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Applied RoboticsEtherNet/IP - DeviceNet™

Robot Board GatewaySoftware Specification

287TR

________________________________________________________________________

Real Time Automation, Inc.150 S. Sunny Slope Rd. Suite 130Brookfield, WI 53005262.439.4999 (V) 262.439.4989 (F) www.rtaautomation.com

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EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page i

TrademarksControlLogix and CompactLogix are registered trademarks of Rockwell Automation, Inc.

CIP & DeviceNet are trademarks of the Open DeviceNet Vendors Association (ODVA).

Microsoft, Windows, and Internet Explorer are registered trademarks of Microsoft

Corporation.

DeviceNet is a registered trademark of DeviceNet-IDA.

Modicon, Momentum, and Telemecanique are registered trademarks of SchneiderElectric.

RSLogix and RSNetWorx are trademarks of Rockwell Automation, Inc.

All other trademarks and registered trademarks are the property of their holders.

Revision history

Revision Revision dates Principal changesSoftware

versionA 05/02/2008 Initial release 0.01

B 10/08/2008 Scanlist object corrections 0.01

C 10/28/2008 Status bit corrections 01.00.01

D 11/03/2008 Add section on ready-to-coupleinputs, single/dual solenoid and the

performance-measurement timers

01.00.02



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EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page ii

E 11/05/2008 Add DeviceNet Connect Timer

F 12/17/2008 Remap inputs to match GM

specification.

G 01/16/2009 Add Modbus TCP register mapping.

H 01/26/2009 Correct mapping of Coupled,

Uncoupled inputs.I 03/03/2009 Correct mapping of MbTCP. Change

to 60byte assy, 7 slaves max.

J 05/07/2009 Correct description of Uncoupled-to-Coupled timing, etc. Add pin

designators for outputs. AddCycleCount and accelerometer data.

K 02Dec2009 Add Ethernet IP, fix drawings. 01.01.00

L 28Jul2010 Fix ready-to-couple pin designator

M 27Oct2010 Add description for ApplicationRevision

01.01.05

© 2010 Real Time Automation, Inc. All rights reserved.



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EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page iii

Limited WarrantyReal Time Automation, Inc. warrants that this product is free from defects and functions

properly.

EXCEPT AS SPECIFICALLY SET FORTH ABOVE, REAL TIME AUTOMATION,INC. DISCLAIMS ALL OTHER WARRANTIES, BOTH EXPRESSED AND

IMPLIED, INCLUDING BUT NOT LIMITED TO IMPLIED WARRANTIES OFMERCHANTABILITY OR FITNESS FOR A PARTICULAR APPLICATION. THIS

LIMITED WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS. YOU MAY ALSOHAVE OTHER RIGHTS, WHICH VARY FROM STATE TO STATE.

The examples and diagrams in this manual are included solely for illustrative purposes.

Because of the many variables and requirements associated with any particularapplication, Real Time Automation, Inc. cannot assume responsibility or liability for

actual use based on the examples and diagrams. Except as specifically set forth above,Real Time Automation and its distributors and dealers will in no event be liable for any

damages whatsoever, either direct or indirect, including but not limited to loss of business

profits, income, or use of data. Some states do not allow exclusion or limitation ofincidental or consequential damages; therefore, the limitations set forth in this agreement

may not apply to you.

No patent liability is assumed by Real Time Automation with respect to use ofinformation, circuits, equipment, or software described in this manual.

Government End-Users

If this software is acquired by or on behalf of a unit or agency of the United StatesGovernment, this provision applies: The software (a) was developed at private expense, is

existing computer software, and was not developed with government funds; (b) is a trade

secret of Real Time Automation, Inc. for all purposes of the Freedom of Information Act;(c) is “restricted computer software” submitted with restricted rights in accordance withsubparagraphs (a) through (d) of the Commercial “Computer Software-Restricted Rights”

clause at 52.227-19 and its successors; (d) in all respects is proprietary data belongingsolely to Real Time Automation, Inc.; (e) is unpublished and all rights are reserved under

copyright laws of the United States. For units of the Department of Defense (DoD), thissoftware is licensed only with “Restricted Rights”: as that term is defined in the DoD

Supplement of the Federal Acquisition Regulation 52.227-7013 (c) (1) (ii), rights inTechnical Data and Computer Software and its successors, and: Use, duplication, or

disclosures is subject to restrictions as set forth in subdivision (c) (1) (ii) of the Rights inTechnical Data and Computer Software clause at 52.227-7013. If this software was

acquired under GSA schedule, the U.S. Government has agreed to refrain from changingor removing any insignia or lettering from the Software or documentation that is provided

or from producing copies of the manual or media. Real Time Automation, Inc., 150 SSunny Slope Rd., Suite 130, Brookfield, WI 53005.



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EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page iv

Table of ContentsChapter 1 Introduction....................................................................................................1

Specifications ..............................................................................................................2

Chapter 2 Hardware overview.........................................................................................3

Switch configuration....................................................................................................3

LED indicators..............................................................................................................4

Chapter 3 DeviceNet Robot Board operation.................................................................10

Robot Side Operation (DeviceNet Slave).................................................................... 10

Robot Side Operation (Modbus TCP Server) ..............................................................11

Robot Side Operation (EtherNet/IP Server)................................................................11

Tool Side Operation (DeviceNet Master) ...................................................................11

Comparison of the Two Operating Modes .................................................................13

Configuration of the DeviceNet Master .....................................................................13

DeviceNet Assembly sizes ......................................................................................13

DeviceNet I/O interface.............................................................................................13

Chapter 4 Performance Measurement of Coupling Mechanism.....................................14 Dual v.s. Single Solenoid Valves .................................................................................14

Statistics of Coupling Performance ............................................................................15

Chapter 5 Web Page Support ........................................................................................16

Chapter 6 Object Model ................................................................................................17

Data types used in the object model..........................................................................17

DeviceNet Gateway object model..............................................................................18

Ethernet IP Gateway object model ............................................................................18

Identity Object (01HEX - 1 Instance) ........................................................................19

Message Router Object (02HEX - 1 Instance) ............................................................21

DeviceNet Object (DeviceNet only) (03HEX - 1 Instance)...........................................22 Assembly Object (04HEX - 2 Instances) .....................................................................23

Connection Object (DeviceNet only) (05HEX - 2 Instances) .......................................25

TCP Object (EtherNet/IP only) (F5HEX - 1 Instance)..................................................27

Ethernet Link Object (EtherNet/IP only) (F6HEX - 1 Instance)....................................28

Scanlist Object (66HEX - 7 Instances) ........................................................................29

Chapter 7 Modbus Register Mapping ............................................................................31

Chapter 8 Maintenance.................................................................................................33

Resetting the IP Address............................................................................................33

Resetting the Factory Maintenance Count................................................................. 33

About ODVA..............................................................................................................34

Reference documents................................................................................................34

-



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EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page 1

Chapter 1 Introduction

The RTA EtherNet/IP–DeviceNet Robot Board is a small circuit board with a

preloaded application. As a gateway is a fully functional Group 2 Only Slave deviceand has the ability to exchange data with a DeviceNet Master or EtherNet/IP Client

using input and output assemblies selected from the Programmable Logic Controller(PLC or host).

The board is also a DeviceNet™ Master device. As a DeviceNet™ Master device(Figure 1-1), it scans up to 7 DeviceNetSlave devices and exchanges DeviceNet data.

Figure 1-1 DeviceNet Master Architecture



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The baud rate and MacID for the DeviceNet Slave (robot side) are configured using

either hardware switches or the DeviceNet network. All other operating characteristicsare set by writing to the Object Model using standard, off-the-shelf DeviceNet or

EtherNet/IP configuration tools. See Chapter 6, Object Model for more details.

The performance of the Robot Board may be monitored using common web browsers

to access the built-in web pages.

The Gateway uses standard DeviceNet and EtherNet/IP technology from Real TimeAutomation and are guaranteed to pass ODVA Protocol Conformance (software)testing.

Specifications

Table 1-1 shows the specifications for the DeviceNet Robot Board (287TR).

Table 1-1 DeviceNet Gateway (306DN) specifications

Item Description

CAN V2.0 A/B

Ambient Operating Temperature -40–85° Celsius (-40–185º F)

Supply Voltage 10-30 VDC

DeviceNet Masters Supported All

DeviceNet Master

Communications

User Selectable Baud Rate

DeviceNet Master Scan List 7 nodes with up to 8 bytes of data

in each directionDeviceNet Master Configuration Any DeviceNet or EtherNet/IP

Tool

DeviceNet Slave Communications User Selectable Baud Rate

DeviceNet Slave Address User Selectable

DeviceNet Quick Connect Yes

Automatic Device Replacement Yes



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Chapter 2 Hardware overview

The Robot Board (287TR) is an assembled and packaged circuit board with a

microcontroller that ships with a preconfigured DeviceNet™ application. The board has8 slide switches that configure MAC ID and baud rate as well as twelve LEDs that

provide status information.

Switch configuration

One 10-position slide switch configures the DeviceNet MAC address and baud rate.Six slide switches configure the DeviceNet MacID, and two slide switch configures the

baud rate. Use a small screwdriver to change the switch settings..

Figure 2-1 MAC ID switch layout

Address

(Decimal)

SW1

20

SW2

21

SW3

22

SW4

23

SW5

24

SW6

25

Default

01 ON OFF OFF OFF OFF OFF

15 ON ON ON ON OFF OFF40 OFF OFF OFF ON OFF ON

Figure 2-2 MAC ID switch layout

Use the NODE ADDRESS switches to select the DeviceNet MAC ID address. Thevalid range of addresses is 0 – 63.

Baud Rate /

Mode

SW7

2

0

SW8

2

1

125K OFF OFF

250K ON OFF

500K OFF ON

Software ON ON

Figure 2-3 Baud rate switch layout

ON

OFF

ON

1 2 3 4 5 6 7 8 9 10



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Table 2-1 EtherNet/IP LED

Color State Indication

None Off No power / No Ethernet

LinkSolid Unrecoverable fault

RedFlashing

Recoverable fault or I/Oconnection timed out

Solid not usedAmber

Flashing not used

Solid Normal runtime operation(I/O Connection Allocated)

Green

Flashing Device is idle or is notallocated to a Client (PLC)

Red /

GreenAlternating Self test

Table 2-2 – DeviceNet Network1 (Slave) Status LED


None Off No Power

Solid Unrecoverable Fault

RedFlashing

Recoverable Fault

I/O Connection Timed Out

Solid Normal runtime operation

GreenFlashing

Device is idle or not

allocated to a master

Red /

Green Alternating not used



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Table 2-3 – DeviceNet Network2 (Master) Status LED


None Off No tool connected

Solid TBDRed

Flashing Tool Present, I/O Timeout

Solid DeviceNet slave(s) found

AmberFlashing

More DeviceNet slaves

found than expected

Solid DeviceNet I/O Established

Green

Flashing

DeviceNet connection in-

progress

Red /

GreenAlternating

Slave List Full. More than

7 tools have beenconnected. Reset or cycle

power on Robot Board.

Table 2-4 – Module Status LED


None Off No Power

Solid Unrecoverable FaultRed

Flashing Recoverable Fault

Solid Normal operation

GreenFlashing

DeviceNet Master has anempty scan list

Red /Green Alternating TBD



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Table 2-5 – “COUPLED” LED


None OffCouple and Coupled both

OFF

Solid TBD

RedFlashing

Couple and Coupled do not

match

SolidCouple and Coupled both

ONGreen

Flashing TBD

Red /

GreenAlternating TBD

Table 2-6 – “UNCOUPLED” LED


None OffUncouple and Uncoupled both OFF

Solid TBD

RedFlashing

Uncouple and Uncoupleddo not match

SolidUncouple and Uncoupled both ONGreen

Flashing TBD

Red /Green

Alternating TBD



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Table 2-7 – “RTC (Ready to Couple)” LED


None Off Ready-to-Couple disabled

Solid TBDRed

FlashingAll Enabled RTC inputs are NOT Ready

SolidSome enabled RTC inputsare NOT ReadyAmber

Flashing

SolidAll enabled RTC inputs are

ReadyGreen

Flashing TBD

Red /


Table 2-8 – “Factory Maintainence” LED


None Off TBD

SolidFactory Maintenance

requiredRed

Flashing TBD

SolidFactory Maintenance

required within 500 cyclesAmber

Flashing TBD

Solid No Factory MaintenancerequiredGreen

Flashing TBD

Red /




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Table 2-9 – “User Maintainence” LED


None OffMaintenance Indicator

disabled

Solid User Maintenance requiredRed

Flashing TBD

SolidUser Maintenance requiredwithin 500 cyclesAmber

Flashing TBD

Solid No Maintenance requiredGreen

Flashing TBD

Red /Green

Alternating TBD

Table 2-10 – “I/O Active” LED


None Off TBD

Solid TBDRed

Flashing TBD

Solid TBDAmber

Flashing TBD

Solid TBDGreen

Flashing TBD

Red /Green

Alternating TBD



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Chapter 3 DeviceNet Robot Board operation

The Robot board has two DeviceNet operating modes. In mode 1 it operates as a data

collector on a single DeviceNet network and the secondary DeviceNet controller is

disabled. In mode 2 it operates as a gateway between two DeviceNet networks. On therobot side network it is a standard DeviceNet Group 2 Only Slave device and presents asingle assembly of I/O data from internal memory. On the tool side network, it is a

DeviceNet master, which collects the I/O data from up to 7 slaves into the previouslymentioned internal data table.

Figure 3-1 DeviceNet Scanner to EtherNet/IP or DeviceNet or ModbusTCP I/O Example

Robot Side Operation (DeviceNet Slave)

The DeviceNet MAC and Baud rate are settable via an 8-position DIP switch (slide

switch), see chapter 2 for details

The robot software will have a single I/O assembly with 8 data bytes in each directionfor each of 7 possible slaves on a tool. It will also have 4 status bytes in each direction,

totaling 60 bytes.

The DeviceNet Master on the robot side (Industrial Robot PLC) will have to recognizeone DeviceNet slave device (the RTA Robot Board) with 60 bytes of I/O. This

connection on the robot side will be maintained at all times, regardless of activity onthe tool side network.



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In Mode 1, if the DeviceNet Master on the robot side (Industrial Robot PLC) attemptsto send an explicit message to one of the slaves (MAC ID 1-7) then the RTA Robot

Board will accept a UCMM proxy connection to transfer the messages. NOTE: THISIS NOT CURRENTLY SUPPORTED BY THE RTA SOFTWARE.

In Mode 2, explicit messages from the robot side DeviceNet Master to the connected

slaves will be passed through the RTA robot board to the tool side DeviceNet network.Responses will be echoed back to the robot side DeviceNet network.

Robot Side Operation (Modbus TCP Server)

DeviceNet input/output (I/O) data in the DeviceNet Master is mapped to Holding

Register data in the Modbus TCP Server as shown in chapter 7.

TheModbus RTU Slave interface supports the Modbus function codes 3 (Read Holding

Register), 6 (Set Single), and 16 (Set Multiple).

Robot Side Operation (EtherNet/IP Server)

The EtherNet/IP Server uses the same Object Model as the DeviceNet Slave (seeSection 6). The primary difference is that the DeviceNet-only objects are not used and

the EtherNet/IP-only objects are present.

Tool Side Operation (DeviceNet Master)

The DeviceNet MAC is fixed at zero (mode 2 only). The baud rate is fixed at 500K baud (mode 2 only).

The MAC addresses of all slaves connected to the tool side must in the range of 1 to 7.

Any device with a MAC addresses higher than 7 will set a warning flag. Those slaveswill be otherwise ignored.

There must always be a device at MAC 1, presumably (but not necessarily) a fast-

powerup RTA Tool ID board. For systems without a tool board, some other devicemust exist at Mac Address 1 on the tool side.

The serial number and vendor ID of the device at MAC address 1 will be used by the

RTA software to identify the tool and its expected I/O map. This means that if Device1 is replaced, the I/O table will have to be rebuilt (similar to a powerup of the robot

side).

The I/O of each slave will be mapped into one I/O assembly on the robot side. No tool-

side slave may have more than 8 data bytes in its I/O in each direction.

The robot board software will remember the I/O configuration of up to 7 slave devices.

After powerup of the robot board, each time it connects to a tool that it has not been

connected to before, it will wait up to 5 seconds (configurable parameter) for all slaveson that tool to respond. It will then remember that I/O configuration until the robot

board is power-cycled or reset.



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The I/O Assembly will contain the following:

One status byte will indicate:o Tool board (or MAC 1) Connectedo I/O Valid (all expected slaves are connected)o Connect Timeout (not all slaves found after electrical connect and

configurable timeout expired)o Connect Fault (extra slaves nodes discovered when not first-time)o First-time connect flago Writable lock-config flag to save configuration for current toolo Tool Presento Aux Power Present

One status byte will indicate which of the 7 slaves are connected. One status byte will indicate which of the 7 slaves are expected but missing. One status byte will indicate the physical I/O of the Master (robot board)

The robot board I/O assembly will contain Zeroes for the I/O of any non-connecteddevice.

The following features may be added later

Explicit message pass-through. Electronic Keying for each node of each tool to identify changed devices. Time from electrical connect to all slaves present can be learned (by time-

stamping the DupMac messages the first time). This can be used to provide a

timeout value for subsequent connects ( add 20% etc.).

Name Service via DNS or NBNS (see RFC1002).The initial release will not support explicit messages from the Robot-side Master (PLC)

to the tool board.



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Comparison of the Two Operating Modes

Mode 1

Single DeviceNet Network

Mode 2

Two Separate DeviceNet NetworksRobot board, Tool Board and Tool Slaves (if

present) fixed at 500K baud.

Robot board may be set to any DeviceNet Baud.

UCMM proxy connection for explicit messages

PLC-to-tool

Pass-through mechanism for explicit messages

PLC-to-tool.

Robot Board jumpers JP1 and JP2 installed Robot Board jumpers JP1 and JP2 NOT installed

Configuration of the DeviceNet Master

In the Robot Board Gateway, an internal DeviceNet Scanner moves data between theinternal register data tables and the DeviceNet Slaves. The Scanner is configured usingthe Scanlist Object (Object Class 66HEX), a vendor specific object in the DeviceNet

object model for the DeviceNet Robot Board Gateway.

The class level attributes of the Scanlist Object define the communication parameters

for the DeviceNet Scanner. The instance level attributes of the Object allow directaccess to the DeviceNet slave device attributes and I/O data.

The class level attributes include the robot board System Status, Connect Status, map ofconnected devices, and the I/O data of the robot board.

The instance level attributes allow read of the slave identity object data and read/writeaccess of the slave I/O data.

DeviceNet Assembly sizes

The assembly size is fixed at 60 total bytes, including 56 bytes of input data and 56 bytes of output data are available from the slaves. The data is transferred regardless of

the number of DeviceNet slaves connected to the robot board DeviceNet Master. Thenumber of slaves connected can be read using Class Attribute 100 of the Assembly

Object (Object Class 4HEX). The number of used Output Registers is specified usingClass Attribute 102 of the Assembly Object (4HEX).

DeviceNet I/O interface

The robot board has 4 discrete inputs and 4 discrete outputs. Their data is stored in the

4th byte of the assembly object. It may also be accessed in the Scanlist Object at the

class level as attribute 3.



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Chapter 4 Performance Measurement of Coupling

Mechanism

In order to evaluate the performance of the mechanical components it is necessary tomeasure the time it takes the tool changers cams in the tool changer to move to position. There is no value in measuring the cycle time of how long a tool is carried as

a metric for tool changer performance. The Coupled to Uncoupled time for example,is measured by the time from when the Coupled input (input2) goes to 0 to the timewhen the Uncoupled input (input1) goes to 1. Similarly Uncoupled to Coupled is the

measurement from when the Uncoupled input goes to 0 to when Coupled input goes to1.

There are four measurements that can be used to evaluate the mechanical performance

of the tool changer:

The Uncoupled input and Coupled input indicate when the cams (driven by the valve)are in place. The Uncouple to Uncoupled measurement is the time for the signal to besent from the board, through the Tool Stand to the valve plus the time for the cams to

move to the Uncoupled position, and where the Coupled to Uncoupled time is just thecams. This may help customers in pinpointing problems by examining the two separate

times. The times for Coupled to Uncoupled and Uncouple to Uncoupled should bevery similar, with Uncouple to Uncoupled slightly larger.

Additionally, Uncoupled to Coupled should be similar to Couple to Coupled; whereCouple to Coupled includes the time for the signal to be sent from the board through

the Tool Stand to the valve and the time for the cams to move to the Coupled positionand where Uncoupled to Coupled is just the time for the cams to move positions.

All four measurements should all be similar; the time for Uncouple to Uncoupled is

typically around 40 ms - 60 ms. These times, however, are dependent on the board, thesolenoid in the valve, and most importantly the air pressure running in the plant that

drives the cams; so it can vary quite a bit.

Dual v.s. Single Solenoid Valves

Some customers have double solenoid valves and others have single solenoid valves.

On the double solenoid valve configuration the Uncouple signal turns one solenoid

valve on and off and the Couple signal turns the other solenoid valve on and off.

With a single solenoid valve only the Uncouple signal is used. When the Uncouple signal is on, it Uncouples, and when the Uncouple signal is off, it Couples.



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The selection of single or dual solenoid is made on the robot side with module wiring,and does not affect the board, other than the timing of Couple to Coupled.

Performance Measurement Timers

Timer Single Solenoid Dual Solenoid Saved in Non-

Volatile MemoryCoupled to Uncoupled Input Coupled is 0

to when inputUncoupled is 1

(same as single

solenoid)

No

Uncoupled to Coupled Input Uncoupled is0 to when input

Coupled is 1

(same as singlesolenoid)

No

Couple to Coupled Output Uncouple is

0 to when inputCoupled is 1

Output Couple is

1 to when inputCoupled is 1

No

Uncouple to

Uncoupled

Output Uncouple is

1 to when inputUncoupled is 1

(same as single

solenoid)

Yes, 25 total

samples, oneevery 250

th cycle

Max. Uncouple to

Uncoupled

Yes, with cycle

number

Min. Uncouple toUncoupled

No

Avg. Uncouple toUncoupled

No

DeviceNet ConnectTime

No

Statistics of Coupling Performance

To evaluate the tool changer performance over time, the software shall maintain ahistory of the last 25 Uncouple to Uncoupled time measurements (in volatile memory)

and every 250th

operation it shall save the cycle number and timing measurement innon-volatile memory. Up to 25 values shall be saved in non-volatile memory. Once

filled, new data shall replace the oldest data. These data shall be viewable on a web page and shall be transmittable via XML.

The worst-case (maximum) Uncouple to Uncoupled time shall also be saved in non-

volatile memory, along with the cycle number on which it occurred. This shall beresettable on the web page.



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Chapter 5 Web Page Support

The current firmware release provides a rudimentary web page with IP address settingand firmware update via Ethernet. It also has the following features accessible via a

web page:

Latch-unlatch counters Connect status (electrical connect) Latch-unlatch counters Connect time (electrical connect) history and/or statistics Configuration of timers/counters User Maintenance required indicator (based on user-specified connect counter

limit)

Factory Maintenance required indicator (based on fixed counter limit) Report generation using XML to include connect-time history and current cycle

count.

Password mechanism to reset Factory-Maintenance counter. Selection of single or dual solenoids Selection of 0, 1, 2, or 3 Ready-to-Couple inputs. Monitoring of three axis acceleration with histogram and statistics.

The following features may be added to the web page at additional cost

Logging of connect events, times, errors.



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Chapter 6 Object Model

This chapter includes a list of data types, the Object model information for the

DeviceNet Robot Board (287TR), background information about the Open DeviceNet

Vendors Association (ODVA), and a list of reference documents that provide technicaldetails about DeviceNet™.

Data types used in the object model

Table 6-1 describes data types used in DeviceNet Gateway.

Table 6-1 Data types

Data Type Descrip tion

USINT Unsigned Short Integer (8-bit)

UINT Unsigned Integer (16-bit)

UDINT Unsigned Double Integer (32-bit)

INT Signed Integer (16-bit)

STRING Character String (1 byte per character)

SHORT STRINGnn Character String (1st byte is length; up to nn

characters)

BOOL Boolean (0 or 1)

BYTE Bit String (8-bits)

WORD Bit String (16-bits)

DWORD Bit String (32-bits)

REAL IEEE 32-bit Single Precision Floating Point



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DeviceNet Gateway object model

The DeviceNet Gateway uses the following objects:

Identity Object (01HEX – 1 Instance) Message Router Object (02HEX – 1 Instance) (no supported attributes) DeviceNet Object (03HEX – 1 Instance) Assembly Object (04HEX – 2 Instances) Connection Object (05HEX – 2 Instances) Scanlist Object (66HEX – 7 Instances)

Ethernet IP Gateway object model

The Ethernet Industrial Porotocol Gateway uses the following objects:

Identity Object (01HEX – 1 Instance) Message Router Object (02HEX – 1 Instance) (no supported attributes) Assembly Object (04HEX – 2 Instances) TCP Object (F5HEX – 1 Instance) Ethernet Link Object (F6HEX – 1 Instance) Scanlist Object (66HEX – 7 Instances)

The following sections list each object’s required attributes and services, if any.



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Identity Object (01HEX - 1 Instance)

The following tables contain the attribute, status, common services, and vendor specific

services information for the Identity Object.

Table 6-2 Identity Object (01HEX - 1 Instance)

Instance Attr ibute

IDName

DeviceNetdata type

Data value Access

rule

Class(Instance 0)

1Revision UINT 1 Get

Instance 1 1 Vendor number UINT 50DEC Get

2 Device type UINT 00HEX Get

3 Product code number UINT 28701 Get

4 Product major revisionProduct minor revision

USINTUSINT

0101

Get

5 Status WORD 0 Get

6Serial number UDINT Unique 32 bit

value

Get

7

Product name SHORT

STRING32

Applied

RoboticsSmartChange

Get

100 (64Hex)

Application Firmware

App Major revision

App Minor revisionApplication Version

Always zero

USINT

USINTUSINT

USINT

01

0105

00

Table 6-3 Identity Object’s common services

Implemented forServicecode Class level Instance level

Service name

05Hex No Yes Reset

0EHex Yes Yes Get_Attribute_Single



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Message Router Object (02HEX - 1 Instance)

***No supported services or attributes***



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DeviceNet Object (DeviceNet onl y) (03HEX - 1 Instance)

The following tables contain the attribute and common services information for theDeviceNet Object.

Table 6-4 DeviceNet Object (03HEX - 1 Instance)

Instance Attr ibuteID

Name DeviceNetData Type

Data Value AccessRule

Class

(Instance 0)

1 Revision UINT 2 Get

Instance 1 1 MAC ID USINT 63 Get/Set*

2 Baud rate USINT 0 Get/Set*

5 Structure of

Allocation Choice Byte

Master’s MAC ID

Byte

USINT

0xFF

0

Get

6 MAC ID Switchchanged

BOOL 0 Get

7 Baud rate switchchanged

BOOL 0 Get

8 MAC ID switch value USINT 63 Get

9 Baud rate switch value USINT 0 Get

10 Quick connect BOOL 0 Get/Set*

* When switches are used to set the MAC ID or Baud rate, these attributes are not settable over the

DeviceNet network. These values are stored to NVRAM.

Table 6-5 DeviceNet Object’s common services


Service name


10Hex No Yes Set_Attribute_Single



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Assembly Object (04HEX - 2 Instances)

The following tables contain the attribute, instance, data mapping, and commonservices information for the Assembly Object.

Table 6-6 Assembly Object (04HEX - 2 Instances)

Instance Attr ibute

ID

NameDeviceNet

Data Type

Data

Value

Access

RuleClass(Instance 0)


2 Max instance UINT 112 Get

100 I/O Input assembly instance UINT 100 Get

101 I/O Input produce length(30 words)

UINT 60 Get

102 I/O Output assembly instance UINT 112 Get

103 I/O Output consume length

(30 words)

UINT 60 Get

DeviceNet inputInput

Instance100

[T2O #1]

3

Byte Description0 Robot Board Input Data

1 Status Flags

2 Connect Status Nodes 7-1

3 Missing Status Nodes 7-1

4-11 Node 1 Input data







USINT [60] 0 Get

DeviceNet outputOutput

Instance

112

[O2T #1]

3

Byte Description

0 Robot Board Output Data

1 Writable Status Flags

2

3

4-11 Node 1 Output data







USINT [60] 0 Get/Set

Table 6-7 Assembly Object’s common services


Service name





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Input Data Byte

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Tool

Present -

Rdy To

Uncouple1

Rdy To

Uncouple2

Rdy To

Uncouple3

Aux.

Power

Sense

Uncouple

Uncoupled Coupled

J1 pin 5 J7 pin 8 J7 pin 6 J7 pin 3 J8 pin 6 J4 pin 3,4 J6 pin 4 J5 pin 4

System Status Byte


Spare Spare Configuration

Saved

(writable)

First-

Time

Connect

Flag

Connect

Fault

Connect

Timeout

I/O Valid Tool

Board (or

MAC #1)

Connected

J6 pin 2 J5 pin 2

Connected-Node Status Byte or Missing-Node Status Byte


- Node 7 Node 6 Node 5 Node 4 Node 3 Node 2 Node 1

Output Data


- - - - Output 4J4 pin 8

Output 3

J4 pin7

Uncouple

J4 pin 6

Couple

J4 pin 1



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Connection Object (DeviceNet only) (05HEX - 2 Instances)

The following tables contain the attribute and common services information for theConnection Object.

Table 6-8 Connection Object (05HEX - 2 Instances)

Instance Attr ibute

IDName

DeviceNetData Type

Data Value Access

Rule

Class

(Instance 0)


Instance 1Explicit

connection

1 State USINT 0 = Nonexistent3 = Established

5 = Deferred

Delete

Get

2 Instance type USINT 0 Get

3 Transport trigger USINT 83Hex Get

4 Produced connection

ID

UINT 10xxxxxx011BINxxxxxx = NodeAddress

Get

5 Consumed connectionID

UINT 10xxxxxx100BINxxxxxx = Node

Address

Get

6 Initial comm. character USINT 21Hex Get


size

UINT Varies Get

8 Consumed connection

size

UINT Varies Get

9 Expected packet rate UINT 2500 msec Get/Set

12 Watchdog timeoutaction

USINT 1 = delete Get/Set

13 Produced connection path length

UINT 0 Get

14 Produced connection path

USINTArray

Null Get


path length

UINT 0 Get


path

USINT

Array

Null Get

Instance 2

Polled I/O

1 State USINT 0 = Nonexistent

1 = Configuring3 = Established

4 = Timed out

Get

2 Instance type USINT 1 Get



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Instance Attr ibute

IDName

DeviceNetData Type

Data Value Access

Rule

3 Transport trigger USINT 82Hex Get


ID

UINT 01111xxxxxxBINxxxxxx = NodeAddress

Get

5 Consumed connectionID

UINT 10xxxxxx100BINxxxxxx = Node

Address

Get

6 Initial comm. character USINT 01Hex Get


size

UINT Varies Get


size

UINT Varies Get

9 Expected packet rate UINT 0 Get/Set

12 Watchdog timeoutaction

USINT 0 = Timeout Get/Set

13 Produced connection path length

UINT 6 Get

14 Produced connection path

USINTArray

0x20 0x04 0x240x690x30 0x03

Get


path length

UINT 6 Get


path

USINT

Array

0x20 0x04 0x24

0x75 0x30 0x03

Get

Table 6-9 Connection Object’s common services


Service name





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TCP Object (EtherNet/IP only) (F5HEX - 1 Instance)

The following tables contain the attribute and common services information for theTCP Object.

Table 6-10 TCP Object (F5HEX - 1 Instance)

Instance Attr ibuteID

Name Data Type DataValue

AccessRule

Class

(Instance 0)


Instance 1 1 Status* DWORD Fill in Get

2 Configuration capability* DWORD Fill in Get

3 Configuration control* DWORD Fill in Fill in

4 Physical Link Object *Structure of

Path SizePath

UINTArray of Word

Fill in Fill in

Get

5 Interface configuration*Structure of

IP Address Network Mask

Gateway Address Name Server

Name Server 2Domain Name Size

Domain Name

UDINTUDINT

UDINTUDINT

UDINTUINT

STRING

Fill in Fill in

Fill in Fill in

Fill in Fill in

Fill in

Fill in

6 Host name*

Structure ofHost Name Size

Host Name

UINT

STRING

Fill in

Fill in

Get

* For more details on these attributes, seeVolume 2: EtherNet/IP Adaptation of CIP, Section 5-3.2 fromODVA.

Table 6-11 TCP Object’s common services


Service name

0EHex Yes Yes Get_Attribute_Single10Hex No Yes Set_Attribute_Single



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Scanlist Object (66HEX - 7 Instances)

The following tables contain the attribute, common services, and vendor specific

services information for the EtherNet/IP&DeviceNet Robot Board Object.

Note: Changes to these parameters may cause the unit to delay while the parameters

are saved to non-volatile Memory.

Table 6-14 Scanlist Object (66HEX - 7 Instances)

Instance Att ribu te

IDEquiv.

ModbusRegister

NameDeviceNetData Type

DataValue

Acc esRule


2 Max instance UINT 7 Get

3 Number of instances UINT 7 Get

4 2001 Pass-through timeout (100-2000) in

milliseconds (round up based onCPU resolution)

UINT 500 Get/S

10 2 Status Byte USINT 0 Get/S*

11 3 Connected Node Status USINT 0 Get

12 4 Missing Node Status USINT 0 Get

100 1, 1007 Board I/O input data UINT 0 Get

101 Board I/O input data size USINT 0 Get

102 101, 1008 Board I/O output data USINT 0 Get/S*

103 Board I/O output data size USINT 0 Get

120 1015 Average time to uncouple from node1

UINT 0 Get

121 1017 Maximum time to uncouple from

node 1

UINT 0 Get

122 1016 Minimum time to uncouple UINT 0 Get

123 1018 CycleCount at Maximum time touncouple UDINT 0 Get

124 1020 Number of times latched UDINT 0 Get/S

125 1022 Total number of times latched UDINT 0 Get

126 1024 Total hours since reset UDINT 0 Get/S

Class(Instance 0)

127 1028 Total running hours UDINT 0 Get



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Instance Att ribu te

IDEquiv.

ModbusRegister

NameDeviceNetData Type

DataValue

Acc esRule

200 3002-3004 Accelerometer Value UINT 0 Get

201 3005-3007 Accelerometer Max Value UINT 0 Get/S

202 3008-3010 Accelerometer Raw Value UINT 0 Get

203 3011-3013 Accelerometer Offset Value UINT 0 Get/S

1 Slave Vendor number UINT Get

2 Slave Device type UINT Get

3 Slave Product code number UINT Get

4Slave Product major revision

Slave Product minor revision

USINT

USINT

Get

5 Slave Error Status USINT Get

6 Slave Serial number UDINT Get

7

Slave Product name SHORTSTRING3

2

Get

9

Slave Configuration ConsistencyValue (NVRAM CRC- Used with

ADR)

UINT Get

10 Slave Produced connection size USINT Get

11 Slave Consumed connection size USINT Get

Instance

1-7

20 Slave I/O data, 1-8 bytes. USINT[8] 0 Get/S*

5,9,13,

17,21,25,29Slave I/O produce data, 1-8 bytes USINT[8] 0 Get

105,109,113…

Slave I/O consume data, 1-8 bytes USINT[8] Get/S*

* Any change to attributes is effective immediately.

Table 6-15 Scanner Object’s common services


Service name


10Hex Yes Yes Set_Attribute_Single



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Chapter 7 Modbus Register Mapping

Holding

Register

Register

Type

Number of

Registers

Register Name Descript ion

1 RO 1 Robot Board Input Data *See Chapter 6 on the Assemb lyObject

2 RO 1 Robot Board Status Byte *

3 RO 1 Connected Node Status *

4 RO 1 Missin g Node Status *

5 RO 4 Node 1 Produc e Data *1 to 8 bytes fro m the slave.







101 RW 1 Robot Board Output Data *

102 RW 1 Robot Board Writabl e Status *103 RW 1 (Dummy)

104 RW 1 (Dummy)

105 RW 4 Node 1 Consume Data *







1001 RO 1 Robot Board Status Byte *

1002 RO 1 Connected Node Status *

1003 RO 1 Missin g Node Status *

1004 RO 1 Connected Slave Count

1005 RO 1 Discovered Slave Coun t1006 RO 1 Conn ect Time

1007 RO 1 Robot Board Input Data *

1008 RW 1 Robot Board Output Data *

1009 RO 2 Time Coupl ed to Uncou pled

1011 RO 2 Time Uncoup le To Coup led

1013 RO 2 Time Coupl e to Coupl ed

1015 RO 1 Average time to Uncoup le

1016 RW 1 Minimum Time To Uncoup le

1017 RW 1 Maximum Time To Uncou ple

1018 RW 2 Maximum Time to Uncoup le CycleNumber

1020 RW 2 Number Of Time Latch ed (sinceuser m aintenance)

1022 RO 2 Total Number Of Times Latch ed

(lifetime)

1024 RW 2 Running Hours Since Reset1026 RO 2 Total Runni ng Hours (lifetim e)

1028 RO 4 Expected Slave Count Array Array of USINT [8] con tainin gthe number of slaves expected

for each serial number

1032 RO 64 Slave Serial Number Array Array of UDWORD[8] serialnumbers

1096 RO 8 Slave Vendor Number Array Array of UWORD[8] VendorNumbers. The combin ation of a

Vendor Number and Serial

Number uniquely identifies thetool.



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Configuration Parameters

2001 RW 1 Pass Thru Timeout

2002 RW 2 Dual Solenoid Flag 0=single-so lenoid , 1=dual

solenoid

2004 RW 2 Ready To Coup le Count 0-3 ready-to -coup le inp uts areused

2006 RO 2 Factory Maintenance IntervalSetting

Number of cycles allowedbetween f actory maintenanceevents. Preset at the factory.

2008 RW 2 User Maintenan ce Interval Setting Number of cyc les allowedbetween user maintenanceevents. Specified by user.

2010 RW 16 Robot Name 0-32 character name for thi srobot

2026 RW 40 Robot Descript ion 0-80 character descri pti on forthis robot

3001 RO 1 Robot Board Temperature Temperature of the internalrobot circuit board.

3002 RO 12 Robot Accelero meter Data Array

Diagnostic Data

4101 RO 38 Slave 1 Status Array



4401 RO 38 Slave 4 Status Array4501 RO 38 Slave 5 Status Array



Table 7-1 Modbus TCP Register Mapping



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Chapter 8 Maintenance

Resetting the IP Address

Install JP4. Cycle power and wait until the top row of LEDs blink alternating red-green(left 3 red, right 3 green then left green and right red). Remove the jumper and the

LEDS will change to their normal state.

Resetting the Factory Maintenance Count

On a brand new board, the factory maintenance count is initialized to 500. Each time it

is reset, the count (until next maintenance) is advanced by one million. To reset themaintenance counter, contact the factory for the procedure.



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About ODVA

ODVA is an international association of members from the world's leading automation

companies. Collectively, ODVA and its members support network technologies basedon the Common Industrial Protocol (CIP™). These currently include DeviceNet™,

EtherNet/IP™, CIP Safety™, and CIP Sync™. ODVA manages the development ofthese open technologies and assists manufacturers and users of CIP-based networks

through tools, training, and marketing activities.

In addition, ODVA offers conformance testing to help ensure that products built to its

specifications operate in multi-vendor systems. ODVA also is active in other standardsdevelopment organizations and industry consortia to drive the growth of open

communication standards.

Open DeviceNet Vendor Association, Inc.

4220 Varsity Drive, Suite AAnn Arbor, MI 48108-5006 USA

734-975-8840 (V) 734-922-0027 (F)

Email [email protected] www.odva.org

Reference documents

The following publications discuss technical details about DeviceNet. For a completelist of DeviceNet documentation, refer to the www.odva.org web site.

Volume 1: Common Industrial Protocol (CIP™)

Publication Number: PUB00001, © 2007 Open DeviceNet Vendor Association,Inc. (ODVA)

Volume 2: EtherNet/IP Adaptation of CIP

Publication Number: PUB00002, © 2007 Open DeviceNet Vendor Association,

Inc. (ODVA).

Volume 3: DeviceNet Adaptation of CIP

Publication Number: PUB00003, © 2007 Open DeviceNet Vendor Association,Inc. (ODVA).

Modbus TCP Technical Publication

Standard Protocol Implementation as defined under “Modicon Modbus

Reference Guide” PI-MBUS-300. Refer to http://public.modicon.com

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Documents