16
2TLC172011M0205_B
5.5 Input assembly type
The “plutoInput” command will select input data type of data from gateway to ABB robotic system.
•
Value 0 [Status Only]
, input data will only be 4 byte data as a 32 bit value indicating
which Pluto are present on the Pluto network.
•
Value 1 [Data Only]
, input data will be only Pluto global data and the size is depending
on the following “Expected data from PLUTO”. Each expected Pluto will add 4 byte of
data on the input IO data. Total size n x 4 byte, there n is the number of Pluto units.
•
Value 2 [Status/Data]
, input data will be first the status information followed by the
expected Pluto data. The size will be (4 + n x 4) byte, there n is the number of Pluto
units.
Name plutoInput
Type plutoGateway
Value 0-2
Order 1
Path
6,20 64 24 00 30 13,C6,1
Service Set_Attribute_Single
(0x10)
5.6 Output assembly type
The “plutoOutput” command
will select output data type of data to gateway from ABB robotic
system.
•
Value 0 [No data]
, no output data from ABB robotic system to the gateway.
•
Value 1 [To Pluto Data]
, output data to the gateway is used.
Name plutoOutput
Type plutoGateway
Value 0-1
Order 2
Path
6,20 64 24 00 30 14,C6,1
Service Set_Attribute_Single
(0x10)
5.7 Expected Pluto Nodes
The “plutoExpected” command will enable transfer of Pluto global data from the Pluto network to
DeviceNet input data for selected Pluto’s. The value number is a bit masked value there enable of
Pluto 0 is done by setting bit 0 high. Bit 1 is then Pluto 1; bit 2 is Pluto 2 up to bit 31 which is Pluto
31. The Pluto data will be included into the input data in this order!
Note that for each Pluto gateway the ABB robotic system can only read data from 16
selected Pluto units. If more than 16 Pluto units must be read by the ABB robotic system
there need to be two (2) gateways in the system.
Name plutoExpected
Type plutoGateway
Value
1 – 4294967295
Order 3
Path
6,20 64 24 00 30 0A,C8,4
Service Set_Attribute_Single
(0x10)
