EtherNet/IP
Reference Manual
Trademark Notices
Document Number: 2000589 Rev. A
Microsoft and Windows are registered trademarks of Microsoft Corporation.
Other product names mentioned herein may be trademarks and/or registered trademarks of their respective
owners.
First Edition, March 12, 2014
Copyright © 2013-2014. Comtrol Corporation.
All Rights Reserved.
Comtrol Corporation makes no representations or warranties with regard to the contents of this document or
to the suitability of the Comtrol product for any particular purpose. Specifications subject to change without
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current product information.
Table of Contents
Chapter 1. EtherNet/IP Interface .......................................................................................7
1.1. Introduction............................................................................................................................................. 7
1.1.1. Functionality Summary ................................................................................................................... 7
1.1.2. Data Type Definitions ...................................................................................................................... 8
1.1.3. Terms and Definitions ...................................................................................................................... 9
1.2. Data Transfer Methods ....................................................................................................................... 10
1.2.1. Receive Process Data Methods....................................................................................................... 10
1.2.1.1. Polling-PLC Requests Data .................................................................................................. 10
1.2.1.2. Write-to-Tag/File-IO-Link Master Writes Data Directly Into PLC Memory ..................... 10
1.2.1.3. Class 1 Connection (Input Only)-PLC and IO-Link Master Utilize an I/O Connection.... 11
1.2.2. Transmit Process Data Methods.................................................................................................... 11
1.2.2.1. PLC-Writes ........................................................................................................................... 11
1.2.2.2. Read-from-Tag/File-IO-Link Master Reads Data from PLC Memory ................................ 11
1.2.2.3. Class 1 Connection (Input and Output)-PLC and IO-Link Master Utilize an I/O Connection
12
1.3. Process Data Block Descriptions...................................................................................................... 13
1.3.1. Input Process Data Block Description........................................................................................... 13
1.3.1.1. Input Process Data Block-8 Bit Data Format...................................................................... 14
1.3.1.2. Input Process Data Block-16 Bit Data Format.................................................................... 14
1.3.1.3. Input Process Data Block-32 Bit Data Format.................................................................... 14
1.3.2. Output Process Data Block Description ........................................................................................ 15
1.3.2.1. Output Process Data Block-8 Bit (SINT) Data Format....................................................... 15
1.3.2.2. Output Process Data Block-16 Bit (INT) Data Format....................................................... 15
1.3.2.3. Output Process Data Block-32 Bit (DINT) Data Format .................................................... 16
Chapter 2. Functionality Descriptions............................................................................17
2.1. Event Handling ..................................................................................................................................... 17
2.1.1. Clear Event After Hold Time Process............................................................................................ 18
2.1.2. Clear Event in PDO Block Process ................................................................................................ 19
2.1.3. Clear Event Code in PDO Block and Clear Event After Hold Time Process-PDO Block First.. 20
2.1.4. Clear Event Code in PDO Block and Clear Event After Hold Time Process-Hold Time Expires ..
21
2.2. ISDU Handling ...................................................................................................................................... 21
2.2.1. ISDU Request/Response Structure................................................................................................ 22
2.2.1.1. Single ISDU Command Request .......................................................................................... 22
2.2.1.2. Multiple ISDU Command Structure .................................................................................... 23
2.2.2. ISDU Request Message Format-From PLC to IO-Link Master................................................... 25
2.2.2.1. Standard ISDU Request Command Format........................................................................ 25
2.2.2.2. Integer (16-Bit Word) ISDU Request Command Format.................................................... 26
2.2.3. ISDU Response Message Format................................................................................................... 27
2.2.3.1. Standard ISDU Response Command Format...................................................................... 27
2.2.3.2. Integer (16-Bit Word) ISDU Response Command Format.................................................. 28
2.2.4. ISDU Blocking and Non-Blocking Methods .................................................................................. 29
2.2.4.1. Single Command Blocking .................................................................................................... 29
2.2.4.2. Multiple Command Blocking ................................................................................................ 30
2.2.4.3. Single Command Non-Blocking............................................................................................31
2.2.4.4. Multiple Command Non-Blocking ........................................................................................ 32
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Table of Contents
Chapter 3. EtherNet/IP CIP Object Definitions ............................................................33
3.1. IO-Link Port Information Object Definition (71 hex).................................................................. 33
3.1.1. Class Attributes .............................................................................................................................. 34
3.1.2. Instance Attributes......................................................................................................................... 35
3.1.3. Common Services............................................................................................................................ 36
3.1.4. Instance Attribute Definitions ....................................................................................................... 37
3.1.4.1. Attribute 1-Vendor Name .................................................................................................... 38
3.1.4.2. Attribute 2-Vendor Text ....................................................................................................... 38
3.1.4.3. Attribute 3-Product Name .................................................................................................... 38
3.1.4.4. Attribute 4-Product ID ......................................................................................................... 38
3.1.4.5. Attribute 5-Product Text ...................................................................................................... 38
3.1.4.6. Attribute 6-Serial Number .................................................................................................. 38
3.1.4.7. Attribute 7-Hardware Revision ........................................................................................... 38
3.1.4.8. Attribute 8-Firmware Revision ........................................................................................... 38
3.1.4.9. Attribute 9-Device PDI Length ............................................................................................ 39
3.1.4.10. Attribute 10-Device PDO Length ....................................................................................... 39
3.1.4.11. Attribute 11-PDI Data Block Length ................................................................................. 39
3.1.4.12. Attribute 12-PDO Data Block Length................................................................................ 39
3.1.4.13. Attribute 13-Input Assembly PDI Offset ........................................................................... 39
3.1.4.14. Attribute 14-Input Assembly PDO Offset .......................................................................... 39
3.1.4.15. Attribute 15-Output Assembly PDO Offset ....................................................................... 40
3.1.4.16. Attribute 16-Control Flags ................................................................................................. 40
3.2. PDI (Process Data Input) Transfer Object Definition (72 hex) ................................................. 41
3.2.1. Class Attributes .............................................................................................................................. 41
3.2.2. Instance Attributes......................................................................................................................... 41
3.2.3. Common Services............................................................................................................................ 41
3.2.4. Instance Attribute Definitions - Attribute 1 to 4-PDI Data Blocks ............................................. 41
3.3. PDO (Process Data Output) Transfer Object Definition (73 hex)............................................. 42
3.3.1. Class Attributes .............................................................................................................................. 42
3.3.2. Instance Attributes......................................................................................................................... 42
3.3.3. Common Services............................................................................................................................ 42
3.3.4. Instance Attribute Definitions - Attribute 1 to 4-PDO Data Blocks............................................ 42
3.4. ISDU Read/Write Object Definition (74 hex).................................................................................. 43
3.4.1. Class Attributes .............................................................................................................................. 43
3.4.2. Instance Attributes......................................................................................................................... 43
3.4.3. Common Services............................................................................................................................ 43
3.4.4. Object Specific Services .................................................................................................................. 44
3.4.5. Instance Attribute Definitions ....................................................................................................... 44
3.4.5.1. Attribute 1-ISDU Read/Write Response (Non-Blocking only) ............................................ 44
3.4.5.2. Attribute 2-ISDU Read/Write Request (Non-blocking only)............................................... 44
3.5. Identity Object (01hex, 1 instance)................................................................................................... 45
3.5.1. Class Attributes .............................................................................................................................. 45
3.5.2. Instance Attributes......................................................................................................................... 45
3.5.3. Status Word .................................................................................................................................... 46
3.5.4. Common Services............................................................................................................................ 46
3.6. Message Router Object (02 hex) ........................................................................................................ 48
3.6.1. Class Attributes .............................................................................................................................. 48
3.6.2. Instance Attributes......................................................................................................................... 48
3.6.3. Common Services............................................................................................................................ 48
3.7. Connection Manager Object (06 hex)............................................................................................... 49
3.7.1. Class Attributes Object (06 hex) .................................................................................................... 49
3.7.2. Instance Attributes (02 hex) .......................................................................................................... 49
3.7.3. Common Services Object (06 hex) .................................................................................................. 49
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Table of Contents
3.8. Port Object (F4 hex-1 instance)......................................................................................................... 50
3.8.1. Class Attributes .............................................................................................................................. 50
3.8.2. Instance Attributes......................................................................................................................... 51
3.8.3. Common Services............................................................................................................................ 51
3.9. TCP Object (F5 hex-1 instance) ......................................................................................................... 52
3.9.1. Class Attributes .............................................................................................................................. 52
3.9.2. Instance Attributes......................................................................................................................... 52
3.9.3. Common Services............................................................................................................................ 54
3.10. Ethernet Link Object (F6 hex-1 instance) .................................................................................... 54
3.10.1. Class Attributes ............................................................................................................................ 54
3.10.2. Instance Attributes....................................................................................................................... 55
3.10.3. Common Services.......................................................................................................................... 55
3.11. PCCC Object (67 hex-1 instance) .................................................................................................... 56
3.11.1. Instances ....................................................................................................................................... 56
3.11.2. Common Services.......................................................................................................................... 56
3.11.3. Message Structure Execute_PCCC: Request Message ............................................................... 56
3.11.4. Message Structure Execute_PCCC: Response Message ............................................................. 57
3.11.5. Supported PCCC Command Types .............................................................................................. 57
3.12. Assembly Object (For Class 1 Interface) ....................................................................................... 58
3.12.1. Class Attributes ............................................................................................................................ 58
3.12.2. Instance Definitions...................................................................................................................... 58
3.12.3. Instance Attributes....................................................................................................................... 59
3.12.4. Common Services.......................................................................................................................... 59
3.12.5. Instance Attribute Definitions: Attribute 3-Request/Write Data .............................................. 60
3.12.6. Instance Attribute Definitions: Attribute 4-Data Length .......................................................... 60
3.12.7. Overview of Assembly Interface .................................................................................................. 60
3.12.8. Grouping of Assembly Instances.................................................................................................. 61
Chapter 4. IO-Link Port Configuration...........................................................................63
4.1. IO-Link Settings Configuration Page .............................................................................................. 63
4.1.1. Editing IO-Link Settings................................................................................................................ 64
4.1.2. IO-Link Settings Parameters......................................................................................................... 64
4.2. EtherNet/IP Settings Configuration Page ...................................................................................... 65
4.2.1. Editing EtherNet/IP Settings ........................................................................................................ 66
4.2.2. EtherNet/IP Settings Parameters ................................................................................................. 67
Chapter 5. Using the Diagnostics Pages .........................................................................73
5.1. IO-Link Port Diagnostics .................................................................................................................... 73
5.2. EtherNet/IP Diagnostics ..................................................................................................................... 76
Chapter 6. ControlLogix Family - Example PLC Programs .......................................81
6.1. Import the PLC program into RSLogix 5000 ................................................................................. 81
6.2. Configure the Controller .................................................................................................................... 81
6.3. Add the EtherNet/IP Module Interface ........................................................................................... 83
6.4. Configure the Ethernet Module ........................................................................................................ 85
6.5. Example PLC Program Operation ................................................................................................... 90
6.6. User Defined Data Structures ........................................................................................................... 93
6.6.1. User Defined Structure Example 1................................................................................................ 94
6.6.2. User Defined Structure Example 2................................................................................................ 94
6.6.3. User Defined Structure Example 3................................................................................................ 95
6.6.4. User Defined Structure Example 4................................................................................................ 95
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Table of Contents
6.7. Example PLC Program Tag Definitions.......................................................................................... 96
6.7.1. PrtN_DeviceInformation Definition .............................................................................................. 98
6.7.2. PrtN_RxPdiData Definition ........................................................................................................... 99
6.7.3. PrtN_MiscISDUReqs .................................................................................................................... 100
6.7.4. PrtN_MiscISDUResp .................................................................................................................... 101
6.7.5. Using Other ISDU Request/Response Command Formats ........................................................ 101
Chapter 7. SLC/PLC-5/MicroLogix Interface ...............................................................103
7.1. Requirements ...................................................................................................................................... 103
7.2. PLC-5 and SLC 5/05 PLC Requirements........................................................................................104
7.2.1. SLC 5/05 ........................................................................................................................................ 104
7.2.2. PLC-5............................................................................................................................................. 104
7.3. PLC-5 and SLC Messages .................................................................................................................. 105
7.4. Process Data (PDI and PDO) Access via PCCC Messages ........................................................107
Chapter 8. Troubleshooting and Technical Support .................................................109
8.1. Troubleshooting.................................................................................................................................. 109
8.2. Contacting Technical Support ........................................................................................................ 110
8.3. Using Log Files.................................................................................................................................... 111
8.3.1. View a Log File ............................................................................................................................. 111
8.3.2. Clear a Log File............................................................................................................................. 111
8.3.3. Export a Log File .......................................................................................................................... 112
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Chapter 1. EtherNet/IP Interface
1.1. Introduction
This section is intended to describe the EtherNet/IP and Modbus/TCP interfaces provided by the IO-Link
Master.
These interfaces provide the ability to retrieve port and device status information, input and output process
data and access to IO-Link device ISDU (SPDU) data blocks.
1.1.1. Functionality Summary
The EtherNet/IP interface consists of:
• Input Process Data blocks that include:
- Port communication status
- PDI valid status
- Auxiliary Input status (pin 2 of IO-Link connector)
- The active event code (zero if no active event)
- The input process data received from the port. This may be
• IO-Link mode: IO-Link device input process data
• I/O Input mode: Input bit status
• I/O Output mode: Output bit status (configurable option)
IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 1. EtherNet/IP Interface - 7
Data Type Definitions
• Output Process Data blocks that include:
- The active event code to clear ((configurable option)
- The output process data to be sent to the port. This may be
• IO-Link mode: IO-Link device output process data
• I/O Output mode: Output bit status
• ISDU (ISDU) interface:
- Provides single and nested batch read/write capabilities
- Requires use of MSG instructions
- Provides both blocking and non-blocking message capabilities
• Blocking message responses are not returned until all the ISDU command(s) have completed.
• Non-blocking messages return immediately. The PLC must then request the ISDU command(s)
response status until a valid response is returned.
• Web based configuration and diagnostic pages:
- IO-Link interface configuration and diagnostics
- EtherNet/IP interface configuration and diagnostics
• EtherNet/IP interface support for ControlLogix, SLC, MicroLogix, and PLC-5 PLC families.
• Modbus/TCP slave interface.
• Example PLC programs to aid the PLC programmer.
1.1.2. Data Type Definitions
The following data type definitions apply.
BOOL Boolean; TRUE if = 1; False if = 0
USINT Unsigned Short Integer (8 bit)
CHAR Character (8 bit)
SINT Short Integer (8 bit)
UINT Unsigned Integer (16 bit)
INT Signed Integer (16 bit)
UDINT Unsigned Double Integer (32 bit)
DINT Signed Double Integer (32 bit)
STRING Character String (1 byte per character)
BYTE Bit String (8 bit)
WORD Bit String (16 bits)
DWORD Bit String (32 bits)
Data Type Definitions
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1.1.3. Terms and Definitions
This section uses the following terms and definitions.
Term Definition
Otherwise called implicit messaging, is a method of communication
between EtherNet/IP controllers and devices that:
Class 1
Class 3
EtherNet/IP
Ethernet TCP/IP
Ethernet UDP/IP
IO-Link Master
Multicast
Point-to-Point
PDI data
(Process Data
Input)
PDO data
(Process Data
Output)
ISDU
ISDU
Class 1
• Uses Ethernet UDP messages.
• Is cyclic in nature. Input and/or output data is exchanged between
the controllers and devices at regular time intervals.
Otherwise called explicit messaging, is a method of communication
between EtherNet/IP controllers and devices that:
• Uses Ethernet TCP/IP messages.
• By itself is not cyclic in nature. The controller and devices must send
individual messages to each other.
An Ethernet based industrial communication protocol utilized to
communicate between controllers, often times PLCS, and devices.
Standard Ethernet communications protocol utilizing socket
communication interfaces that guarantees delivery to the intended
device.
Standard Ethernet communications protocol utilizing socket
communication interfaces that does not guarantee delivery. The data
may or may get to the intended device.
IO-Link gateway that provides communication between IO-Link devices
and Ethernet protocols such as EtherNet/IP and Modbus/TCP.
Multicast addressing involves Ethernet devices sending messages to each
other using a multicast address. Multicast addressing:
• Uses a specified IP address range designated for multicast
communication.
• Allows either one or multiple devices to receive the same messages.
Point-to-Point, otherwise called unicast, addressing involves Ethernet
devices sending messages directly to each other using their own IP
addresses. Messages are sent to only one device.
Process data received from an IO-Link device or I/O interface that can be
provided to external controllers such as PLCs, HMIs, SCADA, and OPC
Servers.
Process data received from external controllers such as PLCs, HMIs,
SCADA, and OPC Servers and sent to an IO-Link device or I/O interface.
Note: IO-Link devices may or may not support PDO data.
Service Process Data Unit. Otherwise called ISDU, refers to the Service
Data units on IO-Link devices that are used for information, status and
configuration settings.
Indexed Service Data Unit. Otherwise called ISDU, refers to the Service
Data units on IO-Link devices that are used for information, status and
configuration settings.
Otherwise called implicit messaging, is a method of communication
between EtherNet/IP controllers and devices that:
• Uses Ethernet UDP messages.
• Is cyclic in nature. Input and/or output data is exchanged between
the controllers and devices at regular time intervals.
Terms and Definitions
IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 1. EtherNet/IP Interface - 9
Data Transfer Methods
1.2. Data Transfer Methods
The IO-Link Master provides a selection of process data transfer methods and a number of options to
customize the process data handling.
• 1.2.1. Receive Process Data Methods
• 1.2.2. Transmit Process Data Methods on Page 11
1.2.1. Receive Process Data Methods
The IO-Link Master supports the following receive process data methods:
• 1.2.1.1. Polling-PLC Requests Data
• 1.2.1.2. Write-to-Tag/File-IO-Link Master Writes Data Directly Into PLC Memory
• 1.2.1.3. Class 1 Connection (Input Only)-PLC and IO-Link Master Utilize an I/O Connection
1.2.1.1. Polling-PLC Requests Data
Also called Slave-Mode for some industrial protocols, the polling method requires the controller to request
data from the IO-Link Master via messages. The IO-Link Master does not respond until it receives a request
for data.
1.2.1.2. Write-to-Tag/File-IO-Link Master Writes Data Directly Into PLC Memory
Also called Master-Mode for some industrial protocols, the Write-to-Tag/File method requires the IO-Link
Master to send messages that write data directly into a tag or file on the PLC. The IO-Link Master sends
changed data to the PLC immediately and, optionally, can be configured to also send “heartbeat” update
messages at a regular time interval.
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Class 1 Connection (Input Only)-PLC and IO-Link Master Utilize an I/O Connection
1.2.1.3. Class 1 Connection (Input Only)-PLC and IO-Link Master Utilize an I/O Connection
Also called I/O Mode for some industrial protocols, the Class 1 connection method requires the IO-Link
Master and PLC to connect to each via an I/O connection. For EtherNet/IP, a connection over UDP must first
be created. Once the connection is established, the IO-Link Master continually sends input data to the PLC at
a PLC configurable rate.
1.2.2. Transmit Process Data Methods
The IO-Link Master supports the following transmit process data methods:
• 1.2.2.1. PLC-Writes
• 1.2.2.2. Read-from-Tag/File-IO-Link Master Reads Data from PLC Memory
• 1.2.2.3. Class 1 Connection (Input and Output)-PLC and IO-Link Master Utilize an I/O Connection
1.2.2.1. PLC-Writes
Also called Slave-Mode for some industrial protocols, the PLC-Writes method requires the PLC to send data
to the IO-Link Master via write messages.
1.2.2.2. Read-from-Tag/File-IO-Link Master Reads Data from PLC Memory
Also called Master-Mode for some industrial protocols, the Read-from-Tag/File method requires the IO-Link
Master to read data from a tag or file on the PLC. In this method, the IO-Link Master requests data from the
PLC at configurable time intervals.
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Class 1 Connection (Input and Output)-PLC and IO-Link Master Utilize an I/O Connection
1.2.2.3. Class 1 Connection (Input and Output)-PLC and IO-Link Master Utilize an I/O Connection
Also called I/O Mode for some industrial protocols, the Class 1 connection method requires the IO-Link
Master and PLC to connect to each via an I/O connection. For EtherNet/IP, a connection over UDP must first
be created. Once the connection is established, the PLC and IO-Link Master continually exchange data at a
configurable rate.
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Process Data Block Descriptions
1.3. Process Data Block Descriptions
This subsection discusses the following:
• 1.3.1. Input Process Data Block Description
• 1.3.2. Output Process Data Block Description on Page 15
1.3.1. Input Process Data Block Description
The Input Process Data Block format is dependent on the configured PDI Data Format. The following tables
describe the Input Process Data Block in the possible formats.
Parameter Name Data Type Description
The status of the IO-Link device.
Bit 0 (0x01):
0 = IO-Link port communication initialization process is inactive
1 = IO-Link port communication initialization process is active
Bit 1 (0x02):
0 = IO-Link port communication is not operational
1 = IO-Link port communication is operational
Bit 2 (0x04):
0 = IO-Link input process data is not valid.
1 = IO-Link input process data is valid.
Bit 3 (0x08):
0= No fault detected
Port Status BYTE
1= Fault detected
• A minor communication fault is indicated by the Operational
status bit being set to 1. A minor communication fault results
from:
- A temporary loss of communication to the IO-Link device.
- A recoverable IO-Link Master software or hardware fault.
• A major communication fault is indicated by the Operational
bit being set to 0.
- An unrecoverable loss of communication to the IO-Link
device.
- An unrecoverable IO-Link Master software or hardware
fault.
Bits 4-7: Reserved (0)
Auxiliary I/O:
Bit 0: The status of the Pin 2 auxiliary bit.
Auxiliary I/O BYTE
Event Code INT 16-bit event code received from the IO-Link device.
PDI Data
Default Length = 32
bytes
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Array of up
to 32
BYTEs
0 = off
1 = on
Bits 1-7: Reserved (0)
The PDI data as received from the IO-Link device. May contain from 0
to 32 bytes of PDI data. The definition of the PDI data is device
dependent.
Note: Length is configurable using the web page interface.
Input Process Data Block-8 Bit Data Format
1.3.1.1. Input Process Data Block-8 Bit Data Format
The following table provides detailed information about the Input Process Data Block-8 Bit data format.
Byte Bit 7 Bit 0
0Port Status
1 Auxiliary I/O
2Event Code LSB
3Event Code MSB
4 PDI Data Byte 0
5 PDI Data Byte 1
.. ..
.. ..
N+3 PDI Data Byte (N-1)
1.3.1.2. Input Process Data Block-16 Bit Data Format
The following table provides detailed information about the Input Process Data Block-16 data format.
Word Bit 15 Bit 8 Bit 7 Bit 0
0 Port Status Auxiliary I/O
1Event Code
2 PDI Data Word 0
3 PDI Data Word 1
.. ..
.. ..
N+1 PDI Data Word (N-1)
1.3.1.3. Input Process Data Block-32 Bit Data Format
The following table provides detailed information about the Input Process Data Block-32 Bit data format.
Long
Word
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 0
0 Port Status Auxiliary I/O Event Code
2 PDI Data Long Word 0
3 PDI Data Long Word 1
.. ..
N PDI Data Long Word (N-1)
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1.3.2. Output Process Data Block Description
The contents of the Output Process Data Block are configurable.
Parameter Name Data Description
Output Process Data Block Description
Event to Clear
(Configurable option)
INT
If included, allows clearing of 16-bit event code received in
the PDI data block via the PDU data block.
Default: Not included
The PDO data written to the IO-Link device. May contain
PDO Data
Default Length = 32 bytes
Array of up
to 32 BYTEs
from 0 to 32 bytes of PDO data. The definition and length
of the PDO data is device dependent.
Note: Length is configurable via web page interface.
1.3.2.1. Output Process Data Block-8 Bit (SINT) Data Format
With the Include Event to Clear option selected:
Byte Bit 7 Bit 0
0 Event Code LSB
1 Event Code MSB
2 PDO Data Byte 0
3 PDO Data Byte 1
.. ..
.. ..
N+1 PDO Data Byte (N-1)
Without the Event to Clear option selected:
Byte Bit 7 Bit 0
0 PDO Data Byte 0
1 PDO Data Byte 1
.. ..
.. ..
N-1 PDO Data Byte (N-1)
1.3.2.2. Output Process Data Block-16 Bit (INT) Data Format
With the Include Event to Clear option selected:
Word Bit 15 Bit 0
0 Event Code
1 PDO Data Word 0
2 PDO Data Word 1
.. ..
.. ..
N PDO Data Word (N-1)
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Output Process Data Block-32 Bit (DINT) Data Format
Without the Event to Clear option selected:
Word Bit 15 Bit 0
0 PDO Data Word 0
1 PDO Data Word 1
.. ..
.. ..
N-1 PDO Data Word (N-1)
1.3.2.3. Output Process Data Block-32 Bit (DINT) Data Format
With the Include Event to Clear option selected:
Long Word Bit 31 Bit 16 Bit 15 Bit 0
0 0 Event Code
1 PDO Data Long Word 0
2 PDO Data Long Word 1
.. ..
.. ..
N - 1 PDO Data Long Word (N-1)
Without the Event to Clear option selected:
Long Word Bit 31 Bit 0
0 PDO Data Long Word 0
1 PDO Data Long Word 1
.. ..
.. ..
N - 1 PDO Data Long Word (N-1)
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Chapter 2. Functionality Descriptions
This appendix discusses the following:
• 2.1. Event Handling
• 2.2. ISDU Handling on Page 21
2.1. Event Handling
The IO-Link Master event handling is designed to provide real-time updates of event codes received directly
from the IO-Link device. The IO-Link event code:
• Is included in the second 16-bit word of the Input Process Data (PDI) block.
- An active event is indicated by a non-zero value.
- Inactive or no event is indicated by a zero value.
• Two methods are provided to clear an event:
- Enable the Clear Event After Hold Time option.
• The IO-Link Master keeps, or holds, the active event code in the PDI block until the configured Active
Event Hold Time has passed.
• The IO-Link Master then clears the event code in the PDI block and waits until the Clear Event Hold
Time has passed before including another event code in the PDI block.
- Enable the Clear Event In PDO Block option.
• The IO-Link Master monitors the PDO block received from the PLC.
• The IO-Link Master expects the first entry of the PDO block to indicate an event code to be cleared.
• If there is an active event code in the PDI block and the PDO block both contain the same event
code, the event code is cleared in the PDI block.
• The IO-Link Master then clears event code in the PDI block and waits until the Clear Event Hold
Time has passed before including another event code in the PDI block.
• The two methods can be used separately or together to control clearing of events.
The next subsections illustrate the event clearing process for the various event configurations.
IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2. Functionality Descriptions - 17
Clear Event After Hold Time Process
2.1.1. Clear Event After Hold Time Process
This illustrates clearing the event after the hold time process.
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2.1.2. Clear Event in PDO Block Process
This illustrates clearing the event in the PDO block process.
Clear Event in PDO Block Process
IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2. Functionality Descriptions - 19
Clear Event Code in PDO Block and Clear Event After Hold Time Process-PDO Block First
2.1.3. Clear Event Code in PDO Block and Clear Event After Hold Time ProcessPDO Block First
This illustrates clearing the event code in the PDO block and clearing the event after the hold time process
with the PDO block first.
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Clear Event Code in PDO Block and Clear Event After Hold Time Process-Hold Time Expires
2.1.4. Clear Event Code in PDO Block and Clear Event After Hold Time ProcessHold Time Expires
This illustrates clearing the event code in the PDO block and clearing the event after the hold time process
with the hold time expired.
2.2. ISDU Handling
The IO-Link Master provides a very flexible ISDU interface that is used by all supported industrial protocols.
The ISDU interface contains the following:
•An ISDU request may contain one or multiple individual ISDU read and/or write commands.
• Individual ISDU command based byte swapping capabilities.
• Variable sized command structures to allow access to wide range of ISDU block sizes.
• A single ISDU request may contain as many ISDU read and/or write commands as allowed by the
industrial protocol payload. For example, if an industrial protocol provides up to 500 byte read/write
payloads, then an ISDU request may contain multiple commands of various lengths that can total up to
500 bytes in length.
• For the ControlLogix family of EtherNet/IP PLCs, both blocking and non-blocking ISDU request methods
are provided.
- The IO-Link Master implements blocking ISDU requests by not responding to an ISDU request
message until all commands have been processed.
- The IO-Link Master implements non-blocking ISDU requests by:
• Responding to an ISDU request message immediately after receiving and verifying the ISDU
request.
• Requiring the PLC to monitor the ISDU request status with read messages. The IO-Link Master
will not return a completed status until all of the ISDU commands have been processed.
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ISDU Request/Response Structure
2.2.1. ISDU Request/Response Structure
ISDU requests may contain a single command or multiple, nested commands. This subsection discusses the
following:
• 2.2.1.1. Single ISDU Command Request on Page 22
• 2.2.1.2. Multiple ISDU Command Structure on Page 23
2.2.1.1. Single ISDU Command Request
This illustrates a single ISDU command request.
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Multiple ISDU Command Structure
2.2.1.2. Multiple ISDU Command Structure
ISDU requests with multiple commands may consist of commands of the same data size or commands with
different data sizes. The following are two examples of multiple ISDU commands.
• ISDU commands of same data size (Page 23)
• ISDU commands of different data sizes (Page 24)
Multiple Command ISDU Request/Response of Same Data Area Length
IO-Link Master EtherNet/IP Reference Manual: 2000589 Rev. A Chapter 2. Functionality Descriptions - 23
Multiple ISDU Command Structure
Multiple Command ISDU Request/Response of Different Data Lengths
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ISDU Request Message Format-From PLC to IO-Link Master
2.2.2. ISDU Request Message Format-From PLC to IO-Link Master
Write and read ISDU commands have the same message data format. Each ISDU request message is
comprised of one or more commands. The command(s) can consist of either a series of nested commands or a
single read command.
Note: A list of nested ISDU commands is terminated with either a control field of 0, (single/last operation), or
the end of the message data.
2.2.2.1. Standard ISDU Request Command Format
This table displays a standard ISDU request command format with ControlLogix PLCs.
Name Data Type Parameter Descriptions
Bits 0-3:
0= No byte swapping.
Byte Swapping USINT
RdWrControlType USINT
Index UINT The parameter address of the data object in the IO-Link device.
Subindex UINT
Datalength UINT
Array of
Data
USINTs,
UINTs, or
UDINTs.
1= 16-bit (INT) byte swapping of ISDU data.
2= 32-bit (DINT) byte swapping of ISDU data.
Bits 4-7:
Set to zero. Unused.
Provides the control and type of ISDU command.
Bits 0-3, Type Field:
0 = NOP (No operation)
1 = Read operation
2 = Write operation
3 = Read/Write “OR”
4 = Read/Write “AND”
Bits 4-7, Control Field:
0 = Single/Last Operation (length can vary from to 1 to 232)
1 = Nested batch command – fixed 4 byte data area
2 = Nested batch command – fixed 8 byte data area
3 = Nested batch command – fixed 16 byte data area
4 = Nested batch command – fixed 32 byte data area
5 = Nested batch command – fixed 64 byte data area
6 = Nested batch command – fixed 128 byte data area
7 = Nested batch command – fixed 232 byte data area
The data element address of a structured parameter of the data
object in the IO-Link device.
Length of data to read or write.
For nested batch commands, the data length can vary from 1 to
the fixed data area size.
Size of array is determined by the Control field in
RdWrControlType.
Note: Data is valid only for write commands.
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Integer (16-Bit Word) ISDU Request Command Format
2.2.2.2. Integer (16-Bit Word) ISDU Request Command Format
This table shows an integer (16 bit word) ISDU request command format with a SLC, MicroLogix, PLC-5, or
Modbus/TCP.
Name Data Type Parameter Description
Provides the control, type and byte swapping of ISDU command
Bits 0-3, Type Field:
0 = NOP (No operation)
1 = Read operation
2 = Write operation
3 = Read/Write “OR”
4 = Read/Write “AND”
Bits 4-7, Control Field:
0 = Single/Last Operation (length can vary from to 1 to 232)
1 = Nested batch command – fixed 4 byte data area
Byte Swapping /
RdWrControlType
UINT
2 = Nested batch command – fixed 8 byte data area
3 = Nested batch command – fixed 16 byte data area
4 = Nested batch command – fixed 32 byte data area
5 = Nested batch command – fixed 64 byte data area
6 = Nested batch command – fixed 128 byte data area
7 = Nested batch command – fixed 232 byte data area
Bits 8-11:
0= No byte swapping.
1= 16-bit (INT) byte swapping of ISDU data.
2= 32-bit (DINT) byte swapping of ISDU data.
Bits 12-15:
Set to zero. Unused.
Index UINT The parameter address of the data object in the IO-Link device.
Subindex UINT
The data element address of a structured parameter of the data
object in the IO-Link device.
Length of data to read or write.
Datalength UINT
For nested batch commands, the data length can vary from 1 to the
fixed data area size.
Data
Array of
USINTs,
UINTs, or
UDINTs.
Size of array is determined by the Control field in
RdWrControlType.
Note: Data is valid only for write commands.
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ISDU Response Message Format
2.2.3. ISDU Response Message Format
The ISDU responses have the same data format as requests with the only exception being the returned
command status. Each ISDU response message is comprised of one or more responses to the single and/or
nested command(s) received in the request.
2.2.3.1. Standard ISDU Response Command Format
The following table show the standard ISDU response command format with ControlLogix PLCs.
Name Data Type Parameter Description
Indicates the byte alignment and status of the command response.
Byte swapping, bits 0-3:
0= No byte swapping.
1= 16-bit (INT) byte swapping of TX/RX ISDU data.
Status USINT
RdWrControlType USINT
Index UINT The parameter address of the data object in the IO-Link device.
Subindex UINT
Datalength UINT
Array of
Data
USINTs,
UINTs, or
UDINTs.
2= 32-bit (DINT) byte swapping of TX/RX ISDU data.
Status, bits 4-7:
0 = NOP (No operation)
1 = In process (Only valid for non-blocking requests)
2 = Success
3 = Failure: IO-Link device rejected the request.
4 = Timed out: IO-Link device did not respond
Provides the control and type of ISDU request
Bits 0-3, Type Field:
0 = NOP (No operation)
1 = Read operation
2 = Write operation
3 = Read/Write “OR”
4 = Read/Write “AND”
Bits 4-7, Control Field:
0 = Single/Last Operation (length can vary from to 1 to 232)
1 = Nested batch command – fixed 4 byte data area
2 = Nested batch command – fixed 8 byte data area
3 = Nested batch command – fixed 16 byte data area
4 = Nested batch command – fixed 32 byte data area
5 = Nested batch command – fixed 64 byte data area
6 = Nested batch command – fixed 128 byte data area
7 = Nested batch command – fixed 232 byte data area
The data element address of a structured parameter of the data
object in the IO-Link device.
Length of data that was read or written.
For nested batch commands, the data length can vary from 1 to
fixed data area size.
Data required for read commands. Optionally can return the data
of a write command.
The size of the array is determined by the Control field in the
RdWrControlType.
Note: Data field not required for single NOP commands.
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Integer (16-Bit Word) ISDU Response Command Format
2.2.3.2. Integer (16-Bit Word) ISDU Response Command Format
The following table shows an integer (16-bit word) ISDU response command format with SLC, MicroLogix,
PLC-5, or Modbus/TCP.
Name Data Type Parameter Descriptions
Indicates the control, type, byte swapping and status of the
ISDU command.
Bits 0-3, Type Field:
0 = NOP (No operation)
1 = Read operation
2 = Write operation
3 = Read/Write “OR”
4 = Read/Write “AND”
Bits 4-7, Control Field:
0 = Single/Last Operation (length can vary from to 1 to 232)
1 = Nested batch command – fixed 4 byte data area
2 = Nested batch command – fixed 8 byte data area
Status,
Byte-Swapping,
RdWrControlType
UINT
3 = Nested batch command – fixed 16 byte data area
4 = Nested batch command – fixed 32 byte data area
5 = Nested batch command – fixed 64 byte data area
6 = Nested batch command – fixed 128 byte data area
7 = Nested batch command – fixed 232 byte data area
Byte swapping, bits 8-11:
0= No byte swapping.
1= 16-bit (INT) byte swapping of TX/RX ISDU data.
2= 32-bit (DINT) byte swapping of TX/RX ISDU data.
Status, bits 12-15:
0 = NOP (No operation)
1 = In process (Only valid for non-blocking requests)
2 = Success
3 = Failure: IO-Link device rejected the request.
4 = Timed out: IO-Link device did not respond
Index UINT The parameter address of the data object in the IO-Link device
Subindex UINT
The data element address of a structured parameter of the data
object in the IO-Link device.
Length of data that was read or written.
Datalength UINT
For nested batch commands, the data length can vary from 1 to
fixed data area size.
Data returned for read commands. Contains the data of a write
command.
The size of the array is determined by the Control field in
RdWrControlType.
Data
Array of
USINTs,
UINTs, or
UDINTs
Note: Data field not required for single NOP commands.
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ISDU Blocking and Non-Blocking Methods
2.2.4. ISDU Blocking and Non-Blocking Methods
The IO-Link Master supports both blocking and non-blocking ISDU requests. The following diagrams
demonstrate how each mode works.
2.2.4.1. Single Command Blocking
The following illustrates the single command blocking method.
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Multiple Command Blocking
2.2.4.2. Multiple Command Blocking
This illustrates the multiple command blocking method.
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