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2-4

<Toc> <Ind>

<2.  Overview of DeviceNet >

IM 34M6H28-01E

1st Edition : Feb.01,1999-00

2.3

Message Communications (Explicit Peer-to-

Peer Message)

This is a function for setting and reading parameters, controlling and managing operations
and exchanging information between nodes (1: 1) when necessary.  In this module, it is
possible to send a service request to other nodes (master and slaves) using the explicit
messages defined in DeviceNet.

Request

Request

Response

Response

F0203.EPS

Slave Slave 

FA-M3

DeviceNet

Other masters

Slave 

Figure 2.3 Message Communications Concept Diagram

Содержание FA-M3 Vitesse

Страница 1: ...Instruction Manual Y okogawa Electric Corporation IM 34M6H28 01E DeviceNet Scanner Module IM 34M6H28 01E 1st Edition Addendum See at the end of this manual...

Страница 2: ...Blank Page...

Страница 3: ...ode for this manual are as follows Document No IM 34M6H28 01E Document Model Code DOCIM Refer to the document number in all communications also refer to the document number or the document model code...

Страница 4: ...does not warrant that those will suit the particular purpose of the user 4 Under absolutely no circumstances may the contents of this manual be transcribed or copied in part or in whole without permi...

Страница 5: ...ion manual WARNING Indicates that the operator must refer to the instructions in this manual in order to prevent the instrument hardware or software from being damaged or a system failure from occurri...

Страница 6: ...the Company 1 Yokogawa Electric makes no other warranties expressed or implied except as pro vided in its warranty clause for software supplied by the company 2 Use the relevant software with one spe...

Страница 7: ...ed with emergency stop circuitry that uses external relays This circuitry should be set up to interlock correctly with controller status stop run Ground FA M3 controllers to an independent Japanese In...

Страница 8: ...tem peratures so take special care storage temperature can be from 208 to 758C Always turn off the power before installing or removing modules Turn off power to the power supply module when installin...

Страница 9: ...ing requirement The following marking indicates that you must not discard this electrical electronic product in domestic household waste Product Category With reference to the equipment types in the W...

Страница 10: ...ink Command Module Instruction Manual IM 34M6P41 01E Ladder Diagram Support Program M3 Instruction Manual IM 34M6Q13 01E BASIC CPU Module and BASIC Programming Tool M3 Instruction Manual IM 34M6Q22 01...

Страница 11: ...nment 4 3 4 3 Model and Suffix Codes 4 3 4 4 Components 4 3 4 5 Display Panel 4 4 4 6 Setting Switches 4 5 4 6 1 Node Address Setting Switch 4 5 4 6 2 Operation Mode Setting Switch 4 5 4 6 3 Terminati...

Страница 12: ...10 9 2 Configuration Procedure 9 11 9 3 Sample Program 9 12 10 Errors and Troubleshooting 10 1 10 1 Flowchart When RDY LED Is Not ON 10 2 10 2 Flowchart When MS LED Is Flashing 10 3 10 3 Flowchart Whe...

Страница 13: ...d to DeviceNet The maximum data rate is 500 kbps and the maximum trunk line distance is 500 m when the data rate is 125 kbps Thus with these special characteristics of high connectability to many stat...

Страница 14: ...output 8 000 points Anything from small scale I O data to multiple point analog data and information data can be handled in real time A message communication function is supported If required the exch...

Страница 15: ...Node Node Node Node Node Node Node Tap Tap Power supply Tap Network power supply Terminating resistor Node Node Node Multiple node daisy chain T branching Drop line branching Trunk line Drop line F020...

Страница 16: ...cable used Maximum Cumulative 125 kbps 500 m 100 m 6 m 156 m 250 kbps 250 m 78 m 500 kbps 100 m 39 m T0201 EPS Connection Method There are 2 methods of wire connection the T branching using the T bra...

Страница 17: ...eives a response with input data from each slave A communication request that can be transmitted to multiple slaves at a time 1 N communications will improve network throughput However this is possibl...

Страница 18: ...meters controlling and managing operations and exchanging information between nodes 1 1 when necessary In this module it is possible to send a service request to other nodes master and slaves using th...

Страница 19: ...ring of cables Slave machine power ON network power ON Master equipment power ON Create scan list Set transmission time interval Test run Operation F0301 EPS Is it operating normally YES NO Registers...

Страница 20: ...on 6 1 I O Relay Section 6 2 I O Data Register Section 8 2 Interface Message Communications Section 9 1 Tool Commands 2 For overview of DeviceNet see Section 2 Overview of DeviceNet of this manual 3 F...

Страница 21: ...ing table Table 4 1 Supported DeviceNet Functions DeviceNet functions Device Communication adaptor Master Scanner Y Explicit peer to peer message Y I O slave message I O peer to peer message N Bit str...

Страница 22: ...ection method Multiple mode daisy chain method T branching method Number of connected nodes 64 devices including the master Error detection CRC error node address check scan list check Power supply fo...

Страница 23: ...al circuitry is in normal operation MS Indicates the module status Green light is on when normal NS Indicates the network status Green light is on when communications are proper Node address setting s...

Страница 24: ...ot possible Set the switch properly and restart the module 2 No power not on line No network power supply Waits for network power supply 3 Link OK on line connected Module is in the network and scanni...

Страница 25: ...0 F0402 EPS Upper switch 10 position Lower switch 1 position NODE ADDRESS Figure 4 2 Node Address Setting Switch 4 6 2 Operation Mode Setting Switch Four DIP switches can be seen when the cover on th...

Страница 26: ...lled at both ends of a trunk line External terminating resistors can be used in place of the built in terminating resistors If the built in terminating resistor is used when this module is not install...

Страница 27: ...01 1999 00 4 7 External Dimensions 83 2 11 2 28 9 Unit mm 100 F0405 EPS When connecting the base module the DeviceNet connector and cable leave enough space for the cable to bend properly See Section...

Страница 28: ...Blank Page...

Страница 29: ...peration If the module is forcibly pushed with an improper connection the pins of the connector may bend and this damage will cause a Module Installation Error during the self diagnosis 2 Detaching Mo...

Страница 30: ...ear surface of the base module and the front surface of this mod ule should be 89 9 mm When attaching a cable with the connector leave enough space for the cable to bend The depth of attachment of thi...

Страница 31: ...ion tube Proper torque for tightening the screw of the cable is 0 5 N m On the connector of this module the seals corresponding to the colors of the cables are affixed Please note that the color of th...

Страница 32: ...Edition Feb 01 1999 00 Attaching the connector to this module Insert the connector in the module as shown below Proper torque for tightening the screw of the cable is 0 3 N m F0505 EPS Screw slot Scr...

Страница 33: ...munication error On if a communication error occurs during scanning Stays on until scanning is stopped Same as above X 07 Scan list ot set On if there is no registration in the device list Same as abo...

Страница 34: ...ings The list is displayed in Table 6 4 Table 6 4 Module Information Data Position Number Type 1 Contents Explanation Default Value 1 R Status Reflects the status of the module X 01 to 16 0 5 R Data r...

Страница 35: ...System reserved Operation prohibited I Request to prohibit input data update On Request to prohibit update Off Release request O Request to prohibit output data access On Prohibit request Off Release...

Страница 36: ...r of the module 3 digits n1 First data position number to read D First device number in which to write the data read k Number of words transmitted Special Module Write command WRITE command WRITE S SL...

Страница 37: ...of the module which is installed in slot number SL are read and stored in input variable I Writing to I O data register OUTPUT SL n NOFORMAT I SL Slot number n Data position number I Integer variable...

Страница 38: ...e X 07 X 08 X 09 X 10 Not in use Not in use Not in use Not in use Not in use Not in use F060302 1 EPS bit 101 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 F060302 2 EPS bit 102 15 14 13 12 11 10 9 8 7 6 5 4...

Страница 39: ...0 Not in use Not in use Not in use Not in use Not in use Not in use Not in use Not in use X 41 X 42 Not in use Not in use Not in use Not in use Not in use Not in use F060302 4 EPS bit 102 15 14 13 12...

Страница 40: ...Blank Page...

Страница 41: ...following options I O communications select from Polling Bit Strobe None Message communications None Register the I O data size by specifying the size of the I O data for I O communications in the num...

Страница 42: ...rned off CAUTION One can write to flash memory 100 000 times Make sure that the Ladder BASIC program that performs flash memory storage is not created every time operation starts Create the program fo...

Страница 43: ...ot be used in ascending order of the node address If there is a duplicate allocation with another device outside the area registration is not possible In a multi master environment it is not possible...

Страница 44: ...tely 6 seconds to reach the status where scanning can start Start operation Is scanning in progress Is scan mode flag on Check whether node selected for I O communications is communicating normally Ch...

Страница 45: ...cified when a slave is absent If continue is specified communication continues with the slaves other than the one in which the error has occurred Communication automatically resumes when the slave in...

Страница 46: ...ca tions timing of the target node and if it is found to be on the input data are not up dated 2 When the prohibit update request turns off turn off the update status flag and update the input data CP...

Страница 47: ...of the target node 2 Wait until the access status flag turns on write the output data in the output data area and turn off the request to prohibit access flag Actions of the module 1 If the request to...

Страница 48: ...Output data access status flag Has access stopped Write output data Request to prohibit access off I O communications of target node Exit Has accessing stopped YES NO YES NO Request to prohibit access...

Страница 49: ...odule it is necessary to swap the high order low order bytes using a ladder or BASIC program Input data 16 bit integer bit string 0100 32 bit integer bit string 12345678 1 byte character A 1 byte char...

Страница 50: ...e determined theoretically Perform the transmission under actual operating conditions and set a value which is larger than the measured value of the transmission time interval If the measured value is...

Страница 51: ...the required processing and write the output data to the module using the special module write command WRITE The maximum I O response time re quired for the above processing is estimated as follows Ma...

Страница 52: ...he scan list is registered The sample program is executed only when all the nodes registered in the scan list are communicating normally The scanning stops when a transmission error occurs in any node...

Страница 53: ...ted then turn OFF the Error Request flag Set scan operation mode on communication error stop scan mode Read scan list information Turn on the Request to start scanning flag after confirming that there...

Страница 54: ...onfirmation X 17 is turned ON 160 STATUS LDSLOT 102 STS 170 END WHILE 180 CONTROL LDSLOT 102 0000 0001 Request to clear Error Y 49 is off 190 200 Preparations for the operation 210 ON TIMER 1 20000 GO...

Страница 55: ...put data 740 GOTO LOOP2 Repeat the execution during scanning 750 800 Error processing Error processing 810 ERROR 820 ENTER LDSLOT 17 NOFORMAT ERCODE1 830 ENTER LDSLOT 18 NOFORMAT ERCODE2 840 ENTER LDS...

Страница 56: ...ion no Data type Data register used in Ladder Input variable used in BASIC High order 8 bits Low order 8 bits 510 Word data D0001 IN1 511 Word data D0002 IN2 512 Word data D0003 IN3 513 Unused Byte da...

Страница 57: ...D0001 RROT 8 D0002 RROT 8 D0003 RROT I00101 D0004 MOV 8 D0011 RROT 8 D0012 RROT 8 D0013 RROT D0014 I00117 MOV D0011 1234 MOV D0012 123 MOV D0013 12 MOV I00001 M0033 M0033 I00117 I00118 SET I00003 Con...

Страница 58: ...AT IN2 1050 IN2 ROTATE IN2 8 1060 ENTER LDSLOT 513 NOFORMAT IN3 1070 IN3 ROTATE IN3 8 1080 ENTER LDSLOT 514 NOFORMAT IN4 1090 IN4 BINAND FF00 IN4 High order 8 bit truncation 1100 RETURN 1200 Write out...

Страница 59: ...re explained here Conditions for request to receive communication When the following conditions are satisfied a request to receive communication is transmit ted Message communications are registered i...

Страница 60: ...the message communication completion flag on Create a request message write to message communication transmission buffer Message communication request flag is turned on Read the response message read...

Страница 61: ...munication transmission buffer Message communication execution flag Message communication completion flag Message communication reception buffer Checks transmission request Other nodes Transmission Re...

Страница 62: ...ss 1553 Exit code 1554 0 reserved 1555 Size of service data number of bytes 1556 Service code specified for DeviceNet 1557 up to 1600 Service data Limit of service data size Service data for Request h...

Страница 63: ...or equal to 255 but a value above 256 is specified Specify a valid value 0102 Parameter error instance ID Instance ID specification range for the target node is less than or equal to 255 but a value a...

Страница 64: ...nication error Setup value 8 bit integer 0 Cut off 1 Maintain Message request format T0803 1 EPS Data position no Data Contents 1501 0 Reserved 1502 1 Transmission destination node address 1503 0 Rese...

Страница 65: ...TE 1 1505 4 4 WRITE 1 1506 4 10 WRITE 1 1507 4 9 WRITE 1 1508 4 1 WRITE 2 1509 4 D0100 WRITE 1 191 4 1 WRITE 0050 6 D0150 1551 4 READ I0200 I00200 1 D0150 RST 0051 1 191 4 0 WRITE I00200 Message commu...

Страница 66: ...NOFORMAT 10 Service code2080 OUTPUT LDSLOT 1507 NOFORMAT 9 Class ID 2090 OUTPUT LDSLOT 1508 NOFORMAT 1 Instance ID 2100 SEND1 0501 Service data 2140 OUTPUT LDSLOT 1509 NOFORMAT SEND1 Write service dat...

Страница 67: ...is used Configuration is confirmed using Ladder Diagram Support Program Tool M3 or BASIC Programming Tool M3 9 1 Tool Commands Tool command are an interface that can be used to define the actions of...

Страница 68: ...both tool request to execute command flag and completion flag off Is the tool command execution completion flag on Creating the requested command writing command to tool command buffer Turns on tool r...

Страница 69: ...ol request to execute command flag Y 58 Tool command execution completion flag X 26 Tool command buffer Checks request Command execution Completion notification flag on Request off check completion fl...

Страница 70: ...elow Request Data position no Content 400 Command number 401 to 449 Parameters T090103 1 EPS Response normal exit T090103 2 EPS Data position no Content 400 Command number 401 to 449 Parameters Respon...

Страница 71: ...type 404 Product code 405 407 Reserved 408 Communications type 409 411 Reserved 412 Size of output data bytes 413 Offset of output data bytes 414 415 Reserved 416 Size of input data bytes 417 Offset o...

Страница 72: ...being carried out Registration is not possible during scanning 2 Read device Reads device information of a node from the scan list Request T090104 4 EPS Data position no Content 400 Command 04 401 No...

Страница 73: ...ion no Content 400 Command 05 401 Node number Response normal exit T090104 8 EPS Data position no Content 400 Command 05 Response error exit T090104 9 EPS Data position no Content 400 8005 401 Exit co...

Страница 74: ...no Content 400 Command 72 401 402 Reserved 403 Transmission time interval msec Response normal exit T090104 14 EPS Data position no Content 400 Command 72 Response error exit T090104 15 EPS Data posi...

Страница 75: ...n Table 9 2 in accordance with the DeviceNet specification This information can be read using the read master information command Table 9 2 Module Information Summary Name Description Value of this mo...

Страница 76: ...ce is not set 0006 The scan list is empty Scanning in progress 000A Execution is not possible during scanning Outside the data area range 000D Value specified is outside the range of the I O data area...

Страница 77: ...re adjust and set again Once normal communication with all the nodes is confirmed compute the transmis sion time interval measured value Data position no 8 of I O data register If the measured values...

Страница 78: ...tup transmission time interval Initialize scan list Register device Store in flash memory Clears the error flags of this module Sets up transmission time interval Deletes all the registered devices fr...

Страница 79: ...equest to clear error relay Y 49 on Clear error completed confirmation relay X 17 on Release request to clear error relay X 49 off Release request to clear error confirmation relay X 17 off Setting Tr...

Страница 80: ...Error processing F0903 3 EPS Write a request to command buffer Request to execute command relay Y 58 on Execute command completed confirmation relay X 26 on Read response Release request to execute c...

Страница 81: ...EPS Write a request to command buffer Node address N 0 Request to execute command relay Y 58 on Execute command completed confirmation relay X 26 on Read response Release request to execute command r...

Страница 82: ...2 Vendor ID 47 Omron Corporation 47 Omron Corporation Device type 0 0 Product code 100 Type DRT1 ID08 101 Model DRT1 OD08 Communication type 4 Bit Strobe 3 Polling and message communications Input dat...

Страница 83: ...er Reads the data of registered slave one by one Read device registration data Request to execute command relay Y 58 on Execute command completed confirmation relay X 26 on Read response Request to ex...

Страница 84: ...00 Command 71 END Error processing F0903 6 EPS Write a request to command buffer Request to execute command relay Y 58 on Execute command completed confirmation relay X 26 on Read response Release req...

Страница 85: ...on for first item D0101 information for second item D0051 503N information for Nth item Set 1 at the end of the data Handling internal register D0001 6 Normal exit D0001 7 Error has occurred D0011 Pro...

Страница 86: ...D0007 4 MOV I00001 0 MOV Y00433 MOV Y00449 SET D0001 1 MOV M0035 M0035 Y00449 RST M00417 Y00458 SET I00001 RST I00001 X00426 0 Clear data register Clear Y relay of this module Clear relay Specify the...

Страница 87: ...06 SET D0006 D0002 I00002 4 MOV X00407 3 MOV D0001 D0001 D0002 MOV D0006 Request to execute command off Clear tool command buffer Command 72 Set transmission time interval to 20ms Request to execute c...

Страница 88: ...71 D0003 I00006 SET 71 D0003 I00002 RST D0001 INC 64 D0002 I00002 0 MOV D0002 D0005 MOV V01 V01 V01 V01 Specify data position of N th item Clear D2 register N th item Proceed to data registration if d...

Страница 89: ...4 MOV D0014 M0035 1 MOV D0051 47 MOV D0052 0 MOV D0053 100 MOV D0054 4 MOV D0058 0 MOV D0062 0 MOV D0063 1 MOV D0066 27 MOV D0067 Normal exit Number for error handling Error Node address during device...

Страница 90: ...5 2 MOV D0101 M0035 1 MOV D0151 47 MOV D0102 0 MOV D0103 101 MOV D0104 3 MOV D0108 1 MOV D0112 49 MOV D0113 0 MOV D0116 0 MOV D0117 Store 1 at the end of data F0903 11 EPS Node address Vendor ID Devic...

Страница 91: ...1 0000 FFFF 140 GOSUB TBCLEAR Clear Tool Command Buffer 150 160 200 Clear error 210 CONTROL LDSLOT 102 0001 FFFF Request to Clear Error Y 49 ON 220 STS 0 230 WHILE BIT STS 0 0 Clear Error Confirmation...

Страница 92: ...ear Tool Command Buffer 680 OUTPUT LDSLOT 400 NOFORMAT 03 Command 03 690 OUTPUT LDSLOT 401 NOFORMAT NA Write node address 700 FOR N 1 TO 16 710 READ SDATA N Read and write data one by one 720 OUTPUT L...

Страница 93: ...Request to Execute Command Relay Y 58 OFF 1100 RETURN 1110 1200 Error processing 1210 ERROR 1220 PRINT ERROR Display error 1230 PRINT MODE Display Error operation 1240 PRINT RES1 HEX RES1 Display res...

Страница 94: ...Blank Page...

Страница 95: ...us of NS LED Off Red light on Red light flashing Green light flashing Green light on Is it after Request to start scanning NO YES NO NO Is MS LED blinking Go to 9 1 Flowchart when RDY LED is not on Go...

Страница 96: ...ed voltage applied to the power module Apply the correct voltage YES NO Are the other modules RDY Replace the power module or the base module YES NO Is module properly installed in the slot Fitting is...

Страница 97: ...lashing MS LED is flashing Is the setting of node address setting switch correct Correct the setting of the switch See 5 2 1 Node Number Set Switch YES NO Is the setting of action mode setting switch...

Страница 98: ...not on Is the power supply for communication correct YES NO Is the network power supply correctly set YES YES NO Is the network power supply working properly Restart power to network or replace the ne...

Страница 99: ...ransmission speeds of all nodes the same YES NO Is the trunk brunchline cable length correct Correct the cable length YES NO Is there a cable break Change the cable YES NO Is the wiring proper Correct...

Страница 100: ...list YES NO Is the trunk brunch line cable length correct Correct the cable length YES NO Are the data rates of all nodes the same Make the data rates of all nodes the same YES NO Is there a cable bre...

Страница 101: ...On Off CAN controller error cannot cancel reset CAN error 2 1287 1 No Red On Off CAN controller error data bus error CAN error 3 1288 1 No Red On Off CAN controller error address bus error System fai...

Страница 102: ...ting IM 34M6H28 01E 1st Edition Feb 01 1999 00 SEE ALSO 1 See also Section 8 2 2 Exit Codes in this manual for the exit codes of message communications 2 See also Section 9 1 5 Exit Codes in this manu...

Страница 103: ...it strobe request instruction from the master to multiple slave systems and receives a response containing input data from each slave Improves network throughput as a request can be communicated to mu...

Страница 104: ...rding to the instructions received from the master Message communications These are functions for parameter setting reading operation control management informa tion exchange etc between nodes 1 1 as...

Страница 105: ...hain T branching Drop line branching Trunk line branch line FAP0101 EPS Terminating resistor Figure 1 1 Network Media Toplogy Appendix 1 1 Cable Length Cable to be used exclusively for DeviceNet Two t...

Страница 106: ...maximum cable length 0 0 50 100 150 200 250 Length of thick cable used m L thick 5 X L thin 500 L thick 2 5 X L thin 250 L thick L thin 100 L thick and L thin are the length of thick and thin cables...

Страница 107: ...ng using T branching tap and daisy chain method The two types of methods can be mixed for trunk line drop line T branching method T branching is achieved by using a branching tap that is exclusively u...

Страница 108: ...ed cannot be used for Daisy Chain type connection using thick cables as the cables are too thick In this case the connection can be made using the COMBICON plug mentioned below as the connector for mu...

Страница 109: ...sistor should satisfy the following specifications 121V 1 of metallic film resistance 1 4 W Terminating resistors are in built in this module When connecting to the terminals of a trunk line using the...

Страница 110: ...to 0 2 Line regulation 0 3 max Load regulation 0 3 max Temperature coefficient 0 03 per deg C max Input voltage range 120 V 10 230 V 10 if necessary or automatic switching in range 95 to 250V Input f...

Страница 111: ...l nodes and by the maximum current capacity of the network cable Please use the calculation in configuration 1 and 2 as reference when installing the power supply TIP Maximum current capacity of cable...

Страница 112: ...ximum Current Available on Thin Cable DeviceNet power Supply Bus Configuration example 1 Node 0 1A Node 0 1A Node 0 1A 300 m thick cable Node 0 05A Node 0 1A Network power supply Terminating resistor...

Страница 113: ...Total length of network on right side 150 m Total current consumption on right side 0 1 A 0 05 A 0 1 A 0 25 A Maximum current capability of 150 m of a thick cable 2 01 A Total length of network on le...

Страница 114: ...DeviceNet uses one point grounding As far as possible ground it in the vicinity of the center of the network through the SHIELD terminal of the power supply tap If the tap is not used ground the GND...

Страница 115: ...a network configuration are cables T branching tap power supply tap and terminating resistor One third party supplier is given here for each item For more details make inquiries to the respective man...

Страница 116: ...Blank Page...

Страница 117: ...blication Written by Product Marketing Section PLC Center Industrial Automation Business Head Quarter Yokogawa Electric Corporation Published by Yokogawa Electric Corporation 2 9 32 Nakacho Musashino...

Страница 118: ...Blank Page...

Страница 119: ...e 5 3 In the text replace 0 5N m with 0 5N m 4 4 lbf in Page 5 4 In the text replace 0 3N m with 0 3N m 2 7 lbf in Page 5 4 Attaching the connector to this module Add the following caution text Extern...

Страница 120: ...Maximum cable length The maximum allowable node distance is called the maximum cable length Maximum cable lengths according to the type of cable used are given in Table 1 1 To comply with the standar...

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