the latency of the data exchanged between fieldbus and application rises. As long as no bottlenecks of processor load occur, the preset values should remain unchanged. 14 HARTING IT Software Development

15 Programming Mode Figure 12: Enabling Programming Mode Under Configuration you can enter the programming mode with the button Enable programming mode. In the programming mode you can change the ADIs and mappings as well as the latency and cycle times. During operation you should not modify the configuration. Figure 13: Programming Mode in the WebGUI HAIIC Industrial Ethernet MICA Guide, Edition

16 Edit ADIs Figure 14: Editing the ADIs In the programming mode the ADIs can be edited. ADIs are data fields on the network processor which are accessible over direct access or by mapping in process data from the fieldbus. Additional ADIs can be added and the names array length and data type of the existing ADIs can be modified Edit Mapping The mapping of the ADIs can be edited in the programming mode. Figure 15: Editing of the Mappings 16 HARTING IT Software Development

17 ADI and Mapping Download/Upload ADIs and Mappings can be kept persistently outside of the container as json formats. A configured process image can thus be exchanged between two Profinet MICAs. 2.2 REST-Interface Editing the Process Image The host application for the HARTING MICA allows the creation of the ADI variables and the process data mapping dynamically over JSON commands. RESTful 1 HTTP with JSON is used as the communication interface between the container and the outside world. In the following examples the hostname mica-hsmup.local must be replaced with the current hostname and the name of the Anybus container must be replaced with the name of the respective container. The process image cannot be modified during ongoing operation. To edit the init/info.json, init/adi.json and init/map.json objects by the add, rm, clear, discard, and apply operations you must enter the programming mode and confirm every command with the apply command. The functions correspond to the web interface functionalities explained in the previous section. Op=prog GET init/info.json?op=prog This operation allows the configuration of the ADIs and the mappings. After executing the operation it is possible to use the add, rm, clear, discard, and apply operations or the POST requests for the init/info.json, init/adi.json and init/map.json objects explained in the following text. One can leave the programming mode with the operations discard or apply. Op=apply GET init/info.json?op=apply This operation applies the new temporary configuration. To this end the temporary configuration is stored persistently and the application is restartet. In case the configuration cannot be applied an error message is noted in the status attributes of the init/info.json object. Op=demo GET init/info.json?op=demo This operation modifies the existing configuration into a simple demo configuration which can be saved persistently and is set active after a restart of the application. This operation can only be executed after executing the operation prog. 1 REST, see HAIIC Industrial Ethernet MICA Guide, Edition

18 Op= discard GET init/info.json?op=discard This operation removes the current temporary configuration. All temporary changes are deleted and the object init/info.json displays the data of the current operative configuration init/info.json GET init/info.json The JSON accesses onto the init/info.json object allow reading of the current configuration status and the number of the set-up ADIs and process data mappings. Furthermore a temporary configuration can be applied or discarded. These different operations on the init/info.json object are selected over the parameter op. Permitted operations <operation> are: read, prog, apply, demo and discard. In case no operations are employed, the access is treated like op=read. Operations for the init/info.json object: Op (String): Operations: read, prog, apply, demo or discard. For corresponding configuration also gettiming and settiming. The JSON object layout looks as follows: { numadis : 120 nummaps : 10 cfgmodus : run status : nochange error : noerror } Name Data Type Note numadis number Number of configurable ADIs nummaps number Number of configurable process data mappings status string Validity of the ADIs and mappings. Possible values are demo, run and prog cfgmodus string Possible values are nochange, manualchange, uploadchange error string Possible values are noerror, invalidmap, invalidapi, filenotfound, invalidformat, Table 1: JSON Attributes for the Operation init/info.json oddpunctuation 18 HARTING IT Software Development

19 Example (REST interface): Input: Output: {"numadis" : 2, "nummaps" : 2, "status" : "run", "cfgmodus" : "nochange", "error" : "noerror", "latency" : 4, "cyclesleep" : 4 } Op=read GET init/info.json?op=read This operation returns the current configuration status and the number of configured ADIs and mappings. Op=prog GET init/info.json?op=prog This operation allows the subsequent configuration of the ADIs and the mappings. After execution of the operation it is possible to employ the add, rm, clear, discard and apply operations or the POST requests for the init/info.json, init/adi.json and init/map.json objects. After executing the operation discard or apply the programming mode is left The configuration should not be executed during ongoing operation. Op=apply GET init/info.json?op=apply This operation applies the current temporary configuration. To this end the configuration is saved persistently and the application is restartet. In case the configuration cannot be applied, an error is noted in Status attributes in the init/info.json object. Op=discard GET init/info.json?op=discard This operation discards the current temporary configuration. All temporary changes are deleted and the object init/info.json redisplays the data of the current operative configuration. Op=settiming and op=gettiming GET init/info.json?op=gettiming and GET init/info.json?op=settiming&latency=<latenz>&cyclesleep=<delay> As soon as the configurations define ABCC_CFG_DRV_JSON_TIMING is activated, two additional operations for reading and setting of the SPI-Latency Timers and the sleep delays of the main loop of the ABCC drivers are available. For higher values the CPU load HAIIC Industrial Ethernet MICA Guide, Edition

20 falls, but the latency time between the data exchanged between fieldbus and application rises. The JSON object layout of the gettiming operation looks like this: { latency : 4, cyclesleep : 4 } init/adi.json GET init/adi.json[?op=<operation>&] The JSON access onto the init/adi.json object allows, reading, setting, changing and deleting of the ADI variables. These operations are selected by the parameter op. The first parameter is preceded by a question mark, all others by a &. Allowed values for <operation> are read, add, rm and clear. Changes are only set active after application of apply. In case no operation is applied the whole configuration is displayed. Op= read GET init/adi.json?op=read&offset=<offset>&count=<count> Reads out one or more entries of the ADI configuration. Additionally the parameters offset and count have to be stated. Parameter for init/adi.json, read operation: Offset (Number) the index of the first element of the ADI list to be read out. The first valid index is 0 (null). Non-existent elements cannot be read-out. Count (number) The number of ADI entries to be read out. The values must be larger than 0 (null). Op= add GET init/adi.json?op=add&inst=<instance>&name=<name>&datatype=<datatype>&numelements0<numelements>&access=<access> This operation adds an entry to the ADI configuration or changes an existing entry. Op=rm GET init/adi.json?op=rm&inst=<instance> This operation removes the ADI entry with predefined instance number from the configuration. In case no entry to the predefined instance number exists an error message is returned. Op=clear GET init/adi.json?op=clear 20 HARTING IT Software Development

21 Removes all ADI entries from the configuration. The mapping in the object init/map.json is conditional on that and is also removed init/map.json GET init/map.json[?op=<operation>& ] The JSON access onto the init/map.json object allows reading, writing, setting, modifying and deleting the ADI process data mapping. These operations are selected by the parameter op. The first parameter is preceded by a question mark, all others by a &. Allowed values for <operation> are read, add, rm and clear. Changes are set active only after the operation apply. In case no operation is employed the whole configuration is displayed. In case no operation is used the whole configuration will be displayed. Op= read GET init/map.json?op=read&offset=<offset>&count=<count> Reads out one or more entries of the mapping configuration. Op= add GET init/map.json?op=add&inst=<instance>&name=<name>&datatype=<datatype>&numelements0<numelements>&access=<access> This operation changes an ADI entry or adds an additional one. Op=rm GET init/adi.json?op=rm&inst=<instance> This operation removes the mapping entry with the preset instance number from the configuration. In case no entry exists an error message appears. Op=clear GET init/map.json?op=clear Removes all mapping entries from the configuration Access Onto the Process Image During Runtime adi/info.json GET adi/info.json[?callback=<function>] Name Data Type Note numadis number Total number of ADIs webversion number Web/JSON API version dataformat number 0=little endian HAIIC Industrial Ethernet MICA Guide, Edition

22 1=big endian (Affects value, min and max representations) This object contains data which is shared by all ADIs and remain static during runtime. Optionally a callback may be passed to the GET-Request for JSONP Output. Example (REST interface): Input: Output: {"webversion" : 1, "dataformat" : 0, "numadis" : 2 } adi/data.json Table 2: JSON Attributes for the adi/info.json Object GET adi/data.json?offset=<offset>&count=<count>[&callback=<function>] This object takes values for up to <count> ADIs, starting with <offset> in a list, which is sortet by the ADI number. The values can change during runtime. Optionally a callback can be passed to the GET-Request for JSONP Output. Example (REST interface): Input: Output: [" ", " " ] adi/metadata.json GET adi/metadata.json?offset&count=<count>[&callback=<function>] This object call fetches values for up to <count> ADIs, starting from <offset> in a list sorted by ADI order number. This data is static during runtime. Optionally, a callback may be passed to the GET-request for the JSONP Output. Name Data Type Note instance number name string May be NULL if no name is present. numelements datatype number number min string Minimum value. May be NULL if no minimum value is present. max string Maximum value. May be NULL if no maximum value is present. access number Bit 0: read accessbit 1. Write access Table 3: JSON Attributes for the Object adi/metadata.json 22 HARTING IT Software Development

23 Example (REST interface): Input: Output: [{"instance" : 1, "datatype" : 3, "numelements" : 1, "access" : 3, "name" : "PLC_out_MICA_in", "min" : null, "max" : null }, {"instance" : 2, "datatype" : 3, "numelements" : 1, "access" : 3, "name" : "PLC_in_MICA_out", "min" : null, "max" : null } ] adi/enum.json GET adi/enum.json?inst=<instance>[&value=<element>][&callback=<function>] This object call fetches enum strings for the instance <instance>. If an element <element> is specified, only the enum string for that value is returned. If no enum strings are available, an empty list is returned. Optionally, a callback may be passed to the GETrequest for the JSONP Output. Parameter list for the operation adi/enum.json: Name Data Type Note string value string number Table 4: JSON Attributes for the Object Call adi/enum.json Example (REST interface): Input: Output: [ ] adi/update.json GET adi/update.json - form data: inst=<instance>&value=<data>[&elem=<element>][&callback=<function>] Updates the value of an ADI for the specific ADI instance <instance>. The value <data>, shall be hex formatted. If <element> is specified, only the value of the specified element is updated. In this case, <data> shall only update that single element value. When <element> is not specified, <data> represent the entire array value. Optionally, a callback may be passed to the request for JSONP output. Name Data Type Note result Number 0=success Table 5: Attributes of the JSON Object Call adi/update.json result Number 0 = success GET adi/update.json - form data: inst=15&value=ff01 Example (REST interface): Input: Output: {"result": 0 } HAIIC Industrial Ethernet MICA Guide, Edition

24 2.2.3 ADI and Mapping Up/Download Existing ADI or Mapping configurations can be up or downloaded in JSON format. HTTP GET is used for the download: GET init/adi.json for the ADI entries or GET init/map.json for the process data mapping module/info.json To perform an Upload http POST must be used: POST init/adi.json for the ADI entries or POST init/map.json for the process data mapping. GET module/info.json Name Data Type Note modulename string - serial string 32 bit hex ASCII fwver Array of number (major, minor, build) uptime Array of number [high, low] milliseconds (ms) cpuload number CPU load in % Table 6: JSON Attributes for the Operation module/info.json Example (REST interface): Input: Output: {"modulename" : "Profinet", "serial" : "C010080F", "fwver" : [1, 12, 1 ], "hostver" : [1, 0, 1 ], "uptime" : [0, ], "cpuload" : 123 } 24 HARTING IT Software Development

25 2.2.5 Example: Editing the Process Image In this example we will reconfigure the name of instance 1. Figure 16: ADI Parameter Enter the programming mode for the info.json object by: The response should be: {"error" : 0 } Rename the instance 1 by: op=add&inst=1&name=plc_test&datatype=3&numelements=1&access=19 The response should be: {"error" : 0 } Apply the change by: The response should be: {"error" : 0 } Check if the ADI parameters have been modified. Figure 17: Display of the ADI Parameters HAIIC Industrial Ethernet MICA Guide, Edition

26 2.2.6 Error Codes The REST interface can return the following error codes: 0 No error 2 Invalid message format 3 Unsupported object 4 Unsupported instance 5 Unsupported command 6 Invalid CmdExt[0] 7 Invalid CmdExt[1] 8 Attribute access is not set-able 9 Attribute access is not get-able 10 Too much data in msg. data field 11 Not enough data in msg. data field 12 Out of range 13 Invalid state 14 Out of resources 15 Segmentation failure 16 Segmentation buffer overflow 17 Written data value is too high (ABCC40) 18 Written data value is too ow (ABCC40) 19 NAK writes to read process data mapped attr. (ABCC40) 20 Response does not fit (ABCC40) 21 General error (ABCC40) 255 Object specific error 26 HARTING IT Software Development

27 3 Connection to fieldbus master systems 3.1 EtherCat The following examples provide information how to connect MICA to various plc. Since most of plc vendors are strongly connected to a certain fieldbus system, the following combinations are documented: - EtherCat MICA integration to a BECKHOFF TwinCat 3 system - Profinet MICA integration to a SIEMENS TIA system - Ethernet/IP MICA integration to a Rockwell Studio 5000 system. 3.2 Profinet Creation of the GSD File The configuration of the PLC requires a GSD description for the integration of the MICA. In the delivery state and herewith the process image described in chapter the file is contained in the download package. For a newly configured process image the GSD description must be created. To this end HMS industrial networks offers a cost-free application, the HMS PROFINET GSD Generator. The tool is operable under Microsoft Windows and needs an Ethernet network interface. HAIIC Industrial Ethernet MICA Guide, Edition

28 After starting the application, the following fields need to be filled out: Figure 18: HMS PROFINET GSD Generator After Scan for modules a MICA Device should be present in selection box. As an example configuration, find all appropriate information in Figure 14. After pressing Generate GSD your process image dependent GSD file is created. 28 HARTING IT Software Development

29 3.2.2 Integration of the MICA into the Hardware Configuration of the PLC The GSD file needs to be imported into the TIA hardware catalogue. This can be done by selection the import dialog: In case of success, you will see the following dialogue: HAIIC Industrial Ethernet MICA Guide, Edition

30 Assuming your TIA Environment Device Configuration has just a PLC configured, it should like: Now you can add a new MICA Device instance: 30 HARTING IT Software Development

31 Draw a connection between PLC an MICA: As given in the first section, we assume process image configuration is as follows: HAIIC Industrial Ethernet MICA Guide, Edition

32 Your device information in TIA should display the same process image information: Now configure the IP Address of the client device: 32 HARTING IT Software Development

33 Configure a device name: HAIIC Industrial Ethernet MICA Guide, Edition

34 34 HARTING IT Software Development

35 Now activate your Master configuration: HAIIC Industrial Ethernet MICA Guide, Edition

36 To monitor process image values, add two variables as follows: Set a value for PLC_Output: 36 HARTING IT Software Development

37 And finally find your value transferred to your MICA client: The integration of MICA client to SIEMENS PLC is now complete. HAIIC Industrial Ethernet MICA Guide, Edition

38 3.3 Connection to a Rockwell EtherNet/IP master system This section describes how to connect you MICA to an Ethernet/IP Master using Rockwell Studio Skip this part of documentation if your MICA system is not an Ethernet/IP device Generate EDS description To integrate your MICA, you need an EDS file that describes your client system. You can download the description from our website or use a tool called HMS EtherNet/IP EDS Generator provided by HMS: 40-series-specific/?ordercode=AB6604 You need Microsoft Windows to run the tool. Connect you MICA to your PC and choose the appropriate network interface: 38 HARTING IT Software Development

39 Afterwards, generate the EDS information file: HAIIC Industrial Ethernet MICA Guide, Edition

40 3.3.2 Import the EDS description to Studio 5000 You can use the EDS wizard to import EDS description of your MICA: Choose the EDS file to update your database: 40 HARTING IT Software Development

41 Finally find your database updated: HAIIC Industrial Ethernet MICA Guide, Edition

42 3.3.3 Add MICA to your project In your I/O configuration, add a new module to your fieldbus master: 42 HARTING IT Software Development

43 Now choose the MICA CompactCom system from the database: Afterwards, provide a name and the IP address of your MICA: HAIIC Industrial Ethernet MICA Guide, Edition

44 Unfortunately, the EDS information for process image configuration is not automatically integrated. Press Change to define the process data of your client system: 44 HARTING IT Software Development

45 We assume that there were no changes of the pre-defined process data: MICA process data only contains two DINT fields. Now choose Go online in your logix designer: HAIIC Industrial Ethernet MICA Guide, Edition

46 Check that your controller has been updated: Finally, write a value on the output process data in your controller: 46 HARTING IT Software Development

47 And find the value in your MICA web interface: HAIIC Industrial Ethernet MICA Guide, Edition

48 4 Application Example Fieldbus-MQTT-GPIO 4.1 Goals The MICA has 8 GPIOs, which are connected to the fieldbus in this example. Here a GPIO container is loosely connected to the PROFINET container via MQTT. The example shows a complete development sequence on the MICA side. The example runs without master and covers the following development steps: i) Container based application layout, ii) Configuration of the process image, iii) Employment of the REST interface und iv) Loose coupling of the containers via MQTT. 4.2 Installation and Configuration of the Containers The containers of the application example can be downloaded as a package from the website. In the example, the four containers are installed on the MICA under the following names: Anybus Anybus2MQTT MQTT GPIO Fieldbus connection MQTT Implementation over PROFINET REST interface MQTT Broker Implementation of the MICA GPIO interface After the installation, the containers appear on the Web GUI of the MICA: Figure 19: Container for the coupling of Anybus and GPIO The Anybus container needs no additional configuration; the process image will be explained in chapter The container Anybus2MQTT has a connection to the Anybus container. It cyclically polls or edits the state of the process data over the REST interface and implements the MQTT side. It has its own web interface in which the two necessary connections are configured: 48 HARTING IT Software Development

49 Figure 21: Anybus2MQTT Container The Anybus container is accessed through the base system. In the example the MICA s name is mica-hsmup, so the Anybus container is accessible over the URL The container corresponding to the MQTT broker is called mqtt, so it can be accessed over mqtt-mica-hsmup.local. The MQTT broker needs no configuration. In the GPIO container you have to provide the connection information to the MQTT broker: Figure 22: Connection GPIO Container MQTT Broker HAIIC Industrial Ethernet MICA Guide, Edition

50 4.3 Explanation of the Application Example The eight GPIO s of the MICA are being connected to the fieldbus. On the side of the fieldbus the in- and outputs are assigned statically, the Anybus container in the application example is thus preconfigured with eight inputs and eight outputs in the process image. Figure 23: Process image of the Anybus containers The eight fields PLC_IN_EC_OUT_MQTT_SUB correspond to eight inputs of the PLC, they are outputs of the process image of the MICA. The eight fields PLC_OUT_EC_IN_MQTT_PUB correspond to eight outputs PLC, they are the inputs of the process image of the MICA. In the example the field PLC_OUT_EC_IN_MQTT_PUB[0] is set over the webinterface: A mouse click on the checkbox Value and the execution over the button Set allows the modification of the process image. By the modification of these values the behavior of the PLC can be simulated in the process image of the MICA. No PLC is needed in this example. 50 HARTING IT Software Development

51 The container Anybus2MQTT has a web interface which implements the process image of the Anybus container as well as the connection to the MQTT container. Figure 24: Webinterface of the Anybus2MQTT Containers The position of the switches below the columns State corresponds exactly with the representation of the process image inside of the Anybus container. Output 1 has been set. HAIIC Industrial Ethernet MICA Guide, Edition

52 In the following example the GPIO container sets the pins 1-4 as outputs and the pins 5-8 as inputs. The MQTT events t1-t8 are assigned to the pins. Figure 25: GPIO Container An output on the GPIO side corresponds to the output of the process image on the PLC side. At this point the two containers GPIO and Anybus are not yet connected with each other. The connection is realized using MQTT events, these are already modelled in the GPIO container. E.g. the output at pin1 is connected with the MQTT event t1 and the input at pin 5 with the event t5. In the container Anybus2MQTT these events are now connected to the 52 HARTING IT Software Development

53 process image. After a click of the button Disconnect the events t1 and t5 are disconnected and afterwards the connection to the broker is reestablished with a click of the button Connect: Figure 26: Connection of the process image with MQTT events The output 1 of the process image of the PLC is now coupled over the event t1 with the GPIO pin 1. The state of pin1 inside the GPIO container should now have been modified: HAIIC Industrial Ethernet MICA Guide, Edition

54 Figure 27: Switch position is displayed in GPIO container The pin 1 of the GPIO container can be set via the web interface of the Anybus-Containers: Figure 28: Modifying value in process image 54 HARTING IT Software Development

55 In case of an input on the GPIO side (the voltage is 24V at pin 5): Figure 29: Input signal at Pin 5 In this case the signal is transmitted to the process image PLC_IN_EC_OUT_MQTT_SUB[4] over the event t5: Figure 30: Transmitted input signal in process image HAIIC Industrial Ethernet MICA Guide, Edition

56 The allocations via MQTT can be designed arbitrarily in this example. Especially the test is also possible without the GPIO container: in case the PLC inputs are interconnected with the PLC outputs over MQTT events in the Anybus2MQTT Container you can see the result of the application example solely on the web interface of the Anybus container, the PLC entries assume the same values as the outputs. 4.4 Explanation of the Development PROFINET Container / Process image The process image must be created in the MICA PROFINET container. The process image, in contrast to the MICA s GPIOs has a fixed allocation of in- and outputs. Which of the GPIOs works as an in- and output is only known during runtime. Therefore the process image havs 16 Boolean values: 8 inputs and 8 outputs. During runtime only 8 of these values have a logical connection to the GPIO Container, the other 8 are contained in the process image but have no logical connection with the GPIO container. The single process data fields were created as explained in section 2.1.4: Figure 31: Configuration of the process data fields ADI #1 is an array of Boolean values of length 8. It defines the input process image of the PLC every one of the 8 GPIOs of the MICA can (when defined as an entry) be mapped onto one of these fields. On the MICA side this is the output process image, in the link logic (the container HMS2MQTT) these fields correspond to the MQTT direction subscribe. ADI #2 defines in the opposite direction the output process image of the PLC, in the link logic this is the MQTT direction publish. The PLC can set all GPIOs defined as outputs over this array Anybus2MQTT Container / Python Implementation The Anybus2MQTT container implements an application logic which queries and modifies the process image over the REST interface of the Anybus container. It has its own web interface. 56 HARTING IT Software Development

57 In case the inputs of the process image change the MQTT events (publish) are initiated. Modifications of the outputs are also mapped onto MQTT events (subscribe). The implementation of the user interface is not explained here, only the functions which implement the data exchange with the Anybus container. The commented script /var/www/plc.py exist in the container, the access to the file system takes place via ssh (user/ password root/root). The following six functions are core of the implementation: Sets an input at the PLC: def SetPlcInput(input, value): Queries an output at the PLC: def GetPlcOutput(output): Queries a value of all in- and outputs and returns these as a list of Boolean values: def getvalues(): Implements a GET HTTP request, the parameter path corresponds to the object part of the URl, e.g. 'init/info.json': def HttpGET( path ): Request at the Anybus interface to read out process data, parameter offset is the number of the ADI (starting at 0), parameter count is the number of the ADIs: def Anybus_data(offset, count) Request at the Anybus interface to write process data. Parameter offset is the number of the ADI (starting at 1), parameter element is the index in case ADI is an array, parameter value is the new value of the data field: def Anybus_update(offset, element, value): MQTT Broker GPIO Container The MQTT container requires no application specific configurations or implementations, it receives over the publish/subscribe logic solely the loose coupling of the containers Anybus2MQTT and GPIO. The GPIO container offers a coupling with MQTT without additional configuration or implementation. HAIIC Industrial Ethernet MICA Guide, Edition