287tr SW - Spec r13

Applied Robotics EtherNet/IP - DeviceNet Robot Board Gateway Software Specification
287TR
________________________________________________________________________ Real Time Automation, Inc. 150 S. Sunny Slope Rd. Suite 130 Brookfield, WI 53005 262.439.4999 (V) 262.439.4989 (F) www.rtaautomation.com
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Trademarks
ControlLogix 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 Schneider Electric. RSLogix and RSNetWorx are trademarks of Rockwell Automation, Inc. All other trademarks and registered trademarks are the property of their holders.
Revision history
Revision A B C D Revision dates 05/02/2008 10/08/2008 10/28/2008 11/03/2008 Principal changes Initial release Scanlist object corrections Status bit corrections Add section on ready-to-couple inputs, single/dual solenoid and the performance-measurement timers Software version 0.01 0.01 01.00.01 01.00.02
EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual
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E F G H I J
11/05/2008 12/17/2008 01/16/2009 01/26/2009 03/03/2009 05/07/2009
Add DeviceNet Connect Timer Remap inputs to match GM specification. Add Modbus TCP register mapping. Correct mapping of Coupled, Uncoupled inputs. Correct mapping of MbTCP. Change to 60byte assy, 7 slaves max. Correct description of Uncoupled-toCoupled timing, etc. Add pin designators for outputs. Add CycleCount and accelerometer data. Add Ethernet IP, fix drawings. Fix ready-to-couple pin designator Add description for Application Revision 01.01.05 01.01.00
K L M
02Dec2009 28Jul2010 27Oct2010
2010 Real Time Automation, Inc. All rights reserved.
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Limited Warranty
Real 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 OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR APPLICATION. THIS LIMITED WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS. YOU MAY ALSO HAVE 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 particular application, 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 of incidental 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 of information, 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 States Government, 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 with subparagraphs (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 belonging solely 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), this software 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 in Technical 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 in Technical 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 changing or 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 S Sunny Slope Rd., Suite 130, Brookfield, WI 53005.
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Table of Contents
Chapter 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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Chapter 1 Introduction
The RTA EtherNet/IPDeviceNet Robot Board is a small circuit board with a preloaded application. As a gateway is a fully functional Group 2 Only Slave device and 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 characteristics are 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 Time Automation 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 CAN Ambient Operating Temperature Supply Voltage DeviceNet Masters Supported DeviceNet Master Communications DeviceNet Master Scan List DeviceNet Master Configuration DeviceNet Slave Communications DeviceNet Slave Address DeviceNet Quick Connect Automatic Device Replacement V2.0 A/B
Description -4085 Celsius (-40185 F) 10-30 VDC All User Selectable Baud Rate
7 nodes with up to 8 bytes of data in each direction Any DeviceNet or EtherNet/IP Tool User Selectable Baud Rate User Selectable Yes 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 has 8 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. . ON
1 2 3 4 5 6 7 8 9 10 ON OFF
Figure 2-1
MAC ID switch layout
Address (Decimal) Default 01 15 40
SW1 20 ON ON OFF
Figure 2-2
SW2 21 OFF ON OFF
SW3 22 OFF ON OFF
SW4 23 OFF ON ON
SW5 24 OFF OFF OFF
SW6 25 OFF OFF ON
MAC ID switch layout
Use the NODE ADDRESS switches to select the DeviceNet MAC ID address. The valid range of addresses is 0 63.
Baud Rate / Mode 125K 250K 500K Software

Figure 2-3
SW7 20 OFF ON OFF ON
SW8 21 OFF OFF ON ON
Baud rate switch layout
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Switches 7 and 8 are used to select the DeviceNet Baud Rate. When switches 7 and 8 are both ON, it configures the baud rate to the last baud rate the device was powered up at and allow software configuration tools to modify the baud rate. Factory default settings for the switches are typically Address 63, 125K baud. Switch 9 enables termination on the Robot Side network.. Robot Side Termination Termination enabled No Termination SW9 ON OFF
Switch 10 enables termination on the Tool Side network. Tool Side Termination Termination enabled No Termination SW10 ON OFF
LED indicators
The board provides support for seven LEDs: DeviceNet Network1 Status, DeviceNet Network2 Status, Module Status, EtherNet/IP Network Status, Ready, Coupled, and Uncoupled. The operation of the LEDs are described in the tables below:
Figure 2-4
LED Identification
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Table 2-1
EtherNet/IP LED
Color None Off
State
Indication No power / No Ethernet Link Unrecoverable fault Recoverable fault or I/O connection timed out not used not used Normal runtime operation (I/O Connection Allocated) Device is idle or is not allocated to a Client (PLC) Self test
Solid Red Flashing Solid Flashing Solid Green Flashing Red / Green Alternating
Amber
Table 2-2 DeviceNet Network1 (Slave) Status LED
Color None Red Off
State Solid Flashing Solid
Indication No Power Unrecoverable Fault Recoverable Fault I/O Connection Timed Out Normal runtime operation Device is idle or not allocated to a master not used
Green Red / Green
Flashing Alternating
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Table 2-3 DeviceNet Network2 (Master) Status LED
Color None Red Off
State
Indication No tool connected TBD Tool Present, I/O Timeout DeviceNet slave(s) found More DeviceNet slaves found than expected DeviceNet I/O Established DeviceNet connection inprogress Slave List Full. More than 7 tools have been connected. Reset or cycle power on Robot Board.
Solid Flashing Solid
Amber
Flashing Solid
Green
Flashing
Red / Green
Alternating
Table 2-4 Module Status LED
Color None Red Off
State Solid Flashing Solid
Indication No Power Unrecoverable Fault Recoverable Fault Normal operation DeviceNet Master has an empty scan list TBD
Green Red / Green
Flashing Alternating
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Table 2-5 COUPLED LED
Color None Off
State
Indication Couple and Coupled both OFF TBD Couple and Coupled do not match Couple and Coupled both ON TBD TBD
Solid Red Flashing Solid Flashing Red / Green Alternating
Green
Table 2-6 UNCOUPLED LED
Color None Off
State
Indication Uncouple and Uncoupled both OFF TBD Uncouple and Uncoupled do not match Uncouple and Uncoupled both ON TBD TBD
Solid Red Flashing Solid Flashing Red / Green Alternating
Green
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Table 2-7 RTC (Ready to Couple) LED
Color None Red Off
State Solid Flashing Solid Flashing TBD
Indication Ready-to-Couple disabled All Enabled RTC inputs are NOT Ready Some enabled RTC inputs are NOT Ready All enabled RTC inputs are Ready TBD TBD
Amber
Green Red / Green
Solid Flashing Alternating
Table 2-8 Factory Maintainence LED
Color None Red Off
State TBD
Indication Factory Maintenance required TBD Factory Maintenance required within 500 cycles TBD No Factory Maintenance required TBD TBD
Solid Flashing
Amber
Solid Flashing
Green Red / Green
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Table 2-9 User Maintainence LED
Color None Red Off
State
Indication Maintenance Indicator disabled User Maintenance required TBD User Maintenance required within 500 cycles TBD No Maintenance required TBD TBD
Solid Flashing Solid Flashing
Amber
Green Red / Green
Table 2-10 I/O Active LED
Color None Red Amber Green Red / Green Off
State TBD TBD TBD TBD TBD TBD TBD TBD Solid Flashing Solid Flashing Solid Flashing Alternating
Indication
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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 the robot side network it is a standard DeviceNet Group 2 Only Slave device and presents a single 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 previously mentioned 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 direction for 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 recognize one 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 on the tool side network. EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page 10
In Mode 1, if the DeviceNet Master on the robot side (Industrial Robot PLC) attempts to 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: THIS IS 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 (see Section 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 slaves will be otherwise ignored. There must always be a device at MAC 1, presumably (but not necessarily) a fastpowerup RTA Tool ID board. For systems without a tool board, some other device must 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 Device 1 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 toolside 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 slaves on that tool to respond. It will then remember that I/O configuration until the robot board is power-cycled or reset. EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page 11
The I/O Assembly will contain the following: One status byte will indicate: o Tool board (or MAC 1) Connected o 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 flag o Writable lock-config flag to save configuration for current tool o Tool Present o 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-connected device. 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 timestamping 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
Robot board, Tool Board and Tool Slaves (if present) fixed at 500K baud. UCMM proxy connection for explicit messages PLC-to-tool Robot Board jumpers JP1 and JP2 installed
Mode 2 Two Separate DeviceNet Networks

Robot board may be set to any DeviceNet Baud. Pass-through mechanism for explicit messages PLC-to-tool. 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 the internal register data tables and the DeviceNet Slaves. The Scanner is configured using the 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 direct access to the DeviceNet slave device attributes and I/O data. The class level attributes include the robot board System Status, Connect Status, map of connected devices, and the I/O data of the robot board. The instance level attributes allow read of the slave identity object data and read/write access 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. The number 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 using Class 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 to measure 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 time when 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 to 1. 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 be sent 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 the cams. This may help customers in pinpointing problems by examining the two separate times. The times for Coupled to Uncoupled and Uncouple to Uncoupled should be very similar, with Uncouple to Uncoupled slightly larger. Additionally, Uncoupled to Coupled should be similar to Couple to Coupled; where Couple 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 position and 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, the solenoid 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. EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page 14
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.
Timer
Performance Measurement Timers Single Solenoid Dual Solenoid (same as single solenoid) (same as single solenoid) Output Couple is 1 to when input Coupled is 1 (same as single solenoid)
Coupled to Uncoupled Input Coupled is 0 to when input Uncoupled is 1 Uncoupled to Coupled Input Uncoupled is 0 to when input Coupled is 1 Couple to Coupled Output Uncouple is 0 to when input Coupled is 1 Uncouple to Output Uncouple is Uncoupled 1 to when input Uncoupled is 1 Max. Uncouple to Uncoupled Min. Uncouple to Uncoupled Avg. Uncouple to Uncoupled DeviceNet Connect Time
Saved in NonVolatile Memory No
No
No
Yes, 25 total samples, one every 250th cycle Yes, with cycle number No No No
Statistics of Coupling Performance

To evaluate the tool changer performance over time, the software shall maintain a history 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 in non-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 nonvolatile memory, along with the cycle number on which it occurred. This shall be resettable 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 setting and 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 technical details 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 USINT UINT UDINT INT STRING SHORT STRINGnn BOOL BYTE WORD DWORD REAL
Description Unsigned Short Integer (8-bit) Unsigned Integer (16-bit) Unsigned Double Integer (32-bit) Signed Integer (16-bit) Character String (1 byte per character) Character String (1st byte is length; up to nn characters) Boolean (0 or 1) Bit String (8-bits) Bit String (16-bits) Bit String (32-bits) 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 objects 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 Class (Instance 0) Instance 1
Attribute ID 1 1 2 3 4 5 6
Name Revision Vendor number Device type Product code number Product major revision Product minor revision Status Serial number Product name
DeviceNet data type UINT UINT UINT UINT USINT USINT WORD UDINT SHORT STRING32 1
Data value
Access rule Get Get Get Get Get Get Get Get
50DEC 00HEX 28701 01 01 0 Unique 32 bit value Applied Robotics SmartChange 01 01 05 00
7 Application Firmware 100 (64Hex) App Major revision App Minor revision Application Version Always zero
USINT USINT USINT USINT
Table 6-3
Identity Objects common services
Service code 05Hex 0EHex
Implemented for Class level No Yes Instance level Yes Yes
Service name Reset 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 only) (03HEX - 1 Instance)

The following tables contain the attribute and common services information for the DeviceNet Object.
Table 6-4 DeviceNet Object (03HEX - 1 Instance)
Attribute ID 1 1 2 5
Name Revision MAC ID Baud rate Structure of Allocation Choice Byte Masters MAC ID
DeviceNet Data Type UINT USINT USINT Byte USINT BOOL BOOL USINT USINT BOOL
Data Value 2 63 0 0xFF 0 0 0 63 0 0
Access Rule Get Get/Set* Get/Set* Get
6 7 8 9 10
*
MAC ID Switch changed Baud rate switch changed MAC ID switch value Baud rate switch value Quick connect
Get Get Get Get 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 Objects common services
Service code 0EHex 10Hex
Implemented for Class level Yes No Instance level Yes Yes
Service name Get_Attribute_Single Set_Attribute_Single
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Assembly Object (04HEX - 2 Instances)

The following tables contain the attribute, instance, data mapping, and common services information for the Assembly Object.
Table 6-6 Assembly Object (04HEX - 2 Instances)
Instance Class (Instance 0)
Attribute ID 1 2 100 101 102 103 Revision
Name
DeviceNet Data Type UINT UINT UINT UINT UINT UINT USINT [60]
Data Value 2 112 100 60 112 60 0
Access Rule Get Get Get Get Get Get Get
Input Instance 100 [T2O #1]
Max instance I/O Input assembly instance I/O Input produce length (30 words) I/O Output assembly instance I/O Output consume length (30 words) DeviceNet input
Byte 0 1 2 3 4-11 12-19 20-27 28-35 36-43 44-51 52-59 Description Robot Board Input Data Status Flags Connect Status Nodes 7-1 Missing Status Nodes 7-1 Node 1 Input data Node 2 Input data Node 3 Input data Node 4 Input data Node 5 Input data Node 6 Input data Node 7 Input data
Output Instance 112 [O2T #1]
DeviceNet output
Byte 0 1 2 3 4-11 12-19 20-27 28-35 36-43 44-51 52-59 Description Robot Board Output Data Writable Status Flags
USINT [60]
Get/Set
Node 1 Output data Node 2 Output data Node 3 Output data Node 4 Output data Node 5 Output data Node 6 Output data Node 7 Output data
Table 6-7
Assembly Objects common services
Service name Get_Attribute_Single Set_Attribute_Single Page 23
Input Data Byte Bit 7

Tool Present J1 pin 5
Bit 6
Rdy To Uncouple 1 J7 pin 8
Bit 5
Bit 4
Bit 3
Aux. Power J8 pin 6
Bit 2
Sense Uncouple J4 pin 3,4
Bit 1
Uncoupled
Bit 0
Coupled
J6 pin 4
J5 pin 4
System Status Byte Bit 7

Spare
Bit 6
Spare
Bit 5
Configuration Saved (writable)
Bit 4
FirstTime Connect Flag
Bit 3
Connect Fault
Bit 2
Connect Timeout
Bit 1
I/O Valid
Bit 0
Tool Board (or MAC #1) Connected
J6 pin 2
J5 pin 2
Connected-Node Status Byte or Missing-Node Status Byte Bit 7

-
Bit 6
Node 7
Bit 5
Node 6
Bit 4
Node 5
Bit 3
Node 4
Bit 2
Node 3
Bit 1
Node 2
Bit 0
Node 1
Output Data Bit 7

-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
Output 4 J4 pin 8
Bit 2
Output 3 J4 pin7
Bit 1
Uncouple J4 pin 6
Bit 0
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 the Connection Object.
Table 6-8
Connection Object (05HEX - 2 Instances)
Instance Class (Instance 0) Instance 1 Explicit connection
Attribute ID 1 1
Name Revision State
DeviceNet Data Type UINT USINT 1
Data Value
Access Rule Get Get
2 3 4
Instance type Transport trigger Produced connection ID Consumed connection ID Initial comm. character Produced connection size Consumed connection size Expected packet rate Watchdog timeout action Produced connection path length Produced connection path Consumed connection path length Consumed connection path State
USINT USINT UINT
UINT
6 7 8 9 12 13 14 15 16 Instance 2 Polled I/O 1
USINT UINT UINT UINT USINT UINT USINT Array UINT USINT Array USINT
0 = Nonexistent 3 = Established 5 = Deferred Delete 0 83Hex 10xxxxxx011BIN xxxxxx = Node Address 10xxxxxx100BIN xxxxxx = Node Address 21Hex Varies Varies 2500 msec 1 = delete 0 Null 0 Null
Get Get Get
Get
Get Get Get Get/Set Get/Set Get Get Get Get Get
0 = Nonexistent 1 = Configuring 3 = Established 4 = Timed out 2 Instance type USINT 1 EtherNet/IP & DeviceNet Robot Board Gateway (287TR) User Manual Page 25
Get
Instance
Attribute ID 3 4
Name Transport trigger Produced connection ID Consumed connection ID Initial comm. character Produced connection size Consumed connection size Expected packet rate Watchdog timeout action Produced connection path length Produced connection path Consumed connection path length Consumed connection path
DeviceNet Data Type USINT UINT
Data Value 82Hex 01111xxxxxxBIN xxxxxx = Node Address 10xxxxxx100BIN xxxxxx = Node Address 01Hex Varies Varies 0 0 = Timeout 6 0x20 0x04 0x24 0x690x30 0x03 6 0x20 0x04 0x24 0x75 0x30 0x03
Access Rule Get Get
UINT
Get
6 7 8 9 12 13 14 15 16
USINT UINT UINT UINT USINT UINT USINT Array UINT USINT Array
Get Get Get Get/Set Get/Set Get Get Get Get
Table 6-9
Connection Objects common services
Page 26
TCP Object (EtherNet/IP only) (F5HEX - 1 Instance)

The following tables contain the attribute and common services information for the TCP Object.
Table 6-10 TCP Object (F5HEX - 1 Instance)
Attribute ID 1 1 2 3 4 Revision
Name
Data Type UINT DWORD DWORD DWORD 1
Data Value
Access Rule Get Get Get Fill in Get
Status* Configuration capability* Configuration control* Physical Link Object * Structure of Path Size Path Interface configuration* Structure of IP Address Network Mask Gateway Address Name Server Name Server 2 Domain Name Size Domain Name Host name* Structure of Host Name Size Host Name
Fill in Fill in Fill in
UINT Array of Word
UDINT UDINT UDINT UDINT UDINT UINT STRING
Fill in Fill in Fill in Fill in Fill in Fill in Fill in Get
UINT STRING
Fill in Fill in
For more details on these attributes, see Volume 2: EtherNet/IP Adaptation of CIP, Section 5-3.2 from ODVA.
Table 6-11
TCP Objects common services
Page 27
Ethernet Link Object (EtherNet/IP only) (F6HEX - 1 Instance)

The following tables contain the attribute and common services information for the Ethernet Link Object.
Table 6-12 Ethernet Link Object (F6HEX - 1 Instance)
Attribute ID 1 1 2 3
Name Revision Interface speed* Interface flags* Physical address
Data Type UINT UDINT DWORD USINT Array (6) 1
Data Value
Access Rule Get Get Get Get
For more details on these attributes, see Volume 2: EtherNet/IP Adaptation of CIP, Section 5-4.2 from ODVA.
Table 6-13
Ethernet Link Objects common services
Service code 0EHex
Implemented for Class level Yes Instance level Yes
Service name Get_Attribute_Single
Page 28
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 Instance Attribute ID Equiv. Modbus Register Scanlist Object (66HEX - 7 Instances) Name DeviceNet Data Type Data Value Access Rule
Class
(Instance 0)
1 2 3 4 2001
Revision Max instance Number of instances Pass-through timeout (100-2000) in milliseconds (round up based on CPU resolution) Status Byte Connected Node Status Missing Node Status Board I/O input data Board I/O input data size 101, 1008 Board I/O output data Board I/O output data size 1015 1017 1016 1018 1020 1022 1024 1028 Average time to uncouple from node 1 Maximum time to uncouple from node 1 Minimum time to uncouple CycleCount at Maximum time to uncouple Number of times latched Total number of times latched Total hours since reset Total running hours
UINT UINT UINT UINT
1 7 7 500
Get Get Get Get/Set
10 11 12 100 101 102 103 120 121 122 123 124 125 126 127
2 3 4 1, 1007
USINT USINT USINT UINT USINT USINT USINT UINT UINT UINT UDINT UDINT UDINT UDINT UDINT
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Page 29
Get/Set * Get Get Get Get Get/Set * Get Get Get Get Get Get/Set Get Get/Set Get
Instance
Attribute ID
Equiv. Modbus Register
Name
DeviceNet Data Type
Data Value
Access Rule
200 201 202 203 Instance 1-7 1 2 3 4 5 6 7
3002-3004 Accelerometer Value 3005-3007 Accelerometer Max Value 3008-3010 Accelerometer Raw Value 3011-3013 Accelerometer Offset Value Slave Vendor number Slave Device type Slave Product code number Slave Product major revision Slave Product minor revision Slave Error Status Slave Serial number Slave Product name
UINT UINT UINT UINT UINT UINT UINT USINT USINT USINT UDINT SHORT STRING3 2 UINT
0 0 0 0
Get Get/Set Get Get/Set Get Get Get Get Get Get Get
9 10 11 20
5,9,13, 17,21,25,29 105,109,113
*
Slave Configuration Consistency Value (NVRAM CRC- Used with ADR) Slave Produced connection size Slave Consumed connection size Slave I/O data, 1-8 bytes. Slave I/O produce data, 1-8 bytes Slave I/O consume data, 1-8 bytes
Get
USINT USINT USINT[8] USINT[8] USINT[8] 0 0
Get Get Get/Set * Get Get/Set *
Any change to attributes is effective immediately.
Table 6-15
Scanner Objects common services
Implemented for Class level Yes Yes Instance level Yes Yes
Page 30
Chapter 7 Modbus Register Mapping

Holding Register 1 2 3 4 5 9 13 17 21 25 29 Register Type RO RO RO RO RO RO RO RO RO RO RO Number of Registers 1 1 1 1 4 4 4 4 4 4 4 Register Name Robot Board Input Data Robot Board Status Byte Connected Node Status Missing Node Status Node 1 Produce Data Node 2 Produce Data Node 3 Produce Data Node 4 Produce Data Node 5 Produce Data Node 6 Produce Data Node 7 Produce Data Description *See Chapter 6 on the Assembly Object * * * *1 to 8 bytes from the slave. *1 to 8 bytes from the slave. *1 to 8 bytes from the slave. *1 to 8 bytes from the slave. *1 to 8 bytes from the slave. *1 to 8 bytes from the slave. *1 to 8 bytes from the slave.
101 102 103 104 105 109 113 117 121 125 129
RW RW RW RW RW RW RW RW RW RW RW
1 1 1 1 4 4 4 4 4 4 4
Robot Board Output Data Robot Board Writable Status (Dummy) (Dummy) Node 1 Consume Data Node 2 Consume Data Node 3 Consume Data Node 4 Consume Data Node 5 Consume Data Node 6 Consume Data Node 7 Consume Data
* *
* * * * * * *
1001 1002 1003 1004 1005 1006 1007 1008 1009 1011 1013 1015 1016 1017 1018 1020 1022 1024 1026 1028
RO RO RO RO RO RO RO RW RO RO RO RO RW RW RW RW RO RW RO RO
1 1 1 1 1 1 1 1 2 2 2 1 1 1 2 2 2 2 2 4
Robot Board Status Byte Connected Node Status Missing Node Status Connected Slave Count Discovered Slave Count Connect Time Robot Board Input Data Robot Board Output Data Time Coupled to Uncoupled Time Uncouple To Coupled Time Couple to Coupled Average time to Uncouple Minimum Time To Uncouple Maximum Time To Uncouple Maximum Time to Uncouple Cycle Number Number Of Time Latched (since user maintenance) Total Number Of Times Latched (lifetime) Running Hours Since Reset Total Running Hours (lifetime) Expected Slave Count Array
* * *
* *
1032 1096
RO RO
64 8
Slave Serial Number Array Slave Vendor Number Array
Array of USINT [8] containing the number of slaves expected for each serial number Array of UDWORD[8] serial numbers Array of UWORD[8] Vendor Numbers. The combination of a Vendor Number and Serial Number uniquely identifies the tool.
Page 31
2001 2002 2004 2006
RW RW RW RO
1 2 2 2
Configuration Parameters Pass Thru Timeout Dual Solenoid Flag Ready To Couple Count Factory Maintenance Interval Setting User Maintenance Interval Setting
2008
RW
2010 2026
RW RW
16 40
Robot Name Robot Description
0=single-solenoid, 1=dual solenoid 0-3 ready-to-couple inputs are used Number of cycles allowed between factory maintenance events. Preset at the factory. Number of cycles allowed between user maintenance events. Specified by user. 0-32 character name for this robot 0-80 character description for this robot Temperature of the internal robot circuit board.
3001 3002
RO RO
1 12
Robot Board Temperature Robot Accelerometer Data Array Diagnostic Data Slave 1 Status Array Slave 2 Status Array Slave 3 Status Array Slave 4 Status Array Slave 5 Status Array Slave 6 Status Array Slave 7 Status Array
4101 4201 4301 4401 4501 4601 4701
RO RO RO RO RO RO RO
38 38 38 38 38 38 38
Table 7-1
Modbus TCP Register Mapping
Page 32
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 the maintenance counter, contact the factory for the procedure.
Page 33
About ODVA
ODVA is an international association of members from the world's leading automation companies. Collectively, ODVA and its members support network technologies based on the Common Industrial Protocol (CIP). These currently include DeviceNet, EtherNet/IP, CIP Safety, and CIP Sync. ODVA manages the development of these 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 standards development organizations and industry consortia to drive the growth of open communication standards. Open DeviceNet Vendor Association, Inc. 4220 Varsity Drive, Suite A Ann Arbor, MI 48108-5006 USA 734-975-8840 (V) 734-922-0027 (F) Email odva@odva.org www.odva.org
Reference documents
The following publications discuss technical details about DeviceNet. For a complete list 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
Page 34

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Applied Robotics EtherNet/IP - DeviceNet Robot Board Gateway Software Specification

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

11/05/2008 12/17/2008 01/16/2009 01/26/2009 03/03/2009 05/07/2009

02Dec2009 28Jul2010 27Oct2010

2010 Real Time Automation, Inc. All rights reserved.

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

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

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

DeviceNet Master Architecture

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

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

Chapter 2 Hardware overview

MAC ID switch layout

Address (Decimal) Default 01 15 40

SW2 21 OFF ON OFF

SW3 22 OFF ON OFF

SW5 24 OFF OFF OFF

SW6 25 OFF OFF ON

MAC ID switch layout

Baud Rate / Mode 125K 250K 500K Software

SW7 20 OFF ON OFF ON

SW8 21 OFF OFF ON ON

Baud rate switch layout

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

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

Color None Off

Table 2-2 DeviceNet Network1 (Slave) Status LED

Color None Red Off

State Solid Flashing Solid

Green Red / Green

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

Table 2-3 DeviceNet Network2 (Master) Status LED

Color None Red Off

Solid Flashing Solid

Table 2-4 Module Status LED

Color None Red Off

State Solid Flashing Solid

Green Red / Green

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

Table 2-5 COUPLED LED

Color None Off

Solid Red Flashing Solid Flashing Red / Green Alternating

Table 2-6 UNCOUPLED LED

Color None Off

Solid Red Flashing Solid Flashing Red / Green Alternating

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

Table 2-7 RTC (Ready to Couple) LED

Color None Red Off

State Solid Flashing Solid Flashing TBD

Green Red / Green

Solid Flashing Alternating

Table 2-8 Factory Maintainence LED

Color None Red Off

Green Red / Green

Solid Flashing Alternating

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

Table 2-9 User Maintainence LED

Color None Red Off

Solid Flashing Solid Flashing

Green Red / Green

Solid Flashing Alternating

Table 2-10 I/O Active LED