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I-7242D user manual

I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 43/124

4.9

Acknowledge Handler Object ( Class 0x2B )

This object is used by connections whose producer needs to know

whether its data has received by its consumers. This object is described in
chapter 6-31 of volume II of the DeviceNet specifications.

Class Attribute

Attribute ID

Attribute Name

Data Type

Method

Value

0x01 Revision UINT Get 1

0x02 Max

instance UINT

Get 1

Class Service

Service Code

Service Name

Need

0x0E Get_Attribute_Single

Required

Instance Attribute

Attribute ID

Attribute Name

Data Type

Method

Value

0x01

Acknowledge timer

UINT

Get/Set

20 (ms)

0x02 Retry

limit USINT

Get/Set

0x03

COS producing connection instance

UINT

Get

0x04 Ack

list

size BYTE

Get

0x05

Ack list

BYTE, UINT[…]

Get

0, (empty)

0x06

Data with ack list size

BYTE

Get

0x07

Data with ack path list

BYTE, (UINT,

USINT,

USINT[…])[…]

Get

(data with ack

path list)

Instance Service

Service Code

Service Name

Need

0x0E Get_Attribute_Single

Required

0x10 Set_Attribute_Single

Required

Summary of Contents for I-7242D

Page 1: ...ility for damages consequent to the use of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and...

Page 2: ...D 17 2 4 2 NS LED 17 2 4 3 IO LED 18 2 5 Five 7 Segment LED Displays 19 2 6 Modbus Devices Support 22 3 DeviceNet System 23 3 1 DeviceNet network Introduction 23 3 2 Predefined Master Slave Connection...

Page 3: ...Introduction 70 7 2 Examples on the DeviceNet Communication Set 73 7 2 1 Request the use of Predefined Master Slave Connection Set 73 7 2 2 How to apply the Poll Connection 74 7 2 3 The Bit Strobe Co...

Page 4: ...r manual I 7242D DeviceNet Modbus RTU Gateway User s Manual July 2006 Version 1 1 4 124 9 Application with PISO CAN 200 400 T 113 9 1 Application 1 117 9 2 Application 2 120 Appendix A Dimension and M...

Page 5: ...as textile machinery printing machines injection molding machinery or packaging machines etc DeviceNet is a low level network that provides connections between simple industrial devices sensors actua...

Page 6: ...to enter a dialogue with slave devices on the Modbus RTU network In DeviceNet network it functions as a Group 2 Only Slave device and supports Predefined Master slave Connection Set In Modbus RTU netw...

Page 7: ...ine control systems The main DeviceNet application fields are demonstrated the following area For more information please refer to www odva org Production cell builds and tests CPUs Dinnerware product...

Page 8: ...W z Unregulated 10VDC to 30VDC z Operating Temperature 25 C to 75 C z Storage Temperature 30 C to 85 C z Humidity 5 95 z NS MS and IO Led indicator COM1 z RS 232 TXD RXD RTS CTS GND z Communication s...

Page 9: ...Explicit connection 1 5 Modbus RTU Features z Maximum number of devices 10 Modbus devices z Communication speed 1200 2400 4800 9600 19200 38400 57600 or 115200 bits s configured by using Utility z Da...

Page 10: ...cation 2 1 Hardware Structure Figure 2 1 Hardware Structure of the I 7242D CAN Bus Connector Bypass CAN Bus Connector Power LED DeviceNet Status LED 7 segment LED displays RS 232 Port connect to PC RS...

Page 11: ...ers should check the resistances of their CAN bus before they install a new CAN network as figure 2 2 Figure 2 2 CAN Bus Wire Connections Moreover to minimize the voltage drop on long distance the ter...

Page 12: ...for DeviceNet network Baud rate bit s Max Bus length m 500 K 100 250 K 250 125 K 500 In order to provide an easy CAN bus wiring the I 7242D supplies one CAN port with two CAN bus connector interfaces...

Page 13: ...veniently The structure of the inside electronic circuit is displayed as figure 2 4 Figure 2 4 Electronic circuit of CAN bus connector The jumper selected termination resistor J3 is positioned as the...

Page 14: ...l be set as 1 And the DO status is OFF Users can apply this to have a clear warning Then users can clear the alarm signal by setting the DI value as 0 After setting the DI to ON state the data lose co...

Page 15: ...When the number of data lose counter exceeds 100 the DO would be in OFF state Users can use the DO as the alarm of Modbus communication The wire connection of digital output is as figure 2 7 Digital o...

Page 16: ...urn on If the Power LED is off after giving the proper voltage please check the power and load of power supply firstly If the situation is not improved please communicate your local distributor to sol...

Page 17: ...erated normally the MS LED must be turned off Table 2 6 MS led conditions Condition Status Description Red Critical fault Device has unrecoverable fault Flashing red Non critical fault Device has reco...

Page 18: ...aster get set input output data of Modbus devices via the I 7242D the LED would be flashed Table 2 8 shows the conditions for IO status Therefore when the device IO function is working the IO LED shou...

Page 19: ...If it works normally the LED display shows the character n If not the LED display shows the error character Table 2 9 shows the meaning of this LED Table 2 9 7 Segment LED Number Error n Normal opera...

Page 20: ...displays show the string ER and others display the error code The error code is described in table 2 12 Table 2 12 Error code Description 00 No Error 01 EEPROM data error Use default setting 02 CAN H...

Page 21: ...normal operation mode Its MAC ID is 0x01 CAN baud rate is 125Kbps and RS 485 baud rate is 9600bps Step3 It means that no error occurs in Modbus communication Step1 Display the string DEV Step2 It mean...

Page 22: ...s can support what kind of the Modbus function codes described in chapter 8 However I 7242D also supports special Modbus commands by the specific User defined Modbus Command object Class ID 0x65 The M...

Page 23: ...simplifies project design implementation and diagnosis by providing standard mechanisms for network start up and error management DeviceNet defines a connection based scheme to facilitate all applicat...

Page 24: ...Group 3 Message ID Source MAC ID Group 3 Messages 600 7bf 1 1 1 1 1 Group 4 Message ID Group 4 Messages 7c0 7ef The I 7242D provides the Predefined Master slave Connection Set for users to establish c...

Page 25: ...ange of State Cyclic Acknowledge Message 1 0 MAC ID Group 2 Message ID Group 2 Messages 400 5ff 1 0 Source MAC ID 0 0 0 Master s I O Bit Strobe Command Message 1 0 Multicast MAC ID 0 0 1 Master s I O...

Page 26: ...template for organizing and implementing the Attributes data Services methods or procedures and behaviors of the components within a DeviceNet product The figure 3 2 depicts the object model for I 72...

Page 27: ...re a connection between devices have been removed within the Predefined Set The Predefined Master Slave Connection Set allows for the establishment of a DeviceNet communication environment using less...

Page 28: ...wards a single specific Slave point to point connection A Master must transmit a separate Poll command message for each one of its Slaves that will be polled The Poll Response Message is an I O messag...

Page 29: ...Master A Bit Strobe Command has multicast capabilities Multiple Slaves can receive and react to the same Bit Strobe Command The Bit Strobe response is an I O message that a Slave transmits back to the...

Page 30: ...int to point An Acknowledge Message may be returned in response to this message Within either the Master or the Slave the producing Change of State Message and consuming Acknowledge Message are receiv...

Page 31: ...suitable EDS file The EDS file system architecture is as figure 3 8 Figure 3 8 Architecture of EDS file EDS provides information about the device s configuration data in terms of the following context...

Page 32: ...ess made up in this way is known as a Path The Connection by Explicit Messaging for example uses paths of this sort to exchange data from one node to another on a DeviceNet network See table 4 1 to kn...

Page 33: ...n Revision 1 01 DeviceNet Physical Conformance Data Network Power Consumption Max Open Hardwired Isolated Physical Layer Yes LED Supported Yes MAC ID Setting Software Device MAC ID Software Default is...

Page 34: ...terfaces Identity 01 0x01 1 Message Router Message Router 02 0x02 1 Explicit message connection DeviceNet 03 0x03 1 Message Router Assembly 04 0x04 4 3 2 1 0 I O connections or Message router Connecti...

Page 35: ...NT Get 1 Class Service Service Code Service Name Need 0x0E Get_Attribute_Single Required Instance Attribute Attribute ID Description Data Type Method Value 0x01 Vendor UINT UINT Get 803 0x02 Device ty...

Page 36: ...Explicit messages type pass so that they can be routed to the objects they are intended for This object is described in chapter 6 3 of volume II of the DeviceNet specifications Class Attribute Attrib...

Page 37: ...ns Class Attribute Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 2 Class Service Service Code Service name Need 0x0E Get_Attribute_Single Required Instance Attribute Attrib...

Page 38: ...network This object is described in chapter 6 5 of volume II of the DeviceNet specifications Class Attribute Attribute ID Attribute name Data Type Method Default Value 0x01 Revision UINT Get 2 0x02 M...

Page 39: ...r instances of the I 7242D s Connection object and then details are given in the rest of this chapter Instance ID Type of connection Connection name 0x01 Explicit Messaging Explicit Connection 0x02 I...

Page 40: ...x01 0x07 Produced connection size UINT Get Set size of the input data 0x08 Consumed connection size UINT Get Set size of the output data 0x09 Expected packet rate UINT Get Set 0x00 0x0C Watchdog timeo...

Page 41: ...UINT Get Set size of the input data 0x08 Consumed connection size UINT Get Set 0x00 0x09 Expected packet rate UINT Get Set 0x00 0x0C Watchdog timeout action USINT Get Set 0x00 0x0D Produced connection...

Page 42: ...Get Set 0x00 0x0E Produced connection path EPATH Get Set area path 0x0F Consumed connection path length UINT Get Set 0x00 0x10 Consumed connection path EPATH Get Set empty path 0x11 Production inhibit...

Page 43: ...UINT Get 1 0x02 Max instance UINT Get 1 Class Service Service Code Service Name Need 0x0E Get_Attribute_Single Required Instance Attribute Attribute ID Attribute Name Data Type Method Value 0x01 Ackn...

Page 44: ...s Attribute Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 1 0x02 Max Instance UINT Get 10 0x03 Period of silence USINT Get Set 40 65535 ms Class Service Service Code Servic...

Page 45: ...is object Class Attribute Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 1 0x02 Max Instance UINT Get 3 Class Service Service Code Service Name Need 0x0E Get_Attribute_Singl...

Page 46: ...d over a single connection The I 7242D provides many assembly objects for users The I O type of Modbus devices is decided for the number of assembly objects Every I O devices represents an application...

Page 47: ...help users more understand the usage of I 7242D Example 1 one DO device one DI device one AO device one AI device In this example apply four Modbus devices in the system Users can refer to the figure...

Page 48: ...t Address Relay Register Data Length 0x01 1 0 DO 1 16 0x02 3 2 DI 1 7 0x03 5 1 AO 1 3 0x04 7 3 AI 1 4 According to the application object instances I 7242D would arranges the assembly object instances...

Page 49: ...Type Relay Register Start Address Relay Register Data Length 0x01 2 0 DO 1 10 0x02 4 0 DO 1 12 0x03 6 1 AO 1 2 0x04 8 1 AO 2 3 0x05 10 3 AI 2 5 0x06 12 3 AI 2 2 Table 5 4 the information of the Assemb...

Page 50: ...evice Address Device I O Type Relay Register Start Address Relay Register Data Length 0x01 11 0 DO 1 8 0x02 12 0 DO 1 16 0x03 13 2 DI 1 4 0x04 14 2 DI 1 8 Table 5 6 the information of the Assembly ins...

Page 51: ...Modbus devices Table 5 7 Application object attribute Application Instance ID Device Address Device I O Type Relay Register Start Address Relay Register Data Length 0x01 1 3 AI 1 4 0x02 2 3 AI 1 8 0x0...

Page 52: ...the I 7242D to these Modbus RTU devices 2 Connect the COM1 port from the I 7242D to the PC s COM port with the download cable CA0910F 1 Initial the I 7242D by connecting the Init pin with the GND pin...

Page 53: ...erstand the relationship between these DeviceNet application and assembly objects in the I 7242D ICP DAS provides the DNS_MRU Utility to configure the communication parameters I O connection path and...

Page 54: ...d the DNS_MRU Utility setup file from the web site ftp ftp icpdas com tw pub cd can_cd devicenet gateway i 7242d utili ty or the CD ROM disk following the path of CAN CD DeviceNet Gateway I 7242D Util...

Page 55: ...Choose Destination Location window will pop up for deciding the installation path Figure 6 3 Choose Destination Location dialog Step 5 Click Next button and a Ready to Install the Program window will...

Page 56: ...he process a Complete window will pop up to prompt users that the successful completion of the installation And click Finish button to exit See figure 6 5 Figure 6 5 Successful Completion of the Insta...

Page 57: ...ility You can uninstall DNS_MRU Utility software by the following means described below Step 1 Click Start in the task bar then click Settings Control Panel as shown in figure 6 7 Figure 6 7 Select se...

Page 58: ...58 124 Step 3 Find out the DNS_MRU Utility and click the Change Remove button See figure 6 9 Figure 6 9 Click Add Remove Programs Step 4 Select the Remove option button and press the Next button to r...

Page 59: ...ick the button Yes to remove the software as shown in figure 6 11 Figure 6 11 Click the button Yes to remove the software Step 6 Removing DNS_MRU Utility Figure 6 12 Removing DNS_MRU Utility dialog St...

Page 60: ...on parameters of Modbus RTU devices are setting in offline connection mode After setting up the I 7242D it will start to communicate with the Modbus RTU devices that you set The architecture is depict...

Page 61: ...l July 2006 Version 1 1 61 124 Step 2 Turn on the I 7242D And then execute the DNS_MRU exe file The start up figure would be displayed as figure 6 16 Figure 6 16 Start Up After the start up figure the...

Page 62: ...D these parameters will be verified that they are correct or not If any error has been detected the warning message will be pop up as figure 6 18 Figure 6 18 EEPROM Data Error Dialog Box In this case...

Page 63: ...n the right hand side indicates the parameter setting result After clicking the Setting button users can see that the each field value of the CAN Parameter Viewer frame is changed to the value configu...

Page 64: ...they want to use to communicate Add a new Modbus device to application object Erase the Modbus device parameter that you set Update the specific application object instance with the newer Modbus devic...

Page 65: ...I 7242D user manual I 7242D DeviceNet Modbus RTU Gateway User s Manual July 2006 Version 1 1 65 124 Figure 6 23 Modbus Devices Information Figure 6 24 Application Object Information...

Page 66: ...tep 9 After the configuration of Modbus devices parameters press the Next button and start to build the specific EDS file for the I 7242D If the I O connection path stored in EEPROM of I 7242D is not...

Page 67: ...viceNet EDS file information is set according to the following frame Users can configure the relative information for their EDS file by using a dialog box like figure 6 27 Figure 6 27 DeviceNet EDS fi...

Page 68: ...242D as figure 6 29 Figure 6 29 Produced Consumed I O Connection Path Step 13 Click the Finish button to complete the I 7242D configuration and the DNS_MRU Utility will create the EDS file for users a...

Page 69: ...for the specific I 7242D The file name is MBDNS_1 eds 1 represents the Node ID that you set Therefore Users can apply the EDS file in the DeviceNet application as figure 6 31 Figure 6 31 The Part of t...

Page 70: ...D Source MAC ID Group 1 Messages 000 3ff 0 1 1 0 1 Source MAC ID Slave s I O Change of State or Cyclic Message 0 1 1 1 0 Source MAC ID Slave s I O Bit Strobe Response Message 0 1 1 1 1 Source MAC ID S...

Page 71: ...choice 02 Invalid Unconnected request 03 Resource unavailable 02 Poll After COS_CYCLIC 04 Service not support 08 None FF Invalid attribute value 09 None FF Already in requested mode state 0B None FF O...

Page 72: ...Predefined Master Slave Connection Set 2 Apply the Master s Explicit Request Messages to set the expected_packet_rate attribute of the I O connection and make the I O Connection Object State establis...

Page 73: ...explicit connection IDENTIFIER BITS 10 9 8 7 6 5 4 3 2 1 0 IDENTITY USAGE HEX RANGE 1 0 Source MAC ID 0 1 1 Slave s Explicit Unconnected Response Messages 1 0 Destination MAC ID 1 1 0 Group 2 Only Unc...

Page 74: ...0 Group 2 Only Unconnected Explicit Request Messages 1 0 Destination MAC ID 1 0 0 Master s Explicit Request Messages 0 1 1 1 1 Source MAC ID Slave s I O Poll Response Message Note Slave I 7242D Node I...

Page 75: ..._ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 2 Poll IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 00...

Page 76: ...tion MAC ID 1 1 0 Group 2 Only Unconnected Explicit Request Messages 1 0 Destination MAC ID 1 0 0 Master s Explicit Request Messages Note Slave I 7242D Node ID 0x09 Master Node ID 0x0A 1 Request the u...

Page 77: ...Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 3 Bit Strobe IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 001001 100 Data 0A 1...

Page 78: ...pport the poll connection and has no output object then connection instance 2 does not need to be instantiated Table 7 6 shows COS Cyclic I O Connection Identifier Fields Table 7 6 Identifier fields o...

Page 79: ...stination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Request _ Class ID 3 _ Instance ID 1 _ Allocation Choice Explicit Cyclic...

Page 80: ...ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 4 Cyclic IO connection Instan...

Page 81: ...after a period of time Master responses Acknowledge message _ Group 1 Message _ Message ID D _ Source MAC ID 0x09 _ Cyclic Output Data of 2 bytes ID 0 1101 001001 Data FF DF _ Group 2 Message _ Destin...

Page 82: ...MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Request _ Class ID 3 _ Instance ID 1...

Page 83: ...ansaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 4 Cyclic IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 001001 100 Data 0A 10 05 0...

Page 84: ...aster Node ID 0x0A 1 Request the use of the Predefined Master Slave Connection set Allociation Choice Explicit Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Messag...

Page 85: ...rag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 3 _ Instance ID 1 _ Attribute ID 1 _ Attribute Data 0x09 New MAC ID ID 10 000011 100 Data 0A 10 03 01 01 09 _ Group...

Page 86: ...k message twice Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 7 _ Physical Port Number 0 _ Vendor ID 803 __ Serial Number 1 ID 10 001001 111 Data 00 23 03 01...

Page 87: ...Predefined Master Slave Connection set Allociation Choice Explicit Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC I...

Page 88: ...d rate of I 7242D they must send the reset service to reset the I 7242D Then the new baud rate of the I 7242D will become effective _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0...

Page 89: ...lave Connection set Allociation Choice Explicit Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Al...

Page 90: ...essage ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Reset service _ Class ID 1 _ Instance ID 1 ID 10 001001 100 Data 0A 05 01 01 00 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3...

Page 91: ...onnection set Allociation Choice Explicit Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Source MAC ID 0x0A _ Service Allocat...

Page 92: ...e heartbeat interval attribute value of the Identity object instance to zero _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Source MAC ID 0x0A _ Service set attri...

Page 93: ...it has a duplicated fault We can then apply the offline connection set to change its baud rate Note Slave I 7242D Node ID 0x09 Master Node ID 0x0A 1 Apply the Communication Faulted Request message to...

Page 94: ...the duplicated message to the DeviceNet network Slave MAC ID 0x07 _ Group 4 Message _ Message ID 0x2D _New MAC ID 7 _ Service 0x4D _Vendor ID __ _ ________ Serial Number ID 11111 101101 Data 07 4D 23...

Page 95: ...Producer s Send service as necessary to move the message without waiting for any specific acknowledgment from the receiving module s In this example the polling consumed size is 10 bytes Master must...

Page 96: ...and as such a degree of flow control is necessary In this example assume the attribute data 0102030405060708090A The assembly instance ID 0x64 attribute 0x03 Note Slave I 7242D Node ID 0x09 Master Nod...

Page 97: ...ID 2 _ Attribute ID 0x03 _ Attribute Data 0103 _ _ ID 10 001001 100 Data 8a 00 10 04 02 03 01 02 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 1 Destination MAC ID 0x0A _ Fragment Type...

Page 98: ...ation MAC ID 0x09 _ Message ID 4 _ Frag 1 Transaction ID 0 Source MAC ID 0x0A _ Fragment Type Final Fragment Fragment Count 2 _ Attribute Data __ _ ID 10 001001 100 Data 8a 82 09 0A _ Group 2 Message...

Page 99: ...e the response message from Modbus devices and store the response message in 0x02 attribute Step 4 After sending out the user defined Modbus command users can use the Master s Explicit Message to get...

Page 100: ...sage _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Source MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Request _ Class ID 3 _ Instance ID 1 _ Allocation Choice Expli...

Page 101: ...0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Destination MAC ID 0x0A _ Service Set Attribute Request _ Class ID 0x65 _ Instance ID 0x01 _ A...

Page 102: ...ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Destination MAC ID 0x0A _ Service Set Attribute Request _ Class ID 0x65 _ Instance ID 0x0...

Page 103: ...bute with a non zero value this user defined message will be sent to the Modbus device _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Destination MAC ID 0x0A _ Se...

Page 104: ...0x65 _ Instance ID 0x01 _ Attribute ID 0x02 ID 10 001001 100 Data 0A 0E 65 01 02 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 1 Transaction ID 0 Destination MAC ID 0x0A _ Fragment Typ...

Page 105: ...Explicit Message to get 0x02 attribute the slave would return the Modbus response message Then users can get the specific Modbus response message that Modbus device returned _ Group 2 Message _ Desti...

Page 106: ...byte of the query and response frames of the Modbus command are described with the excepted of the field shown opposite These are always present in the queries and responses of all Modbus command Tab...

Page 107: ...tility Modbus frame fields Size byte Modbus Devices Address Device no 1 Device I O Type Function no 1 Register Address No 1st word MSB LSB 2 Modbus query Communication Words No of words MSB LSB 2 Elem...

Page 108: ...ta Coils H L order H Byte swap Swap 1 byte or No swapping Data length Value of the Byte Count field Data location Address in the gateway s DO memory 8 2 Read Input Status Command 0x02 Read the On Off...

Page 109: ...e Data last register LSB Byte swap Swap 2 bytes or No swapping Data length Value of the Byte Count field Data location Address in the gateway s AO memory 8 4 Read Input Registers Command 0x04 Read the...

Page 110: ...d quantity of registers preset Frame Field Description Coil Address Hi Coil Address Lo Address of 1st output coil Quantity of Coils Hi Quantity of Coils Lo Number of output coils Byte Count Number of...

Page 111: ...eld Description Starting Address Hi Starting Address Lo Address of 1st output register No of Registers Hi No of Registers Lo Number of output registers Byte Count Number of data bytes number of output...

Page 112: ...on code received in the query is not an allowable action for the slave 0x02 Illegal Data Address The data address received in the query is not an allowable address for the slave 0x03 Illegal Data Valu...

Page 113: ...implement the DeviceNet protocol automatically In these demo programs the master device is the PISO CAN200 400 T of ICP DAS and the I 7242D is a slave device in the DeviceNet network These demo progra...

Page 114: ...ress WORD Get 1 0x04 Device Length WORD Get 4 0x05 Data Lose Counter WORD Get Set 0 0x14 DO Data Defined by device num Get Set 0 0x15 AO Data Defined by device num Get Set 0 0x16 DI Data Defined by de...

Page 115: ...0x64 DO 1 1 00004 00001 0x65 DI 1 3 10004 10001 Please do the following two steps to setup the system before you execute these application programs Step 1 Setup the I 7242D and these Modbus devices pa...

Page 116: ...t Modbus RTU Gateway User s Manual July 2006 Version 1 1 116 124 Figure 9 5 DeviceNet I O connections Step 2 Connect the CAN port of PISO CAN card with the I 7242D And then connect Com2 port of the I...

Page 117: ...o active the PISO CAN board by clicking Active board button Step 2 Select Master MAC ID as the Master ID and Slave MAC ID according to the I 7242D s MAC ID in the DeviceNet network The master device n...

Page 118: ...x03 Then we try to set get the data of attribute 0x14 of instance 0x01 of class 0x64 Press the GetAttribute button to get the data of attribute 20 of Instance 1 of class 100 The result is shown as fig...

Page 119: ...s RTU Gateway User s Manual July 2006 Version 1 1 119 124 If users want to stop communication with I 7242D they can click the StopDevice button or CloseBoard 0 button See figure 9 5 and figure 9 6 Fig...

Page 120: ...rogram Firstly you must to active board by clicking the Active board button Step 2 Select the necessary port number and the slave s MAC ID according to the I 7242D in the DeviceNet work The master dev...

Page 121: ...e above steps the polling Bit strobe and Cyclic COS connections can be used to communicate with I 7242D The result is shown as figure 9 7 Therefore the DO LED displays in the M 7060 will change if the...

Page 122: ...us RTU Gateway User s Manual July 2006 Version 1 1 122 124 If users want to stop communication with I 7242D they can click the Stop Device button or CloseBoard button See figure 9 8 and figure 9 9 Fig...

Page 123: ...s RTU Gateway User s Manual July 2006 Version 1 1 123 124 Appendix A Dimension and Mounting 111 10 5 Back View Top View From View Side View O4 5X4 56 00 25 00 40 50 7 30 88 50 35 30 33 00 72 00 25 00...

Page 124: ...I 7242D user manual I 7242D DeviceNet Modbus RTU Gateway User s Manual July 2006 Version 1 1 124 124...

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