IFM AL1340 Скачать руководство пользователя

Страница: 114 / 129

IO-Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 / IP 66 / IP 67

114

Profile: deviceinfo

34207

Element (identifier)

Properties

mandatory

Comments

deviceinfo



type = structure



profile = deviceinfo

characterises the element as device
information

../devicename

type = data

optional

../devicefamiliy

type = data

optional

../devicevariant

type = data

optional

../devicesymbol

type = data

optional

../deviceicon

type = data

optional

../serialnumber

type = data

mandatory

../productid

type = data

optional

../productname

type = data

optional

../productcode

type = data

mandatory

../producttext

type = data

optional

../ordernumber

type = data

optional

../productiondate

type = data

optional

../productioncode

type = data

optional

../hwrevision

type = data

mandatory

../swrevision

type = data

mandatory

../bootloaderrevision

type = data

optional

../vendor

type = data

optional

../vendortext

type = data

optional

../vendorurl

type = data

optional

../vendorlogo

type = data

optional

../productwebsite

type = data

optional

../supportcontact

type = data

optional

../icon

type = data

optional

../image

type = data

optional

../standards

type = data

optional

Profile: devicetag

34206

Element (identifier)

Properties

mandatory

Comments

devicetag



type = structure



profile = devicetag

../applicationtag

type = data

mandatory

../applicationgroup

type = data

optional

../machinecode

type = data

optional

../tenant

type = data

optional

Содержание AL1340

Страница 1: ... 80284126 01 09 2019 Operating Instructions IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 AL1340 HW Revision AB Firmware 2 3 x LR DEVICE 1 5 0 x English ...

Страница 2: ...er setting evaluation 11 4 1 1 IO Link 11 4 1 2 Modbus TCP 11 4 1 3 Internet of Things IoT 11 4 1 4 Security mode 11 4 1 5 Parameter setting 12 4 1 6 Visual indication 12 4 2 Digital inputs 12 4 3 IO Link supply 12 5 Mounting 13 5 1 Mount the device 13 6 Electrical connection 14 6 1 Notes 14 6 2 Modbus TCP ports 15 6 3 IoT port 15 6 4 IO Link ports 16 6 4 1 Connect IO Link devices for Class A oper...

Страница 3: ...steps 38 9 2 2 General functions 39 9 2 3 Configure IoT interface 40 9 2 4 IoT interface Configure security mode 41 9 2 5 Configure the fieldbus interface 44 9 2 6 Configure IO Link ports 45 9 2 7 Configure IO Link devices 47 9 2 8 Set application identification 49 9 2 9 Read write cyclic process data 50 9 2 10 Control IO Link master 51 9 2 11 Read diagnostic data of the AL1340 53 9 2 12 Read devi...

Страница 4: ...Technical data 82 13 1 1 Application 82 13 1 2 Electrical data 82 13 1 3 Inputs outputs 82 13 1 4 Inputs 83 13 1 5 Outputs 83 13 1 6 Interfaces 83 13 1 7 Operating conditions 84 13 1 8 Approvals tests 84 13 1 9 Mechanical data 84 13 1 10 Electrical connection 85 13 2 Modbus TCP 86 13 2 1 Register 87 13 2 2 Acyclic commands 103 13 3 ifm IoT Core 112 13 3 1 Overview IoT profile 113 13 3 2 Overview I...

Страница 5: ... is the property of the ODVA EtherCAT is a registered trade mark and patented technology licensed by Beckhoff Automation GmbH Germany IO Link is the property of the PROFIBUS Nutzerorganisation e V Germany www io link com ISOBUS is the property of the AEF Agricultural Industry Electronics Foundation e V Deutschland www aef online org Microsoft is the property of the Microsoft Corporation USA www mi...

Страница 6: ...expected or may result Important note Non compliance can result in malfunction or interference Information Supplementary note Request for action Reaction result see abc Cross reference 123 0x123 0b010 Decimal number Hexadecimal number Binary number Designation of pushbuttons buttons or indications 1 4 Modification history 34492 Version Topic Date 00 New creation of document 04 2019 01 Corrected Te...

Страница 7: ...h is not in accordance with use as prescribed below wrong installation or incorrect handling can affect the safety of operators and machinery Observe these operating instructions Adhere to the warning notes on the product 2 2 Required background knowledge 34185 This document is intended for specialists Specialists are people who based on their relevant training and experience are capable of identi...

Страница 8: ...estrict access to authorised persons Do not connect the device to open networks or the internet If access from the internet is inevitable choose a safe method to connect with the device e g VPN Use encrypted data transmission e g https TLS 2 5 Tampering with the unit 33190 WARNING Tampering with the unit In case of non compliance Possible affects on safety of operators and machinery Expiration of ...

Страница 9: ...se 9 34079 3 1 Permitted use 34209 The IO Link master serves as a gateway between intelligent IO Link devices and the Modbus TCP network The device is designed for use without a control cabinet in the plant construction 3 2 Prohibited use 34228 The device may not be used beyond the limits of the technical data Technical data S 82 ...

Страница 10: ...IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 10 4 Function Content Communication parameter setting evaluation 11 Digital inputs 12 IO Link supply 12 33836 ...

Страница 11: ...wing Modbus TCP functions Provision of the functions of a Modbus TCP Slave 2 port switch for access to the Modbus TCP interface X21 X22 Gateway for transmission of the process and parameter data between the connected IO Link devices and the higher level Modbus TCP controller 4 1 3 Internet of Things IoT 54679 The device offers the following IoT functions Gateway for the transmission of process par...

Страница 12: ...visual indicators Status and error indication of the gateway of the Modbus TCP connection and of the system Status display of the voltage supply Status and activity display of the Ethernet connection Status error and short circuit overload indication of the IO Link ports 4 2 Digital inputs 33817 The device has 4 additional digital inputs type 2 according to EN 61131 2 The digital inputs are on pin...

Страница 13: ... the device 34059 Disconnect the system from power before installation For installation choose a flat mounting surface Please observe the maximum tightening torque Fix the unit to the mounting surface using 2 M5 mounting screws and washers Tightening torque 1 8 Nm Ground the unit via the two mounting screws of the upper mounting lugs ...

Страница 14: ... conditions to avoid excessive strain on the installation points and the M12 connections Ensure correct fit and proper assembly of the M12 connecting parts If these instructions are not complied with the specified protection rating cannot be guaranteed For UL applications To connect the IO Link master and the IO Link devices only use UL certified cables of the CYJV or PVVA category with a minimum ...

Страница 15: ... Cover the unused sockets with M12 protective caps art no E73004 Tightening torque 0 6 0 8 Nm 6 3 IoT port 34044 Connect the device via the M12 socket X23 to the IT network e g laptop PC with LR DEVICE parameter setting software laptop PC with LR SMARTOBSERVER monitoring software laptop PC with software capable of processing http requests Tightening torque 0 6 0 8 Nm To connect the devices use M12...

Страница 16: ...ass A operation 51959 Wiring information The connected IO Link devices must be supplied exclusively via the IO Link master The additional digital inputs IO Link ports X01 X04 pin 2 have a type 2 behaviour according to the standard EN61131 2 The connected electronics must be electrically suited for this Connect the connectors of the IO Link devices with the M12 sockets of the IO Link ports X01 X04 ...

Страница 17: ...ssuring basic insulation according to IEC 61010 1 secondary circuit with 28 V DC maximum supplied from mains circuit up to 300 V of overvoltage category II Ensure that the IO Link devices and the connection technology support the galvanic separation In case of operation as port class B the additional digital input of the IO Link port pin 2 is not available Connect the connectors of the IO Link dev...

Страница 18: ...g to EN61010 1 secondary circuit with maximum 30 V DC supplied by mains circuit up to 300 V of overvoltage category II Tightening torque 0 6 0 8 Nm Maximum cable length 25 m To connect the device use M12 connectors with protection rating IP 65 IP 66 IP 67 or higher Accessories S 80 When using cable length greater than 25 m keep in mind the voltage drop as well as the required minimum voltage suppl...

Страница 19: ...iew 34356 1 RDY RUN and ERR status LEDs Status LEDs S 20 2 LNK and ACT status LEDs of the Modbus TCP interfaces 1 X21 and 2 X22 Ethernet interface S 20 3 LNK ACT status LEDs and IoT LED of the IoT interface X23 IoT port S 21 4 IOL and DI status LEDs of the IO Link port X01 X04 IO Link ports Class A S 21 5 PWR status LED of the voltage supply X31 Voltage supply S 21 ...

Страница 20: ...eway booting ERR red on communication error flashes 10 Hz boot error flashes 200 ms on 200 ms off 200 ms on 1000 ms off watchdog error Modbus TCP or process data flashes 200 ms on 1000 ms off local error flashes 2 5 Hz invalid configuration off no error RUN green on connection established flashes 1 Hz ready but not yet configured flashes 5 Hz waiting for connection off not ready 7 2 2 Ethernet int...

Страница 21: ...ates the status of the voltage supply Status LED Description US green on The supply voltage Us is applied off No supply voltage is applied or the applied supply voltage is too low 7 2 5 IO Link ports Class A 34074 Each IO Link port Class A has 2 LEDs marked as IOL and DI The LEDs indicate the status of the IO Link port Status LED Description IOL yellow off Port configured as DI DO pin 4 C Q OFF on...

Страница 22: ...g of the AL1340 the IoT interface and or the fieldbus interface must be configured according to the network environment Configure IoT interface LR DEVICE IoT Configure IP settings S 27 or Configure IoT interface S 40 Configure fieldbus interface LR DEVICE Fieldbus Configure IP settings S 31 or IoT Configure the fieldbus interface S 44 IoT fieldbus interface has valid IP settings User can set the p...

Страница 23: ...ycle time Vendor ID ID of the manufacturer of the IO Link device Device ID ID of the IO Link device Name Article number of the IO Link device For ifm articles This article number is stored along with a link to the produkt page on the ifm website Serial Serial number of the IO Link device LR Mode Interval Cycle time for the communication with the SmartObserver Diagnostic information of the device N...

Страница 24: ...IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 24 9 Configuration Content LR DEVICE 25 ifm IoT Core 38 Modbus TCP 63 33858 ...

Страница 25: ...f the process data 32 IO Link ports Activate data transfer to LR AGENT or LR SMARTOBSERVER 32 IO Link ports Configure operating mode 33 IO Link ports Set the device validation and data storage 34 IO Link ports set fail safe values 35 Info Show device information 35 Firmware Reset device to factory settings 36 Firmware Reboot the device 36 Configure IO Link devices 37 33692 On delivery the AL1340 i...

Страница 26: ...creates and stores a configuration for the IO Link master and the connected IO Link devices without being connected to the AL1340 OFFLINE mode The configuration created in this way can be stored as a file lrp and loaded to the AL1340 and activated at a later date Further information about offline parameter setting Operating instructions LR DEVICE Parameter setting with LR DEVICE 34437 Parameter se...

Страница 27: ...ure the IP settings of the IoT interface Select IoT menu The menu page shows the current settings Set the following parameters as required Name Description Possible values DHCP Activate deactivate the DHCP client of the device Static IP IP settings were set by the user DHCP IP settings are set by a DHCP server in the network IP address IP address of the IoT port Factory setting 169 254 X X Subnet ...

Страница 28: ... The set password is not displayed Save changed values on the device The security mode only protects the access to the device via the IoT interface The user name administrator cannot be changed The security mode can be enabled without setting the password During the attempt to write to the device LR DEVICE requires to enter and confirm the password After entering the password the user has unrestri...

Страница 29: ...CP and IoT Core have read access rights to events alarms Modbus TCP IoT read only Modbus TCP has read and write access rights to parameters and process data Modbus TCP has read access rights to events alarms IoT Core only has read access rights to parameters process data and events alarms IoT only IoT Core has read and write access rights to parameters and process data IoT has read access rights t...

Страница 30: ... 255 Port LR Agent or SMARTOBSERVER Port number that is used to send process data to LR AGENT or LR SMARTOBSERVER 0 65535 Factory setting 35100 Interval LR Agent or SMARTOBSERVER Cycle time for the transfer of the process data to LR AGENT or LR SMARTOBSERVER value in milliseconds Off no transfer 500 2147483647 500 ms 2147483647 ms Application Tag Source identifier of the IO Link master in the stru...

Страница 31: ...rs are set by the user DHCP IP parameters are set by a DHCP server in the network BOOTP IP parameters are set via the Bootstrap Protocol BOOTP IP address IP address of the Modbus TCP interface Factory setting 192 168 1 250 Subnet mask Subnet mask of the IP network Factory setting 255 255 255 0 Default gateway IP address IP address of the gateway Factory setting 0 0 0 0 MAC address MAC address of t...

Страница 32: ...e bytes in process data off as Array of Bytes on as Integer16 value during an update of the process data bytes are exchanged word by word input data and output data Save changed values on the device 9 1 8 IO Link ports Activate data transfer to LR AGENT or LR SMARTOBSERVER 33690 The user can decide separately for each IO Link port whether the process data of the connected IO Link devices should be...

Страница 33: ...es Mode Operating mode of the IO Link port Disabled Port deactivated DI Operation as digital input DO Operation as digital output IO Link Operation as IO Link interface Cycle time actual Current cycle time of the data transfer between IO Link master and IO Link device on the port value in microseconds Parameter can only be read Cycle time preset Cycle time of the data transfer between the IO Link ...

Страница 34: ...gn vendor ID and device ID no there is no automatic storage changes of the current parameter values will not be stored yes recovery of the parameter values when connecting an identical IO Link device with factory settings The options only apply if the IO Link port is in the operating mode IO Link For options Type compatible V1 1 device with Backup Restore and Type compatible V1 1 device with Resto...

Страница 35: ...value Set Set value HIGH Fail safe IO Link Fail safe value for output operating mode IO Link Off no fail safe value Reset reset value Old hold old value Pattern provide sample Save changed values on the device 9 1 12 Info Show device information 34065 To read the general information of the ifm IO Link master Select Info menu The menu page shows the current settings Name Description Possible values...

Страница 36: ...evice to factory settings Select Firmware menu The menu page shows the current settings Click on Factory Reset to reset the device LR DEVICE sets the device to the factory settings 9 1 14 Firmware Reboot the device 33832 When rebooting the device all settings are kept To restart the AL1340 Select Firmware menu The menu page shows the current settings Click on Reboot to reboot the device LR DEVICE ...

Страница 37: ...igure access rights S 29 1 Select IO Link master Start LR DEVICE Update IODD file library OR Import IODD file of the IO Link device manually Scan network for devices LR DEVICE detects IO Link master 2 Add IO Link device Under ONLINE Click on the required IO Link master LR DEVICE automatically detects the IO Link devices connected to the IO Link master e g ifm sensor KG5065 3 Configure IO Link devi...

Страница 38: ... Read device information of the IO Link master 54 Read information about IO Link devices 54 Subscribe to events 55 MQTT support 57 Programmers notes 58 52244 General notes on the ifm IoT Core Programmers notes S 58 9 2 1 First steps 52245 To read the device description of the AL1340 Send the following POST request to the AL1340 code request cid 1 adr gettree AL1340 returns the device description a...

Страница 39: ...ot element of type device Service Description getidentity Read device information getdatamulti Read several parameter values sequentially getelementinfo Read the uid of the AL1340 setelementinfo Write the uid of the AL1340 Depending on the read and write access rights the following services can be applied to elements of type data Service Description getdata Read the value of the element setdata Wr...

Страница 40: ...f the IoT port rw network ipaddress IP address of the IoT port rw network subnetmask Subnet mask of the network segment rw network ipdefaultgateway IP address of the network gateway rw rw read and write Applicable services Name Description network setblock Write all values of the substructure at once If the parameter Access rights is set to Modbus TCP IoT using IoT and Modbus TCP projection then t...

Страница 41: ...work In the activated security mode the following restrictions apply Access only with authentication password protected user account Access only via secure https connection Transport Layer Security TLS The security mode only protects the access to the device via the IoT interface The standard value for users is administrator The set password cannot be read with getdata The current status of the se...

Страница 42: ...sts of 2 steps 1 Activate security mode Use service setdata with datapoint iotsetup security securitymode to activate the security mode Request code request cid 1 adr iotsetup security securitymode setdata data newvalue 1 Response cid 1 code 200 2 Set required password Use service setdata with data point iotsetup security password to set the required password Request code request cid 1 adr iotsetu...

Страница 43: ... as a Base64 coded character string administrator YWRtaW5pc3RyYXRvcg password cGFzc3dvcmQ Request code request cid 1 adr processdatamaster temperature getdata auth user YWRtaW5pc3RyYXRvcg passwd cGFzc3dvcmQ Response cid 1 data value 37 code 200 Example reset password 54686 Task The existing password is to be reset Solution To reset a password disable the security mode To disable it enter the user ...

Страница 44: ...s of the network gateway rw network dhcp Activate deactivate the DHCP client of the device rw connectionstatus Status of the connection to the Modbus TCP network r configuration processdataconfiguration Length of the process input data and process output data rw configuration connectiontimeout max value for fieldbus connection timeout rw configuration swap Arrangement of the bytes rw configuration...

Страница 45: ...se of the IO Link port when a new IO Link device is connected rw validation_vendorid IO Link ID of the manufacturer that is to be validated rw validation_deviceid IO Link ID of the device that is to be validated rw datastorage Data storage area of the port rw datastorage maxsize Maximum size of the data storage area in bytes r datastorage chunksize Size of a data segment in bytes r datastorage siz...

Страница 46: ...the reading process with length length starts code request cid 1 adr iolinkmaster port 2 datastorage getblobdata data pos 0 length h code request cid 1 adr iolinkmaster port 2 datastorage getblobdata data pos h length h code request cid 1 adr iolinkmaster port 2 datastorage getblobdata data pos 2 h length h code request cid 1 adr iolinkmaster port 2 datastorage getblobdata data pos n h length h Ex...

Страница 47: ... IO Link device acyclic iolwriteacyclic Write a parameter of an IO Link device acyclic Example Read the parameter value of an IO Link device 33847 Task Read the serial number of the ifm temperature sensor TN2531 at IO Link port X02 Solution Read the serial number with the iolreadacyclic service from the IO Link device index 21 subindex 0 Request code request cid 4711 adr iolinkmaster port 2 iolink...

Страница 48: ...nction normally closed Solution Change the parameter ou1 of the sensor to the value 4 using the iolwriteacyclicdata service The parameter can be accessed via IO Link index 580 subindex 0 IO Link description of the sensor Request code request cid 4711 adr iolinkmaster port 2 iolinkdevice iolwriteacyclic data index 580 subindex 0 value 34 The value has to be given in hexadecimal format The conversio...

Страница 49: ...pplication tag rw rw read and write Example Change name of the IO Link master a33823 Task Set the name of the IO Link master to AL1340 for the representation in the LR SMARTOBSERVER Solution Change the parameter Application Tag with the setdata service to the value AL1340 The data point of the parameter Application Tag in the device description object is devicetag applicationtag Request code reque...

Страница 50: ...e only changeable if not connected to fieldbus PLC Example Read process data of an IO Link device 33842 Task Read the current measured value of the ifm temperature sensor TN2531 at IO Link port X02 Solution Read the data point for the process input data with the getdata service Request code request cid 4711 adr iolinkmaster port 2 iolinkdevice pdin getdata Response cid 4711 data value 03C9 code 20...

Страница 51: ... container maxsize Maximum size of the container area in bytes r container chunksize Size of a data segment in bytes r container size Size of the container area in bytes r r only read w write only Applicable services Name Description factoryreset Reset IO Link master to factory settings reboot Reboot IO Link master signal Trigger the flashing of the status LED install Install firmware transferred ...

Страница 52: ... a BASE64 string 2 Start the transfer of the firmware Start the transfer of the firmware via the service start_stream_set parameter size size of the firmware file code request cid 1 adr firmware container start_stream_set data size 356676 3 Load the firmware into the flash memory of the IO Link master Send the BASE64 string of the firmware file to the IO Link master fragment by fragment value stri...

Страница 53: ...ion of the device supply r r read only Example Read several parameter values of the IO Link master simultaneously 33840 Task The following current values are to be read by the IO Link master temperature serial number Solution Read the current parameter values using the getdatamulti service data point temperature processdatamaster temperature data point serial number deviceinfo serialnumber Request...

Страница 54: ...n r fieldbustype Fieldbus r r read only Additional information about the AL1340 can be read with the getidentity service Service getidentity S 122 9 2 13 Read information about IO Link devices 52339 The user can obtain information about the IO Link devices connected to the IO Link ports Substructure iolinkmaster port n iolinkdevice n 1 4 Available data points Name Description Access status Status ...

Страница 55: ... update of the subscribed values rw iolinkmaster port n portevent Display of the following events on IO Link port n IO Link device connected IO Link device disconnected Operating mode of the IO Link port changed r iolinkmaster port n iolinkdevice iolinkevent Display of IO Link events r r read only rw read and write Applicable services Name Description datachanged subscribe Subscribe to an event me...

Страница 56: ...d the operating temperature of the IO Link master Solution Subscribe to the required data using the subscribe service Request code request cid 4711 adr timer 1 counter datachanged subscribe data callback http 192 168 0 44 80 temp datatosend iolinkmaster port 2 iolinkdevice productname iolinkmaster port 2 iolinkdevice pdin processdatamaster temperature Additionally the interval of the timer 1 has t...

Страница 57: ... to send messages to a MQTT broker PUBLISH Example Publish the temperature to an MQTT broker 54687 Task Publish the temperature of an IO Link master to an MQTT broker IP address MQTT broker 192 168 82 100 port 1883 Topic abc Solution xxx Request code request cid 1 adr iolinkmaster port 1 portevent datachanged subscribe data callback mqtt 192 168 82 100 1883 abc datatosend processdatamaster tempera...

Страница 58: ...L1340 from IT networks via a REST API and to integrate it into Internet of Things applications A device description is stored on the AL1340 This device description is a structured machine readable data object in JSON format All current values of parameters process data diagnostic data and device information are mapped in this data object These data values can be read and changed by means of servic...

Страница 59: ...nt Data point which is to be accessed service Service The syntax of the return of the IoT Core is cid id data value resp_data code diag_code Parameter Description id Correlation ID for the assignment of request and return resp_data Value of the data point depending on the data type of the data point diag_code Diagnostic code IoT Core Diagnostic codes S 62 Example GET request 54033 Request via brow...

Страница 60: ...ice Service to be performed Overview IoT services S 119 data req_data Data to be transferred to the IoT Core e g new values syntax depending on the service auth usr_id user name base64 coded default value administrator password password base64 coded optional only required for services that submit data to the IoT core e g setdata optional only required if security mode is activated The syntax of th...

Страница 61: ...Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 61 Example POST request 54035 Request code request cid 4711 adr devicetag applicationtag getdata Response cid 4711 data value AL1340 code 200 ...

Страница 62: ...33 IP settings of the IoT core changed application has to reboot the device Wait for min 1 second before the device is rebooted IP settings have been successfully changed IO Link master will be restarted wait for at least 1 second 400 Bad request Invalid request 401 Unauthorized Non authorised request 403 Forbidden Forbidden request 500 Internal Server Error Internal fault 503 Service Unavailable ...

Страница 63: ...ostic information and events 71 Read device information 72 Control IO Link master 72 Configure IO Link devices 72 Modbus TCP Programmers notes 73 34455 On the field bus side the device can be configured with any Modbus TCP compatible projection software 9 3 1 Integrate the AL1340 into the Modbus project 34456 The AL1340 provides the functionality of a Modbus TCP slave The user can integrate the IO...

Страница 64: ...ect Add Device Dialogue window appears Select the following settings 1 Vendor Select ifm electronic 2 Device Select Modbus_TCP_Master 3 Name Enter a unique name Click on Add Device Device tree shows Modbus TCP master as sub node of the interface X8 2 Create Modbus TCP slave AL1340 In the device tree Right click on the node of the added Modbus TCP master In the context menu Select Add Device Dialog...

Страница 65: ...ights to the IO Link master Data length of the IO Link input and output data of all IO Link ports Alignment of the bytes in a data word Observe the general rules for access to the Modbus registers Rules for accessing the Modbus registers S 73 When writing several registers at conce ensure that the transferred parameter data has the correct length Register Content Access 8998 Access Rights Process ...

Страница 66: ...everal registers at conce ensure that the transferred parameter data has the correct length Register Contents Access 9000 Port X01 Port Configuration r w 9006 Port X02 Port Configuration r w 9012 Port X03 Port Configuration r w 9018 Port X04 Port Configuration r w r w read and write In addition the user can set the IO Link ports of the AL1340 via the following acyclic commands Set Mode Command 0x1...

Страница 67: ...rve the general rules for access to the Modbus registers Rules for accessing the Modbus registers S 73 The parameter Invalid Data indicates whether the read IO Link input data is valid Also read and evaluate the corresponding status information in addition to the input data of the ports Register Contents Access 197 Port X01 X04 Digital Input pin 2 pin 4 DI r 198 Port X01 X04 Status Information IO ...

Страница 68: ...e parameter Invalid Data indicates whether the read IO Link input data is valid Also read and evaluate the corresponding diagnostic information Register Contents Access 1000 Port X01 Digital Input Pin 2 Pin 4 DI r 1001 Port X01 Diagnostic Status Data r 1002 Port X01 Input Data IO Link n bytes r 2000 Port X02 Digital Input Pin 2 Pin 4 DI r 2001 Port X02 Diagnostic Status Data r 2002 Port X02 Input ...

Страница 69: ...in Compact Output Data that are completely covered by the transferred output data Example The configured process data length is 4 bytes If all in all 5 words have been transferred to register 600 the IO Link master writes the outputs X01 words 1 2 and X02 words 3 4 The output X03 is not written When writing the IO Link outputs ensure that the output data has the correct length The output data is i...

Страница 70: ... returns the error code 2 ILLIGEAL ADDRESS When writing outputs ensure that the length of the transferred output data corresponds with the configured process data length The output data is invalid in the following situations No Ethernet cable connected PLC has terminated the connection Connection to the PLC has a timeout Register Contents Access 1100 Port X01 Digital Output Pin 4 DO r w 1101 Port ...

Страница 71: ...rs S 73 A maximum of 3 events per IO Link port are displayed One time events will be deleted after a minimum of 10 s Event Single Shot Occurring events indicate the time of the error occurrence event appears If the error cause disappears this is indicated by a further event event disappears Both event types always occur in pairs Register Contents Access 30 Port X01 Diagnostic Data r 40 Port X02 Di...

Страница 72: ...MOD 4P IP67 0x05 ModelName ASCII string 1340 0x06 UserApplicationName ASCII string MODBUS IO Link master 9 3 10 Control IO Link master 34458 The user can control the IO Link master using the following acyclic commands Reboot Command 0x40 Reboot S 110 Factory Reset Command 0x50 Factory Reset S 111 The commands use the process mechanisms of the acyclic command channel Use acyclic services S 75 9 3 1...

Страница 73: ...es to read or write Modbus registers Supported function codes S 73 After every read or write access check the validity of the transmitted data Mapping PQI S 99 Supported function codes 34440 The AL1340 supports the following function codes for read and or write access to the Modbus register Function code Function name description 03 0x03 Read Multiple Registers 04 0x04 Read Input Register 06 0x06 ...

Страница 74: ...or occurs while accessing the registers the AL1340 replies with an error code instead of the function code The response message has the following content Response Function Code Error Code Request Function Code 0x80 Response Data Exception Code The following exception codes are available Exception Code Name Description 0x1 ILLEGAL FUNCTION Invalid function code 0x2 ILLEGAL DATA ADDRESS Invalid data...

Страница 75: ...annel Acyclic Command Channel S 100 General procedure of the acyclic communication 1 Write Command Request In the request channel Write required data except for User ID Write required User ID Changed User ID signals a new command In the response channel registers are reset to 0 Acyclic command channel is blocked Processing of the command is started 2 Check status In the response channel Check Comm...

Страница 76: ...e firmware 77 Replace IO Link device 78 51990 The operation of the unit is maintenance free Dispose of the unit in an environmentally friendly way in accordance with the applicable national regulations when it is no longer used 10 1 Cleaning process 51991 Clean the surface of the unit when necessary Do not use any caustic cleaning agents for this ...

Страница 77: ... settings of the interface to the LR SMARTOBSERVER Prerequisites Zip file with new firmware has been downloaded and unpacked Ethernet connection between laptop PC and device is established Security mode is disabled 1 Call up web interface Start web browser Enter the following into the address field of the browser and confirm with ENTER http IP address of the device web update Web browser shows the...

Страница 78: ...orts IO Link standard 1 1 or higher 1 Set data storage Set the following parameters of the IO Link port Validation and Data Storage Type compatible V1 1 device with Restore Save changes 2 Replace IO Link device Disconnect old IO Link device from IO Link master Connect new IO Link device with the same IO Link port of the AL1340 IO Link master copies parameter values from the data memory to the new ...

Страница 79: ...has the following parameter settings Parameter Factory setting IP address Modbus TCP 192 168 1 250 Subnet mask Modbus TCP 255 255 255 0 IP gateway address Modbus TCP 0 0 0 0 IP address IoT interface 169 254 X X Subnet mask IoT interface 255 255 0 0 IP gateway address IoT interface 0 0 0 0 Modbus TCP name blank Data memory Data Storage empty ...

Страница 80: ...IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 80 12 Accessories 33870 List of accessories of AL1340 www ifm com Product page Accessories ...

Страница 81: ...IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 81 13 Appendix Content Technical data 82 Modbus TCP 86 ifm IoT Core 112 33879 ...

Страница 82: ... 1 1 Application 33878 Application Application I O modules for field applications Daisy chain function Fieldbus interface 13 1 2 Electrical data 33808 Electrical data Operating voltage V 20 28 DC US to SELV PELV Current Consumption mA 300 3900 US Protection class III Sensor supply US Max current load total A 3 6 13 1 3 Inputs outputs 34068 Inputs outputs Total number of inputs and outputs 8 config...

Страница 83: ...munication interface Ethernet IO Link Communication interface IO Link TCP IP Modbus TCP Ethernet Transmission standard 10Base T 100Base TX Transmission rate MBit s 10 100 Protocol TCP IP Modbus TCP Factory settings IP address 192 168 1 250 Subnet mask 255 255 255 0 Gateway IP address 0 0 0 0 MAC address see type label IO Link master Type of transmission COM 1 COM 2 COM 3 IO Link revision V1 1 Numb...

Страница 84: ...t temperature C 25 60 Storage temperature C 25 85 Max perm relative air humidity 90 Max height above sea level m 2000 Protection rating IP 65 IP 66 IP 67 Pollution Degree 2 13 1 8 Approvals tests 33877 Approval tests EMC EN 61000 6 2 EN 61000 6 4 MTTF Years 90 13 1 9 Mechanical data 34050 Mechanical data Weight g 302 Materials Housing PA socket brass nickel plated ...

Страница 85: ...et connection M12 Wiring 1 24 V DC US 2 3 GND US 4 Ethernet IN OUT X21 X22 Plug and socket connection M12 Wiring 1 TX 2 RX 3 TX 4 RX 5 IoT X23 Plug and socket connection M12 Wiring 1 TX 2 RX 3 TX 4 RX 5 Process connection IO Link ports Class A X01 X04 Plug and socket connection M12 Wiring 1 Sensor supply US L 2 DI 3 Sensor supply US L 4 C Q IO Link 5 ...

Страница 86: ...IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 86 13 2 Modbus TCP Content Register 87 Acyclic commands 103 33674 ...

Страница 87: ... IP 66 IP 67 87 13 2 1 Register Content Configuration Area 88 Diagnostic data 90 Input Data 93 Output Data 96 Single Port Access 98 Acyclic Command Channel 100 34442 The AL1340 saves the configuration data process data and status diagnostic data in Modbus registers ...

Страница 88: ...x00 Modbus TCP IoT 0x01 Modbus TCP IoT ro 0x02 Modbus TCP only 0x03 Keep setting default Process Data Length Length of the process input data and process output data 1 byte 0x00 2 bytes input 2 bytes output data Input Data 7 Words Output Data 5 Words 0x01 4 bytes input 4 bytes output data Input Data 11 Words Output Data 9 Words 0x02 8 bytes input 8 bytes output data Input Data 19 Words Output Data...

Страница 89: ...28 milliseconds Validation ID Supported IO Link standard and behaviour of the IO Link master when connecting new IO Link devices to the IO Link port 1 byte 0x00 No validation 0x01 V1 0 device 0x02 V1 1 device 0x03 V1 1 device with Backup Restore 0x04 V1 1 device with Backup Vendor ID Vendor ID of the manufacturer of the device on the IO Link port 2 bytes 0x0000 0xFFFF Device ID Device ID of the de...

Страница 90: ...e ID LSB 34 39 Port X01 Events Mapping events S 92 40 Port X02 Diagnostic data Mapping Port X01 register 30 39 50 Port X03 Diagnostic data Mapping Port X01 register 30 39 60 Port X04 Diagnostic data Mapping Port X01 register 30 39 Legend Vendor ID Vendor ID of the manufacturer of the device on the IO Link port 2 bytes 0x0000 0xFFFF Device ID Device ID of the device on the IO Link port Device ID 0x...

Страница 91: ...or ID Device ID Verification if the current and configured vendor ID and device ID are identical 1 bit 0x0 OK 0x1 No match Wrong Cycle Time Verification if the current and configured cycle time are identical 1 bit 0x0 OK 0x1 No match Wrong Length PD IN Verification if the size of the received input data are identical with the configured size 1 bit 0x0 OK 0x1 Configured size too small Wrong Length ...

Страница 92: ...t 3 Instance Event 3 Code Legend Event m Mode Mode mode of the event 2 bits 0x0 reserved 0x1 One time event 0x2 Event has disappeared 0x3 Event has appeared Event m Type Type category of the event 2 bits 0x0 reserved 0x1 Notification 0x2 Warning 0x3 Error Event m Src Source source of the event 1 bit 0x0 IO Link Device 0x1 IO Link Master Event m Instance Type trigger of the event 2 bits 0x0 unknown...

Страница 93: ...on IO Link ports S 95 200 Port X01 X04 Compact Input Block 4n bytes Mapping Compact Input Block S 95 Legend Digital Input Pin 2 Pin 4 DI Digital input data Pin 2 Pin 4 operating mode DO of 4 IO Link ports 2 bytes Diagnostic Information Diagnostic information 2 bytes Status Information IO Link Ports Status information of the IO Link ports 2 bytes Compact Input Block 4n Bytes Input data operating mo...

Страница 94: ...orts if used 1 bit 0x0 LOW 0x1 HIGH Mapping diagnostic information 34505 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 res res res res X04 SC OL X03 SC OL X02 SC OL X01 SC OL res res res res res res SENS PWR AUX PWR Legend SC OL Short Circuit Overload indicates the occurrence of a short circuit or overvoltage on the IO Link port 1 bit 0x0 error free 0x1 Short circuit or overvoltage SENS PWR Sensor Pow...

Страница 95: ...dicates the status of the process input data on the IO Link port 1 bit 0x0 data valid 0x1 data invalid Dev Not Conn Device Connected indicates the connection to the device on the IO Link port 1 bit 0x0 available 0x1 not available Mapping Compact Input Block 54567 IO Link port Register area 2 bytes port n 2 4 bytes port n 4 8 bytes port n 8 16 bytes port n 16 32 bytes port n 32 Port X01 200 200 201...

Страница 96: ...tput data S 97 600 Port X01 X04 Compact Output Block 4n bytes Mapping Compact Output Block S 97 Legend Digital Output Pin 4 DO Digital output data pin 4 operating mode DO of 4 IO Link ports 2 bytes Compact Output Block 4n Bytes Output data operating mode IO Link of 4 IO Link ports n 2 4 8 16 32 is determined by parameters Process Data Length Configuration Area S 88 4n bytes per byte 0x00 0xFF ...

Страница 97: ...2 Pin 4 X01 Pin 4 Legend Pin4 Signal level on pin 4 of the IO Link port DO 1 bit 0x0 LOW 0x1 HIGH Mapping Compact Output Block 54568 IO Link port Register area 2 bytes port n 2 4 bytes port n 4 8 bytes port n 8 16 bytes port n 16 32 bytes port n 32 Port X01 600 600 601 600 603 600 607 600 615 Port X02 601 602 603 604 607 608 615 616 631 Port X03 602 604 605 608 611 616 623 632 647 Port X04 603 606...

Страница 98: ...ng Port X01 register 1000 1101 4000 Port X04 Single Port Access Mapping Port X01 register 1000 1101 Legend Digital Input pin 2 pin 2 signal level if used 1 byte 0x00 LOW 0x01 HIGH Digital Input pin 4 DI pin 4 signal level operating mode DI 1 byte 0x00 LOW 0x01 HIGH Input Data IO Link n Bytes Input data operating mode IO Link n bytes n 2 4 8 16 32 is determined by parameters Process Data Length Con...

Страница 99: ...Wrong Cycle Time Wrong VID DID Invalid Data Dev Not Conn IOL Mode Legend IOL Mode Operating type of the IO Link port 1 bit 0x0 Other 0x1 IO Link Dev Not Conn Connection between IO Link Device and IO Link port 1 bit 0x0 connected 0x1 not connected Invalid Data Status of the process input data on the IO Link port 1 bit 0x0 valid data 0x1 invalid data Wrong VID DID Verification whether the current an...

Страница 100: ... 44 bytes Request channel 34450 Register Contents Bits 8 15 Bits 0 7 500 Port No 501 Index 502 Subindex 503 Command User ID 504 Data Length Number of Bytes 505 Data byte 0 Data byte 1 521 Data byte 32 Data byte 33 Legend Port No Number of the IO Link port 1 Word 0x0001 Port X01 0x0002 Port X02 0x0004 Port X04 Index Index of the IO Link object 1 Word 0x0000 0xFFFF Subindex Subindex of the IO Link o...

Страница 101: ...IO Link object 1 Word 0x0000 0xFFFF Subindex Subindex of the IO Link object 1 Word 0x0000 0xFFFF Command Command number 1 byte 0x01 Read 0x02 Write User ID reflected User ID from request channel 1 byte 0x00 0xFF Result Status of the command processing 1 Word 0x0000 OK 0x000F OK but data length too long only with Command 0x02 0x00FF Error Data Length Number of Bytes Number of bytes that contain rel...

Страница 102: ...V Device application error no details 0x11 IDX_NOTAVAIL Index not available 0x12 SUBIDX_NOTAVAIL Subindex not available 0x20 SERV_NOTAVAIL Service temporarily not available 0x21 SERV_NOTAVAIL_LOCCTRL Service temporarily not available local control 0x22 SERV_NOTAVAIL_DEVCTRL Service temporarily not available device control 0x23 IDX_NOT_WRITEABLE Access denied 0x30 PAR_VALOUTOFRNG Parameter value ou...

Страница 103: ...aLine 4 Ports IP 65 IP 66 IP 67 103 13 2 2 Acyclic commands Content Command 0x10 Set mode 104 Command 0x20 Set validation ID data storage 106 Command 0x30 Set fail safe data pattern 108 Command 0x40 Reboot 110 Command 0x50 Factory Reset 111 34331 ...

Страница 104: ... Command request 34500 Register Contents Bits 8 15 Bits 0 7 500 Port No 501 reserved 502 reserved 503 0x10 User ID 504 reserved 505 Target Mode 506 521 reserved Legend Port No Number of the IO Link port 1 word 0x0001 Port X01 0x0002 Port X02 0x0004 Port X04 User ID ID to identify the command 1 byte 0x00 0xFF Target Mode Operating type of the IO Link port 1 word 0x0000 deactivated 0x0001 digital in...

Страница 105: ...ord 0x0001 Port X01 0x0002 Port X02 0x0004 Port X04 User ID reflected User ID from request channel 1 byte 0x00 0xFF Result Status of the command processing 1 byte 0x00 OK 0xFF Error Data Length Number of Bytes Number of bytes that contain relevant user data 1 word 0x0001 1 byte 0x0002 2 bytes Target Mode Operating type of the IO Link port 1 byte 0x00 deactivated 0x01 digital input DI 0x02 digital ...

Страница 106: ...egister Contents Bits 8 15 Bits 0 7 500 Port No 501 reserved 502 reserved 503 0x20 User ID 504 reserved 505 Validation ID 506 521 reserved Legend Port No Number of the IO Link port 1 word 0x0001 Port X01 0x0002 Port X02 0x0004 Port X04 User ID ID to identify the command 1 byte 0x00 0xFF Validation ID Supported IO Link standard and behaviour of the IO Link master when connecting new IO Link devices...

Страница 107: ... reflected user ID from request channel 1 byte 0x00 0xFF Result Status of the command processing 1 byte 0x00 OK 0xFF Error Data Length Number of Bytes Number of bytes that contain relevant user data 1 word 0x0001 1 byte 0x0002 2 bytes Validation ID Supported IO Link standard and behaviour of the IO Link master when connecting new IO Link devices to the IO Link port 1 byte 0x00 no validation 0x01 V...

Страница 108: ...lsafe Data Byte 1 reserved Failsafe Data Byte 0 521 reserved Failsafe Data Byte 31 reserved Failsafe data Byte 30 Legend Port No Number of the IO Link port 1 word 0x0001 Port X01 0x0002 Port X02 0x0004 Port X04 User ID ID to identify the command 1 byte 0x00 0xFF Data Length Number of Bytes Number of bytes that contain relevant user data is only evaluated for Command 0x02 1 word 0x0002 2 bytes 0x00...

Страница 109: ...from request channel 1 byte 0x00 0xFF Result Status of the command processing 1 Word 0x0000 OK 0x00FF Error Data Length Number of Bytes Number of bytes that contain relevant user data 1 word 0x0001 1 byte 0x0002 2 bytes Failsafe Mode Fail safe mode for the outputs of the IO Link ports in case of an interruption of the Modbus TCP connection 1 byte 0x00 No Failsafe 0x01 Failsafe Reset Value 0x02 Fai...

Страница 110: ...response 34508 Register Contents Bits 8 15 Bits 0 7 0 reserved 1 reserved 2 reserved 3 0x40 User ID 4 Result 5 Data Length Number of Bytes 6 reserved Error Code 0xAA Additional Code 7 21 reserved Legend User ID reflected User ID from request channel 1 byte 0x00 0xFF Result Status of the command processing 1 word 0x0000 OK 0x00FF Error Data Length Number of Bytes Number of bytes that contain releva...

Страница 111: ...nd 1 byte 0x00 0xFF Command response 34507 Register Contents Bits 8 15 Bits 0 7 0 reserved 1 reserved 2 reserved 3 0x50 User ID 4 Result 5 Data Length Number of Bytes 6 reserved Error Code 0x55 Additional Code 7 21 reserved Legend User ID reflected User ID from request channel 1 byte 0x00 0xFF Result Status of the command processing 1 word 0x0000 OK 0x00FF Error Data Length Number of Bytes Number ...

Страница 112: ...IO Link Master with Modbus TCP Interface DataLine 4 Ports IP 65 IP 66 IP 67 112 13 3 ifm IoT Core Content Overview IoT profile 113 Overview IoT types 118 Overview IoT services 119 33803 ...

Страница 113: ...oftware uploadedablesoftware 117 Profile timer 117 34054 Profile blob 52264 Element identifier Characteristics Mandatory Comments blobname type data profiles blob Characterises the element as device information size type data mandatory chunksize type data mandatory setblobdata type service optional getblobdata type service optional start_stream_set type service optional stream_set type service opt...

Страница 114: ...roducttext type data optional ordernumber type data optional productiondate type data optional productioncode type data optional hwrevision type data mandatory swrevision type data mandatory bootloaderrevision type data optional vendor type data optional vendortext type data optional vendorurl type data optional vendorlogo type data optional productwebsite type data optional supportcontact type da...

Страница 115: ...vent type data mandatory Profile iolinkmaster 34205 Element identifier Properties Mandatory Comments masterport type structure profile iolinkmaster Executable service mode type data profile parameter mandatory comspeed type data profile parameter mandatory mastercycletime_actual type data profile parameter mandatory mastercycletime_preset type data profile parameter mandatory validation_datastorag...

Страница 116: ... profile parameter optional ipversion type data profile parameter optional hostname type data profile parameter optional autonegotiation type data profile parameter optional portspeed type data profile parameter optional enablenetwork type service optional disablenetwork type service optional Profile parameter 34215 The profile is used to mark the elements of type data as parameters acyclic data T...

Страница 117: ...ype structure profiles software uploadablesoft ware Software that can be loaded to the device via the IoT Core lastinstall type data optional installhistory type data optional container type data profile blob mandatory preinstall type service optional install type service mandatory postinstall type service optional abortinstall type service optional installstatus type data optional Profile timer 3...

Страница 118: ... the following element types Name Description structure Element is a structure element like a folder in a file system service Element is a service that can be addressed from the network event Element is an event that can be started by the firmware and sends messages data Element is a data point device Root element a device represents ...

Страница 119: ... 123 Service iolreadacyclic 124 Service iolwriteacyclic 124 Service reboot 124 Service setblock 125 Service setdata 125 Service setelementinfo 126 Service signal 126 Service subscribe 127 Service unsubscribe 127 34056 Service factoryreset 34184 Name factoryreset Description The service sets the parameters of the device to the factory settings Request data field data none Response data field data n...

Страница 120: ...element type mandatory STRING Type of the element format optional JSON object Format of the data content uid optional STRING profiles optional JSON array subs mandatory JSON array Subelements hash optional STRING Example code request cid 4 adr gettree Service getdata 34183 Name getdata Description Service reads the value of a data point and provides it Request data field data none Return data fiel...

Страница 121: ...int Request data field data Data field Required field Data type Description datatosend mandatory ARRAY OF STRINGS List of data points to be requested data points must support the service getdata datatosend url1 url2 urlx consistent optional BOOL Response data field data for each requested data point Data field Required field Data type Description url mandatory STRING Data point request code mandat...

Страница 122: ...RRAY OF OBJECTS device optional AL1340 device serialnumber optional Serial number device hwrevision optional Hardware version device swrevision optional Software version device custom optional Security optional Security options security securitymode optional ENUM shows if the security mode is activated security authscheme optional ENUM shows the active authentication scheme security ispasswordset ...

Страница 123: ...address port path Response data field data Data field Required field Data type Description callback mandatory STRING Address to which IoT Core event notifications are to be sent complete URL http ipaddress port path datatosend mandatory ARRAY OF STRINGS List of subscribed data points Example Request code request cid 4715 adr timer 1 counter datachanged getsubscriptioninfo data callback http 192 16...

Страница 124: ... mandatory STRING Value of the parameter Value in hexadecimal format Service iolwriteacyclic 34177 Name iolwriteacyclic Description The service acyclically writes the parameter value of an IO Link device The parameter is accessed via IO Link index and subindex Request data field data Data field Required field Data type Description index mandatory NUMBER IO Link index of the parameter subindex mand...

Страница 125: ...pport the service setdata consistent optional BOOL Response data field data none Example code request cid 4711 adr iotsetup network setblock data consistent true datatosend ipaddress 192 168 0 6 ipdefaultgatewa y 192 168 0 250 Service setdata 34196 Name setdata Description The service sets the value of the data point Request data field data Data field Required field Data type Description newvalue ...

Страница 126: ...ON array format optional JSON object Response data field data Data field Required field Data type Description identifier mandatory STRING Identifier of the element type mandatory STRING Type of the element format optional JSON object Format of the data or the service content uid optional STRING profiles optional JSON array hash optional STRING Service signal 33819 Name signal Description The servi...

Страница 127: ...L http ipaddress port path datatosend mandatory ARRAY OF STRINGS List from URLs of data elements elements have to support getdata Response data field data none Service unsubscribe 34197 Name unsubscribe Description The service deletes an existing subscription unsubcribe is successful if cid and the callback address are registered for a subscription subscribe If the STRING DELETE is provided in cal...

Страница 128: ... the temperature to an MQTT broker 57 Read process data of an IO Link device 50 Read several parameter values of the IO Link master simultaneously 53 Read the parameter value of an IO Link device 47 Request with authentication 43 reset password 43 Subscribe to event 56 Update firmware 52 Explanation of Symbols 6 F Factory settings 79 Fieldbus Configure IP settings 31 set the length of the process ...

Страница 129: ...d diagnostic information 23 Read device information 72 Read device information of the IO Link master 54 Read diagnostic data of the AL1340 53 Read diagnostic information and events 71 Read information about IO Link devices 54 Read input data of individual IO Link ports 68 Read input data of several IO Link ports 67 Register 87 Remarks 26 Replace IO Link device 78 Request channel 100 Required backg...

Результаты поиска

Содержание AL1340

Отзывы:

Похожие инструкции для AL1340

Бренды по названию

Популярные бренды

IFM AL1340, Руководство по эксплуатации

Результаты поиска

Содержание AL1340

Отзывы:

Похожие инструкции для AL1340

Бренды по названию

Популярные бренды