Galil Motion Control DMC-42 0 Series, User Manual

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NOTE : if multiple boards are on the network – use the serial numbers to differentiate them.
CAUTION
Be sure that there is only one BOOT-P or DHCP server running. If your network has DHCP
or BOOT-P running, it may automatically assign an IP address to the DMC-42x0 controller
upon linking it to the network. In order to ensure that the IP address is correct, please
contact your system administrator before connecting the I/O board to the Ethernet
network.
The third method for setting an IP address is to send the IA command through the RS-232 port. (Note: The IA
command is only valid if DH0 is set). The IP address may be entered as a 4 byte number delimited by commas
(industry standard uses periods) or a signed 32 bit number (e.g. IA 124,51,29,31 or IA 2083724575). Type in BN to
save the IP address to the DMC-42x0 non-volatile memory.
NOTE: Galil strongly recommends that the IP address selected is not one that can be accessed across the Gateway.
The Gateway is an application that controls communication between an internal network and the outside world.
The third level of Ethernet addressing is the UDP or TCP port number. The Galil board does not require a specific
port number. The port number is established by the client or master each time it connects to the DMC-42x0 board.
Typical port numbers for applications are:
Port 23: Telnet
Port 502: Modbus
Communicating with Multiple Devices
The DMC-42x0 is capable of supporting multiple masters and slaves. The masters may be multiple PC's that send
commands to the controller. The slaves are typically peripheral I/O devices that receive commands from the
controller.
NOTE: The term "Master" is equivalent to the internet "client". The term "Slave" is equivalent to the internet
"server".
An Ethernet handle is a communication resource within a device. The DMC-42x0 can have a maximum of 8
Ethernet handles open at any time. When using TCP/IP, each master or slave uses an individual Ethernet handle. In
UDP/IP, one handle may be used for all the masters, but each slave uses one. (Pings and ARPs do not occupy
handles.) If all 8 handles are in use and a 9
th master tries to connect, it will be sent a "reset packet" that generates
the appropriate error in its windows application.
NOTE: There are a number of ways to reset the controller. Hardware reset (push reset button or power down
controller) and software resets (through Ethernet or RS232 by entering RS).
When the Galil controller acts as the master, the IH command is used to assign handles and connect to its slaves.
The IP address may be entered as a 4 byte number separated with commas (industry standard uses periods) or as a
signed 32 bit number. A port number may also be specified, but if it is not, it will default to 1000. The protocol
(TCP/IP or UDP/IP) to use must also be designated at this time. Otherwise, the controller will not connect to the
slave. (Ex. IHB=151,25,255,9<179>2 This will open handle #2 and connect to the IP address 151.25.255.9, port
179, using TCP/IP)
Which devices receive what information from the controller depends on a number of things. If a device queries the
controller, it will receive the response unless it explicitly tells the controller to send it to another device. If the
command that generates a response is part of a downloaded program, the response will route to whichever port is
specified as the default (unless explicitly told to go to another port with the CF command). To designate a specific
destination for the information, add {Eh} to the end of the command. (Ex. MG{EC}"Hello" will send the message
"Hello" to handle #3. TP,,?{EF} will send the z axis position to handle #6.)
Chapter 4 Software Tools and Communication ▫ 40 DMC-42x0 User Manual