Delta Tau ACC-72EX Hardware Reference Manual Download

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ACC-72EX User Manual

Software setup

#define CC2_RCX_APP_COS_BUS_ON_ENABLE Acc72Ex[0].Udata16[16004].2

#define CC2_RCX_APP_COS_INIT Acc72Ex[0].Udata16[16004].3

#define CC2_RCX_APP_COS_INIT_ENABLE Acc72Ex[0].Udata16[16004].4

#define CC2_RCX_APP_COS_LOCK_CFG Acc72Ex[0].Udata16[16004].5

#define CC2_RCX_APP_COS_LOCK_CFG_ENA Acc72Ex[0].Udata16[16004].6

#define CC2_RCX_APP_COS_DMA Acc72Ex[0].Udata16[16004].7

#define CC2_RCX_APP_COS_DMA_ENABLE Acc72Ex[0].Udata16[16004].8

#define CC2_ulDeviceWatchdog Acc72Ex[0].Udata32[8003]

// CC2_CommunicationCOS

#define CC2_RCX_COMM_COS_READY Acc72Ex[0].Udata16[16008].0

#define CC2_RCX_COMM_COS_RUN Acc72Ex[0].Udata16[16008].1

#define CC2_RCX_COMM_COS_BUS_ON Acc72Ex[0].Udata16[16008].2

#define CC2_RCX_COMM_COS_CONFIG_LOCKED Acc72Ex[0].Udata16[16008].3

#define CC2_RCX_COMM_COS_CONFIG_NEW Acc72Ex[0].Udata16[16008].4

#define CC2_RCX_COMM_COS_RESTART_REQ Acc72Ex[0].Udata16[16008].5

#define CC2_RCX_COMM_COS_RESTART_REQ_ENA Acc72Ex[0].Udata16[16008].6

#define CC2_RCX_COMM_COS_DMA Acc72Ex[0].Udata16[16008].7

// CC2_Status Block

#define CC2_ulCommunicationState Acc72Ex[0].Udata32[8005]

#define CC2_ulCommunicationError Acc72Ex[0].Udata32[8006]

#define CC2_usVersion Acc72Ex[0].Udata16[16014]

#define CC2_usWatchdogTime Acc72Ex[0].Udata16[16015]

#define CC2_bPDInHskMode Acc72Ex[0].Data8[32032]

#define CC2_bPDInSource Acc72Ex[0].Data8[32033]

#define CC2_bPDOutHskMode Acc72Ex[0].Data8[32034]

#define CC2_bPDOutSource Acc72Ex[0].Data8[32035]

#define CC2_ulHostWatchdog Acc72Ex[0].Udata32[8009]

#define CC2_ulErrorCount Acc72Ex[0].Udata32[8010]

#define CC2_bErrorLogInd Acc72Ex[0].Data8[32044]

#define CC2_bErrorPDInCnt Acc72Ex[0].Data8[32045]

#define CC2_bErrorPDOutCnt Acc72Ex[0].Data8[32046]

#define CC2_bErrorSyncCnt Acc72Ex[0].Data8[32047]

#define CC2_bSyncHskMode Acc72Ex[0].Data8[32048]

#define CC2_bSyncSource Acc72Ex[0].Data8[32049]

// CC3_Control Block

#define CC3_RCX_APP_COS_APP_READY Acc72Ex[0].Udata16[23812].0

#define CC3_RCX_APP_COS_BUS_ON Acc72Ex[0].Udata16[23812].1

#define CC3_RCX_APP_COS_BUS_ON_ENABLE Acc72Ex[0].Udata16[23812].2

#define CC3_RCX_APP_COS_INIT Acc72Ex[0].Udata16[23812].3

#define CC3_RCX_APP_COS_INIT_ENABLE Acc72Ex[0].Udata16[23812].4

#define CC3_RCX_APP_COS_LOCK_CFG Acc72Ex[0].Udata16[23812].5

#define CC3_RCX_APP_COS_LOCK_CFG_ENA Acc72Ex[0].Udata16[23812].6

#define CC3_RCX_APP_COS_DMA Acc72Ex[0].Udata16[23812].7

#define CC3_RCX_APP_COS_DMA_ENABLE Acc72Ex[0].Udata16[23812].8

#define CC3_ulDeviceWatchdog Acc72Ex[0].Udata32[11907]

// CC3_CommunicationCOS

#define CC3_RCX_COMM_COS_READY Acc72Ex[0].Udata16[23816].0

#define CC3_RCX_COMM_COS_RUN Acc72Ex[0].Udata16[23816].1

#define CC3_RCX_COMM_COS_BUS_ON Acc72Ex[0].Udata16[23816].2

#define CC3_RCX_COMM_COS_CONFIG_LOCKED Acc72Ex[0].Udata16[23816].3

#define CC3_RCX_COMM_COS_CONFIG_NEW Acc72Ex[0].Udata16[23816].4

#define CC3_RCX_COMM_COS_RESTART_REQ Acc72Ex[0].Udata16[23816].5

#define CC3_RCX_COMM_COS_RESTART_REQ_ENA Acc72Ex[0].Udata16[23816].6

#define CC3_RCX_COMM_COS_DMA Acc72Ex[0].Udata16[23816].7

// CC3_Status Block

#define CC3_ulCommunicationState Acc72Ex[0].Udata32[11909]

#define CC3_ulCommunicationError Acc72Ex[0].Udata32[11910]

#define CC3_usVersion Acc72Ex[0].Udata16[23822]

#define CC3_usWatchdogTime Acc72Ex[0].Udata16[23823]

#define CC3_bPDInHskMode Acc72Ex[0].Data8[47648]

#define CC3_bPDInSource Acc72Ex[0].Data8[47649]

#define CC3_bPDOutHskMode Acc72Ex[0].Data8[47650]

#define CC3_bPDOutSource Acc72Ex[0].Data8[47651]

#define CC3_ulHostWatchdog Acc72Ex[0].Udata32[11913]

#define CC3_ulErrorCount Acc72Ex[0].Udata32[11914]

#define CC3_bErrorLogInd Acc72Ex[0].Data8[47660]

Summary of Contents for ACC-72EX

Page 1: ...2 Accessory 72EX 3 0 603958 U January 31 2022 HARDWARE REFERENCE MANUAL UMAC Fieldbus Interface Document MN 000251...

Page 2: ...age to the product In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by d...

Page 3: ...ctricity and can be damaged by incorrect handling Avoid contact with high insulating materials artificial fabrics plastic film etc Place the product on a conductive surface Discharge any possible stat...

Page 4: ...5 DCDP SS 5 Fixed Jumper E2 description 03 17 16 SGM SGM 6 Added KC Conformity 10 17 18 SM RN 7 Added environmental specifications table 09 14 20 SM RN 8 Added Mounting and Installation section 12 16...

Page 5: ...HARDWARE 17 E3 UBUS Address 17 CS16 Identification 17 Identification Information 17 Jumper Settings 18 Option Identification Jumpers 18 E Point Jumper Settings 18 Communication Option Dependent E Poin...

Page 6: ...Software Setup 72 ACC 72EX Setup Assistant 80 Turbo PMAC Setup for Using ACC 72EX 82 Initialization PLC 82 Watchdog Function 83 Enabling the Communication Bus 83 Locating the Input Output Data Image i...

Page 7: ...Net IP Scanner Master OPT70 111 EtherNet IP Adaptor Slave OPT71 112 Open Modbus TCP OPT80 113 PROFINET IO Controller OPT90 114 PROFINET IO Device OPT91 115 APPENDIX A SETUP EXAMPLES 116 SYCON net Setu...

Page 8: ...this port are PROFIBUS DP Master OPT10 PROFIBUS DP Slave OPT11 DeviceNet Master OPT20 DeviceNet Slave OPT21 CANopen Master OPT30 CANopen Slave OPT31 CC Link Slave OPT51 The third connector is composed...

Page 9: ...X User Manual specifications 9 SPECIFICATIONS Environmental Specifications Description Specification Notes Operating Temperature 0 C to 55 C Storage Temperature 25 C to 70 C Humidity 10 to 95 Non Cond...

Page 10: ...Agency Approval and Safety Item Description CE Mark EN61326 1 EMC EN55011 Class A Group 1 EN61000 4 2 EN61000 4 3 EN61000 4 4 EN61000 4 5 EN61000 4 6 Flammability Class UL 94V 0 KC EMI KN 11 EMS KN 61...

Page 11: ...ntact with the front plates of the boards on either side Getting the front plate flush with the front of the rack and turning the front screws firmly will ensure a good connection with the backplane W...

Page 12: ...ta Tau s bus interface for the UMAC controller The ACC 72EX maps to the UBUS as a DPRAM style board It occupies contiguous memory locations both X and Y memory for Turbo PMAC of the lower two bytes of...

Page 13: ...section in the User manual Byte 0 Byte 1 Byte 2 PMAC 24 bit X Memory Address Byte 0 Byte 1 Byte 2 PMAC 24 bit Y Memory Address PMAC Address 06C000 MemCS0_ Offset 0 M6000 Y 06C000 0 16 U M6001 X 06C000...

Page 14: ...xample shows PMAC addressing for equivalent offset addresses of 0x400 in Hilscher documentation Byte 0 Byte 1 Byte 2 PMAC 24 bit X Memory Address Byte 0 Byte 1 Byte 2 PMAC 24 bit Y Memory Address PMAC...

Page 15: ...Definition Type DP Mod INT Offset 2 2 0 Definition Type Y Definition Type X End Yes No Yes No Start PMAC Address PMAC Address ACC 72EX Based address INT Offset 4 End Start PMAC Offset PMAC Offset ACC...

Page 16: ...2 1026 0x403 1027 0x404 1028 0x405 1029 0x406 1030 0x407 1031 0x408 1032 0x409 1033 0x40A 1034 0x40B 1035 DPRAM Addressing Based upon Hilscher DPRAM Addressing Based upon Power UMAC CPU Byte 0 Byte 1...

Page 17: ...s that memory locations selected by CS16 Chip Select 16 Active Low were reserved for board identification information Vendor ID 8 bits Options Present 10 bits Revision Number 4 bits Product ID 14 bits...

Page 18: ...F ON ON ON ON OFF OFF OFF 10 EtherNet IP Scanner Master 370 603958 OPT OFF ON ON OFF OFF OFF ON OFF OFF 11 EtherNet IP Adaptor Slave 371 603958 OPT ON ON ON OFF OFF OFF ON OFF OFF 12 Open Modbus TCP 3...

Page 19: ...58 OPT OFF OFF OFF OFF EtherCAT Slave 361 603958 OPT OFF OFF OFF OFF EtherNet IP Scanner Master 370 603958 OPT OFF OFF OFF OFF EtherNet IP Adaptor Slave 371 603958 OPT OFF OFF OFF OFF Open Modbus TCP...

Page 20: ...ES E8 Jumpered 1 2 E8 2 3 Jumpered E10 Jumpered E11 Jumpered E8 Jumpered 2 3 E12 Jumpred Real time Ethernet Ports Ethernet 0 Ethernet 1 Pin No Symbol Description 1 RX Receive 2 RX Receive 3 TX Transmi...

Page 21: ...have different memory maps Please refer to the Hilscher manual for each COMX module for detailed information These registers should be read from and written to using M Variables which point to the low...

Page 22: ...ch section is a list of macro names provided for M Variable definition For more information on structures and data registers in COMX modules please refer to references introduced in appendix A of this...

Page 23: ...on bChannelType CCxI_bChannelType bChannelId CCxI_bChannelId bSizePositionOfHandshake CCxI_bSizePositionOfHandshake bNumberOfBlocks CCxI_bNumberOfBlocks ulSizeOfChannel CCxI_ulSizeOfChannel usCommunic...

Page 24: ...Setup Assistant System Block Send Mailbox usPackagesAccepted SSMB_usPackagesAccepted ulDest SSMB_ulDest ulSrc SSMB_ulSrc ulDestId SSMB_ulDestId ulSrcId SSMB_ulSrcId ulLen SSMB_ulLen ulId SSMB_ulId ulS...

Page 25: ...to handle certain changes of state function They also hold information about the status of the ACC 72EX Hilscher module and can be used to execute certain commands in the module for a module wide rese...

Page 26: ...st Change Of State Acknowledge NSF_HOST_COS_ACK The Host Change of State Acknowledge flag is set when the netX acknowledges a command from the host system This flag is used together with the Host Chan...

Page 27: ...nge of State Command flag is set by the UMAC to signal a change of its state to the netX Details of what has changed can be found in the ulSystemCommandCOS variable in the system control block 3 netX...

Page 28: ...set is designated for UMAC writes netX continuously reads this netX Communication Flags This flag register is organized as a bit field The netX protocol stack writes to the register to control data s...

Page 29: ...ed 4 Send Mailbox Acknowledge NCF_SEND_MBX_ACK Both the NCF_SEND_MBX_ACK flag and the HCF_SEND_MBX_CMD flag are used together to transfer non cyclic packages between the protocol stack and the UMAC pr...

Page 30: ...CK HCCCx_NCF_PD1_OUT_ACK NCF_PD1_IN_CMD HCCCx_NCF_PD1_IN_CMD Note x in MACRO name is replaced by Communication Channel number 0 3 Host Communication Flags This flag register is organized as a bit fiel...

Page 31: ...fer cyclic output data from the UMAC to the protocol stack At initialization time this flag may be set depending on the data exchanged mode 7 Process Data 0 In Acknowledge HCF_PD0_IN_ACK Both the HCF_...

Page 32: ...Memory Map 32 Application Handshake Cells Although these cells are not supported yet the following structure groups have been defined for backward compatibility as a placeholder netX Communication Fla...

Page 33: ...ption 0 Application Ready RCX_APP_COS_APP_READY not supported yet If set the UMAC indicates to the protocol stack that its state is Ready 1 Bus On RCX_APP_COS_BUS_ON Using the Bus On flag the UMAC all...

Page 34: ...N RCX_APP_COS_BUS_ON_ENABLE CCx_RCX_APP_COS_BUS_ON_ENABLE RCX_APP_COS_INIT CCx_RCX_APP_COS_INIT RCX_APP_COS_INIT_ENABLE CCx_RCX_APP_COS_INIT_ENABLE RCX_APP_COS_LOCK_CFG CCx_RCX_APP_COS_LOCK_CFG RCX_AP...

Page 35: ...the Lock Configuration flag in the control block 4 Configuration New RCX_COMM_COS_CONFIG_NEW The Configuration New flag is set by the protocol stack to indicate that a new configuration became availab...

Page 36: ...d Host Controlled IO Data Transfer Host Watchdog The protocol stack supervises the UMAC via the Watchdog function If the UMAC fails to copy the value from the device Watchdog location to the host Watc...

Page 37: ...list is derived from the configuration database created by SYCON net This field holds the number of configured slaves Number of Active Slaves The firmware maintains a list of slaves to which the maste...

Page 38: ...Cx_bErrorLogInd bErrorPDInCnt CCx_bErrorPDInCnt bErrorPDOutCnt CCx_bErrorPDOutCnt bErrorSyncCnt CCx_bErrorSyncCnt bSyncHskMode CCx_bSyncHskMode bSyncSource CCx_bSyncSource ulSlaveState CCx_ulSlaveStat...

Page 39: ...d M Variable definition file with proper addressing both of which indicate the ACC 72EX based address selection Reading the Memory Map Text File The output file from the software is a text file which...

Page 40: ...For all blocks Size of Channel 512 bytes Channel Start Address 6C000 Position of Handshake Cells IN HANDSHAKE CHANNEL netX System Flags Adress X 6C080 0 8 Calculates where the Host System Flags Adress...

Page 41: ...Direction OUT Host System to netX Transfer Type DPM Dual Port Memory Handshake Mode UNCONTROLLED Handshake Bit 0 Subblock 1 COMMON STATUS Size 64 bytes Start Offset 6C0C4 Transfer Direction IN netX to...

Page 42: ...9 Block 3 Channel Type Communication Size of Channel 15616 bytes Channel Start Address 6D000 Position of Handshake Cells IN HANDSHAKE CHANNEL Size of Handshake Cells 16 BITS NetX Handshake Register Y...

Page 43: ...OUT Host System to netX Transfer Type DPM Dual Port Memory Handshake Mode BUFFERED HOST CONTROLLED Handshake Bit 8 Subblock 8 HIGH PRIORITY DATA IMAGE Size 64 bytes Start Offset 6D3B0 Transfer Directi...

Page 44: ...e M6027 define HCI_ulSizeOfChannel M6028 define CC0I_bChannelType M6029 define CC0I_bChannelId M6030 define CC0I_bSizePositionOfHandshake M6031 define CC0I_bNumberOfBlocks M6032 define CC0I_ulSizeOfCh...

Page 45: ...ultData3 M6093 define SSMB_ultData4 M6094 define SSMB_ultData5 M6095 define SSMB_ultData6 M6096 define SSMB_ultData7 M6097 define SSMB_ultData8 M6098 define SSMB_ultData9 M6099 define SSMB_ultData10 M...

Page 46: ...CCC0_usHostFlags M6168 define HCCC0_HCF_HOST_COS_CMD M6169 define HCCC0_HCF_NETX_COS_ACK M6170 define HCCC0_HCF_SEND_MBX_CMD M6171 define HCCC0_HCF_RECV_MBX_ACK M6172 define HCCC0_HCF_PD0_OUT_CMD M617...

Page 47: ...ine HCAC0_NCF_COMMUNICATING M6238 define HCAC0_NCF_ERROR M6239 define HCAC0_NCF_HOST_COS_ACK M6240 define HCAC0_NCF_NETX_COS_CMD M6241 define HCAC0_NCF_SEND_MBX_ACK M6242 define HCAC0_NCF_RECV_MBX_CMD...

Page 48: ...6308 define CC0_bSyncHskMode M6309 define CC0_bSyncSource M6310 define CC0_ulSlaveState M6311 define CC0_ulSlaveErrLogInd M6312 define CC0_ulNumOfConfigSlaves M6313 define CC0_ulNumOfActiveSlaves M631...

Page 49: ...8 SI_bDevIdNumber Y 6C00B 0 8 SCI_bChannelType Y 6C00C 0 8 SCI_bSizePositionOfHandshake X 6C00C 0 8 SCI_bNumberOfBlocks X 6C00C 8 8 SCI_ulSizeOfChannel DP 6C00D SCI_usSizeOfMailbox Y 6C00E 0 16 SCI_us...

Page 50: ...040 0 16 SSMB_ulDest DP 6C041 SSMB_ulSrc DP 6C042 SSMB_ulDestId DP 6C043 SSMB_ulSrcId DP 6C044 SSMB_ulLen DP 6C045 SSMB_ulId DP 6C046 SSMB_ulState DP 6C047 SSMB_ulCmd DP 6C048 SSMB_ulExt DP 6C049 SSMB...

Page 51: ...HCCC0_NCF_NETX_COS_CMD Y 6C082 3 1 HCCC0_NCF_SEND_MBX_ACK Y 6C082 4 1 HCCC0_NCF_RECV_MBX_CMD Y 6C082 5 1 HCCC0_NCF_PD0_OUT_ACK Y 6C082 6 1 HCCC0_NCF_PD0_IN_CMD Y 6C082 7 1 HCCC0_NCF_PD1_OUT_ACK Y 6C08...

Page 52: ...CCC3_HCF_HOST_COS_CMD X 6C085 2 1 HCCC3_HCF_NETX_COS_ACK X 6C085 3 1 HCCC3_HCF_SEND_MBX_CMD X 6C085 4 1 HCCC3_HCF_RECV_MBX_ACK X 6C085 5 1 HCCC3_HCF_PD0_OUT_CMD X 6C085 6 1 HCCC3_HCF_PD0_IN_ACK X 6C08...

Page 53: ...0C7 0 16 CC0_bPDInHskMode Y 6C0C8 0 8 CC0_bPDInSource Y 6C0C8 8 8 CC0_bPDOutHskMode X 6C0C8 0 8 CC0_bPDOutSource X 6C0C8 8 8 CC0_ulHostWatchdog DP 6C0C9 CC0_ulErrorCount DP 6C0CA CC0_bErrorLogInd Y 6C...

Page 54: ...CC1_ulErrorCount DP 6D00A CC1_bErrorLogInd Y 6D00B 0 8 CC1_bErrorPDInCnt Y 6D00B 8 8 CC1_bErrorPDOutCnt X 6D00B 0 8 CC1_bErrorSyncCnt X 6D00B 8 8 CC1_bSyncHskMode Y 6D00C 0 8 CC1_bSyncSource Y 6D00C 8...

Page 55: ...unning on the netX chip for diagnostic and identification purposes The send mailbox is used to transfer cyclic data to the network or to the netX The receive mailbox is used to transfer cyclic data fr...

Page 56: ...any handle of the sending process The receiving task does not evaluate this field and will pass it back unchanged to the originator of the packet Destination Identifier The ulDestId field identifies...

Page 57: ...ned in ulSta are outlined in Status and Error Code section Command Response The ulCmd field holds the command code or the response code The command response is specific to the receiving task If a task...

Page 58: ...passed to communication channel 1 3 Packet is passed to communication channel 2 4 Packet is passed to communication channel 3 20 Packet is passed to local communication or system channel Else Reserve...

Page 59: ...t or both are cleared the process which intends to write has access rights If they have a different value the process which intends to read has access rights The following table illustrates this mecha...

Page 60: ...he function checks if the size of the packet to be sent exceeds the mailbox size If both the Host Send Mailbox Command flag and the netX Send Mailbox Acknowledge flag are either set or cleared the hos...

Page 61: ...Receive Mailbox Command flag and the Host Receive Mailbox Acknowledge flag have different values If so the host application is allowed to access the mailbox When the host is done copying data from th...

Page 62: ...tination queue handler ulDest The source queue handler ulSrc and the source identifier ulSrcId are used to identify the originator of a packet The destination identifier ulDestId can be used to addres...

Page 63: ...itly if application opens a TCP UDP socket or explicitly if application wants to receive unsolicited DPV1 packets Details on when and how to register for certain events is described in the protocol sp...

Page 64: ...network cycle and the task cycle of the host application are not synchronized but are consistent If the host application is faster than the network cycle it might be possible that data in the output b...

Page 65: ...ual port memory The application then toggles the handshake bits giving control over the dual port memory to the protocol stack Step 3 The protocol stack copies the content of the output data image int...

Page 66: ...6 Once updated the protocol stack uses the new data from the internal buffer and sends it to the network The cycle repeats with step 1 Input Data Exchange 1 The protocol stack constantly receives data...

Page 67: ...acting with the host application It is called Automatic Start of Communication This method is not recommended because the host application has no control over the network connection status In this cas...

Page 68: ...odule for proper functionality after initial power up cycle power or a or command Resetting netX through Dual Port Memory To reset the entire netX firmware the host application has to set the HSF_RESE...

Page 69: ...Generally the reset should not take more than 6 seconds Channel Initialization In order to force the protocol stack to restart and evaluate the configuration parameter again the application can set t...

Page 70: ...onfiguration was found Otherwise it stays cleared After the initialization process has finished the protocol stack checks ulApplicationCOS register If the RCX_APP_COS_BUS_ON flag and the RCX_APP_COS_B...

Page 71: ...f the dual port memory The request packet is passed through the system mailbox All open network connections are interrupted immediately regardless of their current state Reinitializing the channel is...

Page 72: ...ystem and commissioning of the machine Notice that neither of these software packages is required after the initial setup and the unit can work as a standalone setup SyCon NET Software Setup SYCON net...

Page 73: ...ftware setup 73 Start a new project or load an existing project from the File menu Select the COMX module to which the USB is connected from the Fieldbus protocol list In this example an EtherNet IP m...

Page 74: ...Drag and drop the module onto the BusLine in the netDevice window notice that the module can only be inserted on the BusLine Establish USB communication to the COMX gateway by right clicking on the d...

Page 75: ...tings folder in the NavigationArea check the checkmark box for netX Driver on the driver list and click Apply Select the netXDriver node under the Driver folder in the Navigation Area and select the p...

Page 76: ...ACC 72EX User Manual Software setup 76 Note Check Windows Device Manager in order to identify which COM port provides the connection to the Hilscher COMX module...

Page 77: ...by Sycon NET software Make sure the device receives a system wide reset using the PMAC suggested M Variables ulSystemCommandCOS and HSF_RESET registers as shown here SCtrl_ulSystemCommandCOS 55AA55AA...

Page 78: ...re setup 78 Now that the COMX driver for communication between the PC and COMX module using the diagnostic port has been set up go through protocol specific setup parameters under the Configuration fo...

Page 79: ...ee right click on the device icon and select Connect as shown below Once connected right click on the device icon one more time and select Download as shown below This will download all the configurat...

Page 80: ...using an ACC 72EX Ethernet IP slave with a third party Ethernet IP master PLC controller ACC 72EX Setup Assistant The next step is to generate the memory map and suggested M Variables for the Hilsche...

Page 81: ...gram asks for a folder location to save the M Variable definition and memory map files This will generate three files which are named based upon the ACC 72EX base address The M variable definition and...

Page 82: ...Recall that ACC 72EX requires a reset after each power up power cycle reset or factory default reset This can be achieved with a startup or initialization PLC Example CLOSE END GAT DEL GAT include M...

Page 83: ...ithin the configured Watchdog time the protocol stack will interrupt all network connections immediately regardless of their current state If the Watchdog tripped then power cycling channel reset or c...

Page 84: ...umber of Subblocks 9 Subblock 0 CONTROL Size 8 bytes Start Offset 6C0C2 Transfer Direction OUT Host System to netX Transfer Type DPM Dual Port Memory Handshake Mode UNCONTROLLED Handshake Bit 0 Subblo...

Page 85: ...de BUFFERED HOST CONTROLLED Handshake Bit 9 Depending on the protocol users might be interested in Processed Data Images High Priority Data Images Mailboxes Also listed in the memory map are starting...

Page 86: ...nnel 0 on Slave COMX module P200 0 OPEN PLC 10 CLEAR IF HCCC0_HCF_PD0_OUT_CMD HCCC0_NCF_PD0_OUT_ACK Making sure the ACK flag matches the CMD flag before writing the value to the output data image regi...

Page 87: ...c72EX i a This array is defined based upon the Hilscher ComX memory map Index values j in the square brackets can be integer constants in the range 0 to 524 287 or local L variables No expressions or...

Page 88: ...cc72Ex i Idata16 j Acc72Ex i Idata32 j 2 and Acc72Ex i Udata32 j 2 It is the user s responsibility to prevent possible multiple uses of the same register In C this element should be accessed through t...

Page 89: ...ComX memory map Index values j in the square brackets can be integer constants in the range 0 to 262 143 or local L variables No expressions or non integer constants are permitted The size of the DPR...

Page 90: ...ned int Input void Acc72EX_SetData8 unsigned int CardIndex unsigned int ArrayIndex char Input short Acc72EX_GetIdata16 unsigned int CardIndex unsigned int ArrayIndex unsigned int myptr unsigned int pi...

Page 91: ...Udata32 unsigned int CardIndex unsigned int ArrayIndex unsigned int Input unsigned int myptr unsigned int piom DPRCSBase CardIndex 0x100000 4 myptr ArrayIndex Input 16 8 myptr ArrayIndex 1 Input 16 8...

Page 92: ...talSize Acc72Ex 0 Udata32 1 define SI_ulDeviceNumber Acc72Ex 0 Udata32 2 define SI_ulSerialNumber Acc72Ex 0 Udata32 3 define SI_ausHwOptions_0_ Acc72Ex 0 Udata16 8 define SI_ausHwOptions_1_ Acc72Ex 0...

Page 93: ...bNumberOfBlocks Acc72Ex 0 Data8 131 define CC3I_ulSizeOfChannel Acc72Ex 0 Udata32 33 define CC3I_usCommunicationClass Acc72Ex 0 Udata16 68 define CC3I_usProtocolClass Acc72Ex 0 Udata16 69 define CC3I_...

Page 94: ...D_MBX_CMD Acc72Ex 0 Udata16 257 12 define HCSC_HSF_RECV_MBX_ACK Acc72Ex 0 Udata16 257 13 CC0 usNetxFlags define HCCC0_usNetxFlags Acc72Ex 0 Udata16 260 define HCCC0_NCF_COMMUNICATING Acc72Ex 0 Udata16...

Page 95: ...Acc72Ex 0 Udata16 265 6 define HCCC2_HCF_PD0_IN_ACK Acc72Ex 0 Udata16 265 7 define HCCC2_HCF_PD1_OUT_CMD Acc72Ex 0 Udata16 265 8 define HCCC2_HCF_PD1_IN_ACK Acc72Ex 0 Udata16 265 9 CC3 usNetxFlags def...

Page 96: ...RCX_APP_COS_INIT_ENABLE Acc72Ex 0 Udata16 8196 4 define CC1_RCX_APP_COS_LOCK_CFG Acc72Ex 0 Udata16 8196 5 define CC1_RCX_APP_COS_LOCK_CFG_ENA Acc72Ex 0 Udata16 8196 6 define CC1_RCX_APP_COS_DMA Acc72E...

Page 97: ...OutCnt Acc72Ex 0 Data8 32046 define CC2_bErrorSyncCnt Acc72Ex 0 Data8 32047 define CC2_bSyncHskMode Acc72Ex 0 Data8 32048 define CC2_bSyncSource Acc72Ex 0 Data8 32049 CC3_Control Block define CC3_RCX_...

Page 98: ...fine CC0_PD0_OUT_SIZE_2BYTE 2880 define CC0_PD0_IN_OFFSET_2BYTE 14C0 define CC0_PD0_IN_SIZE_2BYTE 2880 define CC0_PD1_OUT_OFFSET_2BYTE 8C0 define CC0_PD1_OUT_SIZE_2BYTE 32 define CC0_PD1_IN_OFFSET_2BY...

Page 99: ...OFFSET_2BYTE 8E0 define CC0_PD1_IN_SIZE_2BYTE 32 endif ifdef __EtherNetIP_Scanner_Master__ define CC0_PD0_OUT_OFFSET_2BYTE 980 define CC0_PD0_OUT_SIZE_2BYTE 2880 define CC0_PD0_IN_OFFSET_2BYTE 14C0 de...

Page 100: ...NET_IO_Device_Slave__ define CC0_PD0_OUT_OFFSET_2BYTE 980 define CC0_PD0_OUT_SIZE_2BYTE 2880 define CC0_PD0_IN_OFFSET_2BYTE 14C0 define CC0_PD0_IN_SIZE_2BYTE 2880 define CC0_PD1_OUT_OFFSET_2BYTE 8C0 d...

Page 101: ...72EX requires a reset after each power up power cycle reset or factory default reset This can be achieved with a startup or initialization PLC Example ACC 72EX initialization PLC open plc Acc72EX_Star...

Page 102: ...dallcmds L0 L0 0 while L0 CC0_PD1_OUT_SIZE_2BYTE CMD CC0_PD1_OUT16 d Acc72Ex 0 uData16 d L0 L0 CC0_PD1_OUT_OFFSET _2BYTE sendallcmds L0 L0 0 while L0 CC0_PD1_IN_SIZE_2BYTE CMD CC0_PD1_IN16 d Acc72Ex 0...

Page 103: ...hdog Function The host Watchdog and the device Watchdog cells in the control block of each of the communication channels allow the operating system running on the netX to supervise the host or UMAC ap...

Page 104: ...re closed If the Bus On Enable flag is set it enables the execution of the Bus On command in the netX firmware CC0_RCX_APP_COS_BUS_ON 1 Setting the Bus On flag for 1st ACC 72EX CC0_RCX_APP_COS_BUS_ON_...

Page 105: ...O_ReadPLC if HCCC0_NCF_PD0_IN_CMD HCCC0_HCF_PD0_IN_ACK If CMD flag and ACK flags are equal then the input data image register can be read P201 CC0_PD0_IN16 0 read the input data image register HCCC0_H...

Page 106: ...ed PROFIBUS DP Master OPT10 The following table describes the meaning of the LEDs for the comX PROFIBUS DP Master communication modules COMX 100CA DP COMX100CN DP when the firmware of the PROFIBUS DP...

Page 107: ...hen off Red Flashing Connection timeout Red On Critical connection failure device has detected a network error duplicate MAC ID or severe error in CAN network CAN bus off Red Off After start of the de...

Page 108: ...trol Event A guard event NMT Slave or NMTmaster or a heartbeat event Heartbeat consumer has occurred The indicator shows a sequence of two short flashes each 200 ms separated by a short off phase 200...

Page 109: ...The error is indicated in the DPM LINK LED Green LED on ETH0 connector Color State Meaning Green On A link is established Green Off No link established ACT LED Yellow LED on ETH0 connector Color State...

Page 110: ...ve device application has changed the EtherCAT state autonomously Possible reason 1 A host Watchdog timeout has occurred Possible reason 2 Synchronization Error device enters Safe Operational automati...

Page 111: ...all be steady off NS LED COM1 Color State Meaning Green On Connected If the device has at least one established connection even to the Message Router the network status indicator shall be steady green...

Page 112: ...ll be steady off NS LED COM1 Color State Meaning Green On Connected If the device has at least one established connection even to the Message Router the network status indicator shall be steady green...

Page 113: ...and not configured yet Green Flashing cyclic with 5Hz Waiting for Communication OMB task is configured Green On Connected OMB task has communication at least one TCP connection is established ERR LED...

Page 114: ...yclic with 2Hz System error Invalid configuration Watchdog error or internal error Red Off No error BF LED COM1 Color State Meaning Red On No Connection No Link or together with SF red ON No valid Mas...

Page 115: ...osis present system error Red Flashing cyclic with 2Hz for 3 seconds DCP signal service is initiated via the bus Red Off No error BF LED COM1 Color State Meaning Red On No configuration or low speed p...

Page 116: ...ogix controller 1769 L18ERM BB1B as a master SYCON net for netX 1 310 was used in this example With the power off plug the ACC 72EX into the UBUS backplane and then power the UMAC rack Connect the dia...

Page 117: ...A Setup Examples 117 Select the COMX module to which the USB is connected from the Fieldbus protocol list Drag and drop the module onto the BusLine in the netDevice window notice that the module can o...

Page 118: ...tions to the COMX gateway by right clicking on the device icon and selecting Configuration In the netDevice Configuration window select the Driver folder under Settings folder in the Navigation Area c...

Page 119: ...iver folder in the Navigation Area and select the port for the USB connection to the COMX module Click Save and Apply just click OK if Apply is grayed out Note You can Check Windows Device Manager in...

Page 120: ...reset line is released too fast for some Hilscher COMX modules which puts them in a boot mode This can prevent the device from being detected by Sycon NET software Make sure the device receives a sys...

Page 121: ...ACC 72EX User Manual Appendix A Setup Examples 121 Set the IP address for the COMX module in the General Configuration window Set Connections...

Page 122: ...ths in the Assembly window 240 is the maximum length for the CompactLogix 1769 L18ERM BB1B controller RSLogix 5000 Setup RSLogix 5000 version 20 is used in this example Launch RSLogix and click on Who...

Page 123: ...oller and click the Go Online button to test communication The Controller OK indicator box should change to green like below Next install the EDS file for the Hilscher COMX slave of the ACC 72EX Go to...

Page 124: ...A Setup Examples 124 Click Next Select the Register an EDS file s radial button Browse to and select the Hilsher EDS file EDS files can be downloaded at hilscher com at http www hilscher com hcuk sup...

Page 125: ...allation but first the controller needs to be offline Click the Go Offline selection under the Communications tab Go Offline is displayed when the controller is online and Go Online is displayed when...

Page 126: ...ser Manual Appendix A Setup Examples 126 The created entry should appear under Ethernet in the Control Organizer Right click on it and select Properties Under the General tab set the IP address of the...

Page 127: ...ACC 72EX User Manual Appendix A Setup Examples 127 Check the settings under the Connection tab Double click on Controller Tags and open the Monitor Tags tab...

Page 128: ...es from the ACC 72EX can be seen in the Value column controller must be online Click on to expand the output data entries The values seen in the Value column should now be seen as inputs in the ACC 72...

Page 129: ...lick on the right arrow as needed to bring into view the File Misc ladder entries tab Click on the File Misc tab and then drag and drop COP copy onto a rung Look for a green dot to appear on the left...

Page 130: ...g 1 ENDIF ENDWHILE IF M_CommErrorFlag 0 WHILE M_CC0_RCX_COMM_COS_RUN 0 wait for comm tasks to start on COMX modules M_HCCC0_HCF_NETX_COS_ACK M_HCCC0_HCF_NETX_COS_ACK 1 Toggle Communication Channel 0 s...

Page 131: ...ne M_SI_ausHwOptions_1_ M5008 define M_SI_ausHwOptions_2_ M5009 define M_SI_ausHwOptions_3_ M5010 define M_SI_usManufacturer M5011 define M_SI_usProductionDate M5012 define M_SI_ulLicenseFlags1 M5013...

Page 132: ...tionOfHandshake M5068 define M_AC1I_bNumberOfBlocks M5069 define M_AC1I_ulSizeOfChannel M5070 define M_SCtrl_ulSystemCommandCOS M5071 define M_SStat_ulSystemCOS M5072 define M_SStat_ulSystemStatus M50...

Page 133: ..._HOST_COS_ACK M5146 define M_HCSC_NSF_NETX_COS_CMD M5147 define M_HCSC_NSF_SEND_MBX_ACK M5148 define M_HCSC_NSF_RECV_MBX_CMD M5149 define M_HCSC_bHostFlags M5150 define M_HCSC_HSF_RESET M5151 define M...

Page 134: ...define M_HCCC2_HCF_PD0_IN_ACK M5214 define M_HCCC2_HCF_PD1_OUT_CMD M5215 define M_HCCC2_HCF_PD1_IN_ACK M5216 define M_HCCC3_usNetxFlags M5217 define M_HCCC3_NCF_COMMUNICATING M5218 define M_HCCC3_NCF_...

Page 135: ...M5280 define M_CC0_RCX_APP_COS_INIT_ENABLE M5281 define M_CC0_RCX_APP_COS_LOCK_CFG M5282 define M_CC0_RCX_APP_COS_LOCK_CFG_ENA M5283 define M_CC0_RCX_APP_COS_DMA M5284 define M_CC0_RCX_APP_COS_DMA_EN...

Page 136: ...0 0 8 M_HCI_ulSizeOfChannel DP 6C011 M_CC0I_bChannelType Y 6C014 0 8 M_CC0I_bChannelId Y 6C014 8 8 M_CC0I_bSizePositionOfHandshake X 6C014 0 8 M_CC0I_bNumberOfBlocks X 6C014 8 8 M_CC0I_ulSizeOfChannel...

Page 137: ...M_SSMB_ultData1 DP 6C04C M_SSMB_ultData2 DP 6C04D M_SSMB_ultData3 DP 6C04E M_SSMB_ultData4 DP 6C04F M_SSMB_ultData5 DP 6C050 M_SSMB_ultData6 DP 6C051 M_SSMB_ultData7 DP 6C052 M_SSMB_ultData8 DP 6C053...

Page 138: ...Y 6C082 9 1 M_HCCC0_usHostFlags X 6C082 0 16 M_HCCC0_HCF_HOST_COS_CMD X 6C082 2 1 M_HCCC0_HCF_NETX_COS_ACK X 6C082 3 1 M_HCCC0_HCF_SEND_MBX_CMD X 6C082 4 1 M_HCCC0_HCF_RECV_MBX_ACK X 6C082 5 1 M_HCCC...

Page 139: ...M_HCAC0_usNetxFlags Y 6C086 0 16 M_HCAC0_NCF_COMMUNICATING Y 6C086 0 1 M_HCAC0_NCF_ERROR Y 6C086 1 1 M_HCAC0_NCF_HOST_COS_ACK Y 6C086 2 1 M_HCAC0_NCF_NETX_COS_CMD Y 6C086 3 1 M_HCAC0_NCF_SEND_MBX_ACK...

Page 140: ...M_CC0_RCX_COMM_COS_CONFIG_NEW Y 6C0C4 4 1 M_CC0_RCX_COMM_COS_RESTART_REQ Y 6C0C4 5 1 M_CC0_RCX_COMM_CO_REQ_ENA Y 6C0C4 6 1 M_CC0_RCX_COMM_COS_DMA Y 6C0C4 7 1 M_CC0_ulCommunicationState DP 6C0C5 M_CC0...

Page 141: ...Host System to netX OUT Host System to netX OUT Host System to netX Transfer Type DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Por...

Page 142: ...UFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED Handshake Bit 8 8 8 8 8 8 8 8 8 8 8 8 8 8 Subblock...

Page 143: ...INED UNDEFINED UNDEFINED Conformance Class 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Number of Subblocks 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Block 5 Channel Type Undefined Undefined Undefined Undefined Undefined Undefined...

Page 144: ...l Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memory DPM Dual Port Memo...

Page 145: ...ROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONTROLLED BUFFERED HOST CONT...

Page 146: ...INED UNDEFINED UNDEFINED Conformance Class 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Number of Subblocks 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Block 5 Channel Type Undefined Undefined Undefined Undefined Undefined Undefined...

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