ESAB DeviceNet I/O Profile, 7 byte Memory Model Instruction manual

GB

ESAB DeviceNet I/O Profile

7byteMemoryModel

Aristot

Rev . 1.100459 570 074 GB 080115

1 INTRODUCTION TO DEVICE NET 3...................................

1.1 Network overview 3.........................................................

1.2 Technical features for DeviceNet 4.............................................

1.3 Functional overview 4........................................................

2 INSTALLATION AND CONFIGURATION 5..............................

2.1 Network connection 5........................................................

2.2 Fieldbus connector 6........................................................

2.3 Configuration 6.............................................................

2.4 LED indicators 7............................................................

2.5 EDS file 8..................................................................

3 FUNCTIONS AND OPERATIONS 8.....................................

3.1 Memory structure for the ESAB DeviceNet unit 8................................

4 FIELDBUS SPECIFIC LISTS AND TABLES 10...........................

4.1 Object list 10................................................................

4.2 Identity Objects, Class 0x01 10................................................

4.3 Message Router, Class 0x02 1 1................................................

4.4 DeviceNet Object, Class 0x03 12...............................................

4.5 Assembly Object, Class 0x04 13...............................................

4.6 DeviceNet Connection Object, Class 0x05 13....................................

4.7 Acknowledge Handler Object, Class 0x2B 19....................................

4.8 I/O data Input Mapping Object, Class 0xA0 20...................................

4.9 I/O data Output Mapping Object, Class 0xA1 20..................................

4.10 Diagnostic Object, Class 0xAA 20..............................................

4.11 Parameter data Input Mapping Object, Class 0xB0 22.............................

4.12 Parameter data Output Mapping Object, Class 0xB1 22...........................

5 FUNCTIONAL I/O DATA MAP 23........................................

5.1 IN I/O from Controller to Welding Equipment 23..................................

5.2 OUT I/O from Welding Equipment to Controller 23................................

6 FUNCTIONAL DESCRIPTION OF I/O 23.................................

6.1 IN I/O from Controller to Welding Equipment 23..................................

6.2 OUT I/O from Welding Equipment to Controller 25................................

Appendix 1 29..........................................................

Rights reserved to alter specifications without notice.

TOCe

-- 2 --

1 INTRODUCTION TO DEVICE NET

DeviceNet is u sed for industrial automation, normally for the control of valves,
sensors, I/O units and other automation equipment.

The DeviceNet communication link is based on a broadcast--oriented,
communication protocol, the Controller Area Network (CAN).

This protocol has I/O response and high reliability even for demanding applications,
e.g. control of brakes.

User organization

DeviceNet has a user organization, the Open DeviceNet Vendor Association
(ODVA), which assists members of matters concerning DeviceNet.

For further information, please contact ODVA on e-- mail: [e-mail] or
at address:

ODVA – William H. (Bill) Moss, Executive Director

20423 State Road7–Suite499_BocaRaton,FL33498USA

(1) 954 340--5412 or (1) 561 477--7966 Phone

(1) 954 340--5413 or (1) 561 477--6621 Fax

http://www.ODVA.org

1.1 Network overview

The media of the fieldbus system is a shielded copper cable consisting of one
twisted pair of communication cable and two cables for external power supply.

The baud rate can be changed between 125kbits/s, 250kbits/s and 500kbits/s, this
can be done in three different ways:

S first is simply by the DIP--switch

S second via the fieldbus

S third is auto baud rate setting.

The DIP--switches are found inside the Weld Data Unit.

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1.2 Technical features for DeviceNet

Here follows a short list of some important features with the DeviceNet
communication standard:

S DeviceNet specific cable (twisted pair). S Protection for wiring errors.

S Access to intelligence present in low--level

devices, Master/Slave and Peer--to Peer
capabilities.

S Selectable data rates of 125kbit/s baud,

250kbit/s baud and 500kbit/s baud max.
Trunk distance 500 meters and Drop length
156 meters at 125 kbit/s baud.

S Trunk line – drop line configuration. S Adjustable power configuration to meet

individual application needs.

S Support of up to 64 nodes. S Provision for the typical request /response

oriented network communications.

S Node removal without severing the network. S Provision for the efficient movement of I/O

data.

S Simultaneous support for both

network--powered (sensors) and
self--powered (actuators) devices.

S Fragmentation for moving larger bodies of

information.

S Use of sealed and open--styled connectors. S Duplicate MAC ID detection.

1.3 Functional overview

The Esab DeviceNet node is implemented according to the ODVA specification for a
communication adapter (profile no 12). It is acting as a ”group two only server” on
the DeviceNet network.

The module supports the following connection types:

S explicit messaging

S polled I/O

S bit--strobe I/O

S change of state / Cyclic I/O.

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2 INSTALLATION AND CONFIGURATION

2.1 Network connection

This equipment is made with a “build in” drop line. Because of the restrictions in the
DeviceNet standard the maximum length between the Weld Data Unit and the
fieldbus connectors is limited to 6 meters (20 ft.).

This is shown in the picture below and is described in more detail in the “DeviceNet
specification”.

DeviceNet Media topologi

z

Weld Data Unit Tap for DeviceNet

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2.2 Fieldbus connector

5--pin plugable screw terminal fieldbus connector (Phoenix type)

Connector
pin

1 V-- Negative supply voltage
2 CAN_L CAN_L bus line
3 SHIELD Cable shield
4 CAN_H CAN_H bus line
5 V+ Positive supply voltage

Signal Description

2.3 Configuration

A connection to the node is set up towards the Assembly object with a bus
configuration tool or directly from a m aster.

Mac Id (Node address) and baud rate are configurated with a dip--switch in side the
Weld Data unit (see figure below). The range for MacId is between 0 --63 and baud
rate is between 0 and 2 (0 = 125 kbit/s, 1 = 250 kbit/s and 2 = 500 kbit/s).

When the DIP--switch is in the ”ON” or ”Closed” position, the node interprets it as a
logic ”1”.

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-- 6 --

Node address

Switches 3 to 8 are used to set the node address. Switch 3 is the MSB, and switch 8
is LSB.

Address Sw 3 Sw 4 Sw 5 Sw 6 Sw 7 Sw 8

0 OFF OFF OFF OFF OFF OFF
1 OFF OFF OFF OFF OFF ON
2 OFF OFF OFF OFF ON OFF
3 OFF OFF OFF OFF ON ON

… … … … … … …

62 ON ON ON ON ON OFF
63 ON ON ON ON ON ON

Baud rate

There are three different baud rates for DeviceNet;

S 125 kbit/s

S 250 kbit/s

S 500 kbit/s.

Choose one of them by setting DIP--switch 1 and 2 before configuration.

Baud rate, bits/s Sw 1 Sw 2

125k OFF OFF
250k OFF ON
500k ON OFF
Reserved ON ON

Termination

DeviceNet uses termination r esistors at each physical end of the bus. The
termination resistor should be 121 ohm. T his should be connected between CAN_H
and CAN_L on the bus.

2.4 LED indicators

The node inside the Weld Data Unit is equipped with four bi--color status and
indication LED’s mounted at the front of the module.

There is also an additional bi--color Watchdog LED on the module inside the Weld
Data Unit.

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-- 7 --

LED 3

Color Frequency Description

Off -- Not powered / Not on line
Green Steady on Link OK, On line, Connected
Green Flashing On line, Not connected
Red Steady on Critical link failure
Red Flashing Connection timeout

LED 2

Color Frequency Description

Off -- No power to device
Green Steady on Device operational
Red Steady on Unrecoverable fault
Red Flashing Minor fault

2.5 EDS file

Each device in a DeviceNet network is associated with a EDS file, containing all
necessary information about the device.

The network configuration program during configuration of the network uses this file.
The latest version of the EDS file can be received by contacting ESAB.

3 FUNCTIONS AND OPERATIONS

3.1 Memory structure for the ESAB DeviceNet unit

The interface from the fieldbus against the module is based on the standard
DeviceNet objects and five vendor specific objects. Most applications do not require
the usage of the vendor specific objects. The vendor specific objects can be used to
access different areas in the in the I/O memory of the Weld Data Unit.

For a complete description of the objects, please see chapter 4.1.

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4 FIELDBUS SPECIFIC LISTS AND TABLES

4.1 Object list

The following objects are included in the node.

Object Class number

Identity Object 0x01
Message Router 0x02
DeviceNet Object 0x03
Assembly Object 0x04
Connection Object 0x05
Acknowledge Handler Object 0x2B

DeviceNet objects

Object Class number

I/O Data Input Mapping Object 0xA0
I/O Data Output Mapping Object 0xA1
Diagnostic Object 0xAA
Parameter Data Input Mapping

Object
Parameter Data Output Mapping

Object

Vendor Specific Objects

0xB0

0xB1

4.2 Identity Objects, Class 0x01

Class attributes

# Attribute

Name

1 Revision Get_Attribute_Single Revision of

Instance Attributes

# Attribute

Name

1 Vendor Id Get_Attribute_Single Identification

2 Device Type Get_Attribute_Single Indication of

3 Product code Get_Attribute_Single This is a

Service Description Semantics Default,

the Identity
Object

Service Description Semantics Default,

of each
vendor by
number.

the general
type of prod­uct

code as­signed by a
vendor to
describe the
device.

The Revision attributes,
which consists of Major and
Minor.

Vendor Ids are managed by
ODVA. The value zero is not
valid.

The list of device types is
managed by ODVA. It is
used to identify the device
profile that a particular
product is using. Device
profiles define the minimum
requirements a device must
implement as well as
common options.

The vendor assigned
Product Code identifies a
particular product within a
device type. Each vendor
assigns this code to each of
its products. The Product
Code typically maps to one
or more catalog / model
numbers. Products shall
have different codes if their
configuration and/or runtime
options are different. Such
devices present a different
logical view to the network.

Data

Min,Max

1, 1, 1 UINT

Min,Max

xx, xx,xxUINT

12, 12,12UINT

12, 12,12UINT

Type

Data
Type

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-- 1 0 --

#

Name

4 Revision Get_Attribute_Single Revision of

the item the
Identity Ob­ject repre­sents

5 Status Get_Attribute_Single Summary

Status of the
Device

6 Serial

Number

7 Product

Name

9 Configuration

Consistency
Valu e

Get_Attribute_Single Serial

Number of
the Device

Get_Attribute_Single Human read-

able identifi­cation

Get_Attribute_Single Content

identify con­figuration of
device

SemanticsDescriptionServiceAttribute

The revision attribute, which
consists of Major Revisions,
identifies the Revision of the
item the item the Identity
Object is representing. The
value zero is not valid for
either the Major and Minor
Revision fields. The Major
and Minor Revision are
typically displayed as
major.minor. Minor revisions
shall be displayed as three
digits with leading zeros as
necessary. The Major
Revision attribute is limited
to7bits.Theeighthbitis
reserved by DeviceNet and
must have a default value of
zero

This attribute represents the
current status of the entire
device. Its value changes as
the state of the device
changes.

This attribute is a number
used in conjunction with the
Vendor ID to form a unique
identifier for each device on
DeviceNet. Each vendor is
responsible for guaranteeing
the uniqueness of the serial
number across all of its
devices.

This text string should
represent a short description
of the product / product
family represented by the
product code in attribute 3.

A product may automatically
modify the Configuration
Consistency Value
whenever any non-- volatile
attribute is altered. The client
node’s behavior, upon
mismatch, is vendor specific.

Default,
Min,Max

{1,1},
{1, 1}, {1,
1}

0,

0,

255

N/A,
N/A, N/A

N/A,
N/A, N/A

Data
Type

Array of:

USINT

USINT

WORD

UDINT

SHORT
_
STRING

UINT

4.3 Message Router, Class 0x02

Class Attributet

# Attribute

Name

1 Revision Get_Attribute_Single Revision of

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Service Description Semantics Default,

the Message
Router

-- 1 1 --

The Revision attributes,
which consists of Major and
Minor.

Data

Min,Max

1, 1, 1 UINT

Type

4.4 DeviceNet Object, Class 0x03

Class Attributet

# Attribute

Name

1 Revision Get_Attribute_Single Revision of

Service Description Semantics Default,

the Devi­ceNet Object
Class Defini­tion upon
which the
implementa­tion is made.

Instance Attributes

# Attribute

Name

1 MACID Get_Attribute_Single Node Ad-

2 Baud Rate Get_Attribute_Single The baud

Service Description Semantics Default,

dress.

rate of the
device.

The current value assigned
to this value is two (2). If
updates, which require an
increase in this value, are
made, then the value will be
increased. Support of this
attribute is required.

The attribute contains the
MAC ID for this device. The
range of attributes is 0 to 63
decimal. A device that uses
switches to set MAC ID must
return an Error Response
whose General Error Code
is set to 0E (Attribute not
settable) to a Set_At­tribute_Single Request
specifying the MAC ID
attribute. The exception to
this rule is that if the MAC ID
switches are not user
accessible when the product
is installed, then the
switches can be overridden
via a Set_Attribute_Single.
The MAC ID attribute is
considered non --volatile in
that once configured the
attribute must be remem­bered after a power cycle or
a device reset. If the device
does not know what its MAC
ID is it should default to 63.
The modification of the MAC
ID requires a device to
delete all Connection
Objects and re--execute the
Network Access State
Machine defined in Chapter
XX.

The Baud Rate attributes
indicate the selected baud
rate. Values are:

00 – 125kbit/s

01 – 250kbit/s

Data

Min,Max

1, 1, 1 UINT

Min,Max

Dip
switch,

0,

63

Dip
switch,

0,

2

Type

Data
Type

USIN
T

USIN
T

5 Allocation

Information

bi10c001e

Get_Attribute_Single Allocation

Choice
Master’s
MACID

-- 1 2 --

02 – 500kbit/s
Struct of:

BYTE: Allocation choice

USINT: Master’s MAC ID

N/A,

N/A,

N/A

Struct
of:

BYTE

USIN
T

4.5 Assembly Object, Class 0x04

Class Attributes

ID#Attribute

Name

1 Revision Get_Attribute_Single Revision of the Assembly

DPRAM INPUT AREA, Instance 0x64

ID#Attribute

Name

3 Data Get_Attribute_Single The data is produced

DPRAM INPUT AREA, Instance 0x65 – 0x69

ID#Attribute

Name

3 Data Get_Attribute_Single The data is produced

DPRAM OUTPUT AREA, Instance 0x96

ID#Attribute

Name

3 Data Get_Attribute_Single

DPRAM OUTPUT AREA, Instance 0x97 – 0x9A

ID#Attribute

Name

3 Data Get_Attribute_Single

Service Description Semantics Default,

Object

Service Description Semantics Default,

from I/O input object,
attribute 1. Default is the
data configured as I/O
input data specified
below.

Service Description Semantics Default,

from I/O input object,
attribute 2--5. Default is
the data configured as I/O
input data specified
below.

Service Description Semantics Default,

The data is produced

Set_Attribute_Single

Service Description Semantics Default,

Set_Attribute_Single

from I/O input object,
attribute 1. Default is the
data configured as I/O
input data specified
below.

The data is produced
from I/O input object,
attribute 2--4. Default is
the data configured as I/O
input data specified
below.

The Revision
attribute, which
contain the
object revision.

Data

Min,Max

1, 1, 1 UINT

Min,Max

N/A,

N/A,

N/A

Min,Max

N/A,

N/A,

N/A

Min,Max

N/A,

N/A,

N/A

Min,Max

N/A,

N/A,

N/A

Type

Data
Type

Array of
USINT

Data
Type

Array of
USINT

Data
Type

Array of
USINT

Data
Type

Array of
USINT

4.6 DeviceNet Connection Object, Class 0x05

Class Attributes

ID#Attribute

Name

1 Revision Get_Attribute_Single Revision of the DeviceNet

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Service Description Semantics Default,

Connection Object

-- 1 3 --

Data

Min,Max

2, 2, 2 UINT

Type

Explicit Connection Instance, 0x01

ID#Attribute

Name

1 State Get_Attribute_Single State of the object. 0 = Nonexistent

Service Description Semantics Default,

Min,Max

1,

Data
Type

USINT

2 Instance

Type

3 Transport

Class Trigger

4 Produced

Cnxn Id

5 Consumed

Cnxn Id

6 Initial Comm

Characteris­tics

7 Produced

Connection
Size

Get_Attribute_Single Indicates either I/O or

messaging connection.

Get_Attribute_Single

Set_Attribute_Single
Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Defines behavior of the
connection.

Placed in CAN Identifier
Field when the connec­tion transmits.

CAN Identifier Field value
that denotes message to
be received.

Defines the Message
Group(s) across which
production and consump­tion associated with this.

Maximum number of
bytes transmitted across
this connection.

1 = Configuring

3 = Established

4=Timedout

5 = Deferred
delete

512 512,

0,

5

0, 0, 0 USINT

0x83,
0x83,
0x83

N/A,

N/A,

N/A
N/A,

N/A,

N/A
N/A,

N/A,

N/A

512,

BYTE

UINT

UINT

BYTE

UINT

8 Consumed

Connection
Size

9 Expected

Packet Rate

12 Watchdog

Timeout
Action

13 Produced

Connection
Path Length

14 Produced

Connection
Path

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Maximum number of
bytes received across this
connection.

Defines timing associated
with this Connection.

Defines how to handle
inactivity / Watchdog
timeouts.

Number of bytes in the
produced_connec­tion_path length
attributes.

Application Objects that
produces data on this
connection.

512

512 512,

512,

512

Resolution is
10ms.

0 -- Transition to
time out

1 -- Auto Delete

2 -- Auto Reset

3 -- Deferred
Delete

N/A,

N/A,

N/A
N/A,

N/A,

N/A

0,

0,

0
0,

0,

0

UINT

UINT

USINT

UINT

Array of:
USINT

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-- 1 4 --

ID

Name

#

15 Consumed

Connection
Path Length

16 Consumed

Connection
Path

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Number of bytes in the
consumed_connec­tion_path length
attributes.

Specifies the Application
Object(s) that are to
receive the data
consumed by this
Connection Object.

SemanticsDescriptionServiceAttribute

Polled I/O Connection Instance, 0x02

ID#Attribute

Name

1 State Get_Attribute_Single State of the object. 0 = Nonexistent

Service Description Semantics Default,

Default,
Min,Max

0,

0,

0
N/A,

N/A,

N/A

Min,Max

1,

Data
Type

UINT

Array of:
UINT

Data
Type

USINT

2 Instance

Type

3 Transport

Class Trigger

4 Produced

Cnxn Id

5 Consumed

Cnxn Id

6 Initial Comm

Characteris­tics

7 Produced

Connection
Size

Get_Attribute_Single Indicates either I/O or

messaging connection.

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Defines behavior of the
connection.

Placed in CAN Identifier
Field when the connec­tion transmits.

CAN Identifier Field value
that denotes message to
be received.

Defines the Message
Group(s) across which
production and consump­tion associated with this.

Maximum number of
bytes transmitted across
this connection.

1 = Configuring

3 = Established

4=Timedout

0,

4

0, 0, 1 USINT

N/A,

N/A,

N/A
N/A,

N/A,

N/A
N/A,

N/A,

N/A
N/A,

N/A,

N/A
I/O in

length,
0, I/O in
length

BYTE

UINT

UINT

BYTE

UINT

8 Consumed

Connection
Size

9 Expected

Packet Rate

bi10c001e

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Maximum number of
bytes received across this
connection.

Defines timing associated
with this Connection.

-- 1 5 --

I/O out
length,
0, I/O
out
length

N/A,

N/A,

N/A

UINT

UINT

ID

Name

#

12 Watchdog

Timeout
Action

13 Produced

Connection
Path Length

14 Produced

Connection
Path

15 Consumed

Connection
Path Length

16 Consumed

Connection
Path

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Defines how to handle
inactivity / Watchdog
timeouts.

Number of bytes in the
produced_connec­tion_path length
attributes.

Application Objects that
produces data on this
connection.

Number of bytes in the
consumed_connec­tion_path length
attributes.

Specifies the Application
Object(s) that are to
receive the data
consumed by this
Connection Object.

SemanticsDescriptionServiceAttribute

0 -- Transition to
time out

1 -- Auto Delete

2 -- Auto Reset

3 -- Deferred
Delete

Default,
Min,Max

N/A,

N/A,

N/A

6,

6,

6
20 04 24

64 30
03,

N/A,

N/A
6,

6,

6
20 04 24

96 30
03,

N/A,

Data
Type

USINT

UINT

Array
of:
USINT

UINT

Array
of:
UINT

Bit-- Strobe Connection Instance, 0x03

ID#Attribute

Name

1 State Get_Attribute_Single State of the object. 0 = Nonexistent

2 Instance

Type

3 Transport

Class Trigger

4 Produced

Cnxn Id

5 Consumed

Cnxn Id

6 Initial Comm

Characteris­tics

Service Description Semantics Default,

1 = Configuring

3 = Established

4=Timedout

Get_Attribute_Single Indicates either I/O or

messaging connection.

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Defines behavior of the
connection.

Placed in CAN Identifier
Field when the connec­tion transmits.

CAN Identifier Field value
that denotes message to
be received.

Defines the Message
Group(s) across which
production and consump­tion associated with this.

N/A

Data

Min,Max

1,

N/A,

N/A

1, 0, 1 USINT

N/A,

N/A,

N/A
N/A,

N/A,

N/A
N/A,

N/A,

N/A
N/A,

N/A,

N/A

Type

USINT

BYTE

UINT

UINT

BYTE

bi10c001e

-- 1 6 --

ID

Name

#

7 Produced

Connection
Size

8 Consumed

Connection
Size

9 Expected

Packet Rate

12 Watchdog

Timeout
Action

13 Produced

Connection
Path Length

14 Produced

Connection
Path

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single
Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Maximum number of
bytes transmitted across
this connection.

Maximum number of
bytes received across this
connection.

Defines timing associated
with this Connection.

Defines how to handle
inactivity / Watchdog
timeouts.

Number of bytes in the
produced_connec­tion_path length
attributes.

Application Objects that
produces data on this
connection.

SemanticsDescriptionServiceAttribute

0 -- Transition to
time out

1 -- Auto Delete

2 -- Auto Reset

3 -- Defered
Delete

Default,
Min,Max

N/A,

N/A,

N/A
8, 8, 8 UINT

0,

0,

0xFFFF
N/A,

N/A,

N/A

6,

6,

6
20 04 24

65 30
03,

Data
Type

UINT

UINT

USINT

UINT

Array
of:
USINT

15 Consumed

Connection
Path Length

16 Consumed

Connection
Path

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Number of bytes in the
consumed_connec­tion_path length
attributes.

Specifies the Application
Object(s) that are to
receive the data
consumed by this
Connection Object.

Change of State / Cyclic Connection Instance (Acknowledged), 0x03

ID#Attribute

Name

1 State Get_Attribute_Single State of the object. 0 = Nonexistent

2 Instance

Type

3 Transport

Class Trigger

Service Description Semantics Default,

1 = Configuring

3 = Established

4=Timedout

Get_Attribute_Single Indicates either I/O or

messaging connection.

Get_Attribute_Single

Set_Attribute_Single

Defines behavior of the
connection.

N/A,

N/A
6,

6,

6
20 04 24

97 30
03,

N/A,

N/A

Min,Max

1,

N/A,

N/A

1, 0, 1 USINT

N/A,

N/A,

UINT

Array
of: UINT

Data
Type

USINT

BYTE

bi10c001e

N/A

-- 1 7 --

ID

Name

#

4 Produced

Cnxn Id

5 Consumed

Cnxn Id

6 Initial Comm

Characteris­tics

7 Produced

Connection
Size

8 Consumed

Connection
Size

9 Expected

Packet Rate

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Placed in CAN Identifier
Field when the connec­tion transmits.

CAN Identifier Field value
that denotes message to
be received.

Defines the Message
Group(s) across which
production and consump­tion associated with this.

Maximum number of
bytes transmitted across
this connection.

Maximum number of
bytes received across this
connection.

Defines timing associated
with this Connection.

SemanticsDescriptionServiceAttribute

Default,
Min,Max

N/A,

N/A,

N/A
N/A,

N/A,

N/A
N/A,

N/A,

N/A
0,

0,

N/A
0,

0,

N/A
0,

0,

Data
Type

UINT

UINT

BYTE

UINT

UINT

UINT

12 Watchdog

Timeout
Action

13 Produced

Connection
Path Length

14 Produced

Connection
Path

15 Consumed

Connection
Path Length

16 Consumed

Connection
Path

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Defines how to handle
inactivity / Watchdog
timeouts.

Number of bytes in the
produced_connec­tion_path length
attributes.

Application Objects that
produces data on this
connection.

Number of bytes in the
consumed_connec­tion_path length
attributes.

Specifies the Application
Object(s) that are to
receive the data
consumed by this
Connection Object.

0 -- Transition to
time out

1 -- Auto Delete

2 -- Auto Reset

3 -- Defered
Delete

0xFFFF
N/A,

N/A,

N/A

0,

0,

6
20 04 24

66 30
03,

0,

N/A
4,

4,

4
20 2B 24

01,

20 2B 24
01,

USINT

UINT

Array
of:
USINT

UINT

Array
of: UINT

bi10c001e

20 2B 24
01

-- 1 8 --

4.7 Acknowledge Handler Object, Class 0x2B

Class Attributes

ID#Attribute

Name

1 Revision Get_Attribute_Single Revision of the

2 Max Instance Get_Attribute_Single Maximum instance

Instance Attributes

# Attribute

Name

1 Acknowledge

Timer

2 Retry Limit Get_Attribute_Single

3 COS Produc-

ing Connec­tion Instance

4 Ack List Size Get_Attribute_Single Maximum number of

5 Ack List Get_Attribute_Single List of active

6 Data with Ack

Path List Size

7 Data with Ack

Path List

Service Description Semantics Default,

The current value
DeviceNet Object
Class Definition
upon which the
implementation is
based.

number of an object
currently created in
this class level of the
device.

Service Description Semantics Default,

Get_Attribute_Single

Set_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single Maximum number of

Get_Attribute_Single List of connections

Time to wait fpr
acknowledge before
resending.

Number of Ack
Timeouts to wait
before informing the
producing applica­tion of a
Retry_Limit_Re­ached.

Connection In­stance, which
contains the path of
the producing I/O
application object,
which will be notified
of Ack Handler
events.

members in Ack List.

connection in­stances, which are
receiving Acks.

members in Data
with Ack Path List.

instances / comsum­ing application object
pairs. This attribute
is used to forward
data received with
acknowledgments.

assigned to this

attribute is two (2). If

updates, which

require an increase in

this value, are made,

then the value will be

increased. Support of

this attribute is

required.

The largest instance

number of a created

object at this class

hierarchy level.

Range 1 – 65535 ms
(0 invalid)

Default = 16

Connection instanceIdN/A UINT

0 = Dynamic

Number of members
followed by list of:
Connection Instance
ID

0 = Dynamic

List of connection
instance / consuming
appication object
pairs. This attribute is
used to forward data
received with
acknowledgments.

Data

Min,Max

2, 2, 2 UINT

Min,
Max

16, 1,

65535

1, 0, 255 USINT

N/A Array of:

N/A Array of:

Type

UINT

Data
Type

UINT

USINT

USINT

bi10c001e

-- 1 9 --

4.8 I/O data Input Mapping Object, Class 0xA0

Class Attributes

# Attribute

Name

1 Revision Get_Attribute_All Revision of the I/O

Service Description Semantics Default,

Min,Max

data Input Object

The Revision

attributes, which

contains the object

revision.

1, 1, 1 UINT

Data
Type

Instance Attributes

# Attribute

Name

1 Data Get_Attribute_Single Data that is read. In bytes. N/A Array of:

2 Data Get_Attribute_Single Data that is read. In bytes. N/A Array of:

… … … … … … …

6 Data Get_Attribute_Single Data that is read. In bytes. N/A Array of:

Service Description Semantics Default,

Min,Max

Data
Type

USINT

USINT

USINT

4.9 I/O data Output Mapping Object, Class 0xA1

Class Attributes

# Attribute

Name

1 Revision Get_Attribute_All Revision of the I/O

Service Description Semantics Default,

Min,Max

data Input Object

The Revision

attributes, which

contains the object

revision.

1, 1, 1 UINT

Data
Type

Instance Attributes

# Attribute

Name

1 Data Get_Attribute_Single

2 Data Get_Attribute_Single

… … … … … … …

6 Data Get_Attribute_Single

Service Description Semantics Default,

Min,Max

Data that is read. In bytes. N/A Array of:

Set_Attribute_Single

Data that is read. In bytes. N/A Array of:

Set_Attribute_Single

Data that is read. In bytes. N/A Array of:

Set_Attribute_Single

4.10 Diagnostic Object, Class 0xAA

Class Attributes

ID#Attribute

Name

1 Revision Get_Attribute_Single Revision of the

Service Description Semantics Default,

Min,Max

2, 2, 2 UINT
DeviceNet Connec­tion Object

Data
Type

USINT

USINT

USINT

Data
Type

bi10c001e

-- 2 0 --

Diagnostic Instance 0x01

# Attribute

Name

1 Module serial

number
2 Vendor Id Get_Attribute_Single Manufacture Id UINT * *
3 Fieldbus

Type
4 Module soft-

ware version
5 Interrupt

count

6 Watchdog

counter in
7 Watchdog

counter out

8 Access

metho status

Service Description Seman-

tics

Get_Attribute_Single Serial Number UDINT * *

Get_Attribute_Single Fieldbus type UINT * *

Get_Attribute_Single Software version UINT * *

Get_Attribute_Single Counter in-

cremented each
handshake
interrupt

Get_Attribute_Single Not implemented UINT

Get_Attribute_Single Counter in-

cremented each
1ms

Get_Attribute_Single Access method

state for areas
IN,OUT,FBspec
/CTRL

Default,
Min, Ma x

Data
Type

UINT

UINT

STRUCT
of

{USINT,

USINT,

USINT,

DPM

SCI

USINT }

9 LED status Get_Attribute_Single LED indication

status, 1 byte /
LED

10 Module type Get_Attribute_Single Module type UINT * *
11 Module

status

12 New Data

Field

13 Interrupt

cause
14 Interrupt

notification

15 IN cyclic I/O

length
16 IN DPRAM

length

17 IN Total

length

18 OUT cyclic

I/O length

Get_Attribute_Single Bit information,

Freeze, Clear,
etc.

Get_Attribute_Single Array of new

data flags for 8
bytes area

Get_Attribute_Single Interrupt cause

register

Get_Attribute_Single Interrupt notifica-

tion settings
register

Get_Attribute_Single Size of I/O IN

data (bytes)

Get_Attribute_Single Number of valid

IN bytes in
DPRAM

Get_Attribute_Single Total number of

IN bytes sup­ported

Get_Attribute_Single Size of I/O OUT

data (bytes)

STRUCT
of

{USINT,

USINT,

USINT,

USINT,

USINT,

USINT }

WORD * *

LWO R D

WORD

WORD

UINT * *

UINT

UINT * *

UINT * *

* *

bi10c001e

-- 2 1 --

#

Name

19 OUT DPRAM

length

20 OUT Total

length

21 Reserved Get_Attribute_Single Reserved UINT * *
22 Application

Indication

23 Anybus In-

dication

Get_Attribute_Single Number of valid

Get_Attribute_Single Total number of

Get_Attribute_Single Application

Get_Attribute_Single Anybus Indica-

DescriptionServiceAttribute

OUT bytes in
DPRAM

OUT bytes
supported

Indication regis­ter

tion register

Seman­tics

Default,
Min, Ma x

Data
Type

UINT

UINT * *

USINT *

USINT *

DPM

4.11 Parameter data Input Mapping Object, Class 0xB0

Class Attributes

# Attribute

Name

1 Revision Get_Attribute_All Revision of the I/O

Service Description Semantics Default,

Min,Max

data Input Object

The Revision
attributes, which
contains the object
revision.

1, 1, 1 UINT

Data
Type

SCI

Instance Attributes

# Attribute

Name

1 Data Get_Attribute_Single Data that is read. In bytes. N/A Array of:

2 Data Get_Attribute_Single Data that is read. In bytes. N/A Array of:

… … … … … … …

6 Data Get_Attribute_Single Data that is read. In bytes. N/A Array of:

Service Description Semantics Default,

Min,Max

Data
Type

USINT

USINT

USINT

4.12 Parameter data Output Mapping Object, Class 0xB1

Class Attributes

# Attribute

Name

1 Revision Get_Attribute_All Revision of the I/O

Instance Attributes

# Attribute

Name

1 Data Get_Attribute_Single

2 Data Get_Attribute_Single

… … … … … … …

6 Data Get_Attribute_Single

Service Description Semantics Default,

Min,Max

The Revision

data Input Object

Service Description Semantics Default,

Data that is read. In bytes. N/A Array

Set_Attribute_Single

Data that is read. In bytes. N/A Array

Set_Attribute_Single

Data that is read. In bytes. N/A Array

Set_Attribute_Single

attributes, which
contains the object
revision.

1, 1, 1 UINT

Min,Max

Data
Type

Data
Type

of:
USINT

of:
USINT

of:
USINT

bi10c001e

-- 2 2 --

5 FUNCTIONAL I/O DATA MAP

5.1 IN I/O from Controller to Welding Equipment

Byte 0 Weld On Quick Stop Emerg. Stop Inching Gas purge Clean Inch Reverse (Reset Error)
Byte 1 Wire Feed 1 Wire Feed 2 Wire Feed 3 Wire Feed 4 Analog Active (Simulation) (Rel Wire) Touch Sense
Byte 2 Weld Data Number
Byte 3 Voltage Low Byte(SINT)
Byte 4 Voltage High Byte (SINT)
Byte 5 Wire Feed Speed Low Byte(USINT)
Byte 6 Wire Feed Speed High Byte (USINT)

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

5.2 OUT I/O from Welding Equipment to Controller

Byte 0 Weld Bu sy Arc Ackn. TS resp
Byte 1 Error Type 1 Error Type 2 Error Type 3 Error Type 4 Error Type 5 Error Type 6 Error Type 7 Error Type 8
Byte 2 Error WDU Error PS Error WF
Byte 3 Voltage Low Byte (Measured)
Byte 4 Voltage High Byte (Measured)
Byte 5 Current Low Byte (Measured)
Byte 6 Current High Byte (Measured)

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

6 FUNCTIONAL DESCRIPTION OF I/O

6.1 IN I/O from Controller to Welding Equipment

Weld Status Bits

Weld On

This bit starts a Welding procedure. Before a welding procedure is started the Quick
Stop bit and Emergency stop bits are checked.

Quick Stop

This bit performs a Quick Stop if the Equipment is in a welding procedure. T his
means that the Welding Equipment will do a normal stopping procedure without
Craterfilling.

This function is used when a fast stop is required but it will handle Burnback the
normal way to avoid that the wire is left frozen in the weld pool. This bit will also
block a start command.

Emergency Stop

This bit performs a Emergency Stop if the Equipment is in a Welding procedure. This
means that the welding equipment will shut off the arc, wire feeding and gas flow
without any burnback time. This bit will also block a start command.

Inching

This bit makes the wire feeder to start feed the wire without activating the power
source. The feeder will feed the wire at the adjusted speed. If this bit is activated
during a welding procedure, this command will be ignored.

If both Weld On and Inching is a ctivated at the same time the equipment will ignore
the Inch command and start a welding procedure.

bi10c001e

-- 2 3 --

Gas Purge

The gas control works in parallel with the regular gas handling timers which means
that the gas inputs can be left unused.

A weld start will always start with opening the gas valve if it not already is opened by
activating the input. In similar fashion the end of gas post flow timer will always close
the gas valve if it is not already closed by deactivating the gas input.

Accordingly when you what this input to control the gas valve operations the gas pre
flow time shall be set at minimum and the gas post flow time shall be set at
maximum.

Clean

This bit controls a valve for spatter cleaning gas. The function is not implemented in
the current version of the system.

Inch Reverse

This input bit will control backward--jogging movem ent to position the wire end before
weld start. This function is not implemented in the current version of the system .

Wire Feed 1--4

These bits are used to change active wire feeder. If more than one is activated the
wire feeder with the lowest I/O number will be activated. If non are activated it will
default to the lowest numbered feeder that are present in the system.

Release Wire

This function will execute a current pulse to burn off a wire that is frozen in the weld
pool if previous weld is ended in a not normal way. The release pulse is only
executed if ”Weld On” is off. This function is not implemented in the current version
of the system.

Touch Sense

When this input is activated the power source will output a weak power to detect if
there is contact in the welding circuit. As long as this function is engaged the output
bit ”Touch Sense Response” will be changed accor ding to the condition in the
welding circuit. This function is not implemented in the current version of the system .

Reset Error

This input bit will reset the error indication. Only error indications that do not have
any other way of resetting than reboot of the system are affected by this reset. This
function is not implemented in the current version of the system.

Analog Active

This input is used to switch between analog active mode and normal mode. When
using the Analog Active mode the machine will not use the pre--stored values for
Wire Feed Speed and Voltage when a new Weld Data Set is selected.

The machine will always use the values on the Wire Feed Speed and Voltage inputs
in this mode. When using the Normal mode the machine will set the Wire Fe ed
Speed and Voltage to the values stored in the set.

If the inputs for Wire Feed Speed and Voltage are changed after the Weld Data Set
is changed the machine will use the new values.

bi10c001e

-- 2 4 --

Weld Data Number

This byte is used to recall a complete set of weld data from the weld data memory in
the Weld Data Unit. A complete set of weld data includes all settings that can be
made in the Weld Data Unit.

Among a large number of setting values this includes:

S Wire Type
S Wire Dimension
S Gas Type
S Use of synergic mode or non--synergic mode
S Pulse Welding or Dip/Spray Welding
S Start Data
S Stop Data

Numerical Welding Parameters

Voltage

This 16--bit signed value is used to adjust the voltage value. T h e scaling factor is 100
so if 20 V is wanted, the value should be 2000. The resolution within the machine is
¼ V. This means that if you set 10,6 V the value displayed will be 10,5 V.

If the machine is in non--synergic mode the equipment will simply use the value set.
If the equipment is in synergic mode the machine will use the value as an offset from
the synergic value. The synergic value can be read from the output I/O area.

Wire Feed Speed

This 16--bit unsigned value is used to adjust the wire feed value. T h e scaling factor is
100 so if 15 m/min is wanted, the value should be 1500. The resolution within the
machine is ¼ m/min.

6.2 OUT I/O from Welding Equipment to Controller

Weld Status Bits

Weld Busy

This signal indicates that the welding equipment is occupied with welding. If a stuck
wire or a burn through will break the welding circuit then the power source will go on
trying to weld until it gets a stop command.

A condition that makes the Arc acknowledge signal to fall does not stop the welding
equipment from continuing the attempts to weld.

As a default value, the weld busy signal is activated when the gas preflow begins
until the gas postflow stops. By chosing Weld Busy in the configuration menu, it is
possible to choose to have the weld busy signal activated when the power source
outputs power, until the gas postflow stops. In the menu you can also choose to have
the weld busy signal activated when the power source outputs power, until the power
source shuts down the power output.

Arc Acknowledge

This signal will be activated when the arc is established at a weld start and it will fall
when voltage and current variations indicate that there can not be welding any
longer.

bi10c001e

-- 2 5 --

The criteria for arc established is that the process control has passed its start
procedure which means that it is not enough with just a short--circuit to fulfill the
criteria. Typical delay times from first contact to Arc acknowledge (wire feed time till
first contact not included) is in the r ange 2 to 20 ms. In case of a bad start the Arc
acknowledge signal will be more delayed.

The Arc acknowledge signal will stay on until either the weld is interrupted or the
welding is stopped the normal way. At a normal stop the Arc acknowledge signal will
fall when the finalizing procedures are ended (i.e. craterfill, burnback) and the power
source cuts the arc.

An interrupted weld is detected if abnormal conditions during welding makes the
weld process control deviate significantly from a normal working point. A certain
filtering time is used for this detection.

One example is if the wire is stuck and the Power Source keeps an arc between
workpiece and contact nozzle so that a normal current detection would indicate that
current is flowing and arc is assumed OK. In this case the Arc acknowledge signal
will fall due to that the weld controller has deviated to much from normal welding
conditions.

Touch Sense Response

This output bit will indicate contact in welding circuit as long as input bit ”Touch
Sense ” is active It will be ”0” all other time. This function is not implemented in the
current version of the system.

Error of type 1-- 8

There is an error of the indicated type in one of the err o r masks. Which error that will
be caught can be configured with a service function. With this feature it is possible to
configure, for example, one error type to be a general error and another error type to
be gas error and so on.

As a default the error types are configured as follows:

Error 1   
Error 2   
Error 3   
Error 4    
Error 5  
Error 6  
Error 7   
Error 8   
Error 9   
Error 10   
Error 11   
Error 12   
Error 13 
Error 14   
Error 15   
Error 16 
Error 17   
Error 18   
Error 19   
Error 20   
Error 21   
Error 22   
Error 23   
Error 24 
Error 25  
Error 26   
Error 27   

Error type 1 Error type 2 Error type 3 Error type 4 Error type 5 Error type 6 Error type 7 Error type 8 Reset Error

bi10c001e

-- 2 6 --

Error 28   
Error 29  
Error 30   
Error 31   
Error 32  
Error 33   
Error 34   
Error 35   
Error 36   
Error 37   
Error 38   
Error 39  

Reset ErrorError type 8Error type 7Error type 6Error type 5Error type 4Error type 3Error type 2Error type 1

ErrorinWeldDataUnit

Change in Weld Data Unit Errors. Is set to 1 when there is a change in the Weld
Data Unit bit mask. Does not matter if a specific error arises or disappears.

Error in Power Source Unit

Change in Power Source Unit Errors. Is set to 1 when there is a change in the Weld
Data Unit bit mask. Does not matter if a specific error arises or disappears.

Error in Wire Feed Unit

Change in Wire F eed Unit Errors. Is set to 1 when there is a change in the Weld
Data Unit bit mask. Does not matter if a specific error arises or disappears.

Weld Data Number

This byte is updated every time there has been a successful recall of a Weld Data
Set. In case that the desired Weld Data Set does not exist in the Weld Data Memory,
the old number will remain.

Note that if the controller recall a Weld Data Set and the Operator uses the Weld
Data Unit to change any individual parameter, the Weld Data in the Operating Weld
Data Memory and the Weld Data in the Weld Data Set indicated by this byte will not
be consistent.

Numerical Welding Parameters

Voltage

This 16--bit unsigned value indicates which voltage the welding machine is using. If a
value is set that are outside limits, this value will be set to the nearest allowed value.

Wire Feed Speed

This 16--bit signed value indicates which wire feed speed the wire feeder is using. If
a value is set that ar e outside limits, this value will be set to the nearest allowed
value.

Synergic Voltage

This 16--bit unsigned value indicates the result of the calculations preformed by the
welding equipment. This value is only valid when running in synergic mode.

Measured Values

Voltage

This value is measured by the welding equipment. In pulse welding it can be
configured if the value presented should be the average value or the pulse value.

bi10c001e

-- 2 7 --

Current

This value is measured by the welding equipment.

Power

This value is measured by the welding equipment.

bi10c001e

-- 2 8 --

Appendix 1

Specification of error codes in LUD

Error code Description SLUD LUD MEK

1 EPROM   

2 RAM   

3 ERAM 

4 Power supply voltage 5V   

5 High DC voltage 

6 High temperature 

7 High primary xternal current 

8 DC Voltage 1*  

9 DC Voltage 2*  

10 DC Voltage 3* 

11 Current--servo / Wire speed--servo  

12 Communication error ( warning -- internal bus )   

14 Communication error ( bus off -- internal bus ) 

15 Message lost ( internal bus )   

Appendix 1

17 Lost contact with MEK 

18 Lost contact with LUD 

19 Error in battery-- driven memory 

20 Unaccepted setting values 

21 Incompatible setting values 

22 Spill in transmit buffer 

23 Spill in receive buffer 

25 Incompatible weld data format 

26 Watchdog  

27 No more wire detected 

28 Stack overflow   

29 No more water flow 

30 Lost contact with TIG--card 

31 No answer from display card 

32 Error detected in gas flow 

33 Hardware check failed in fieldbus interface 

34 Memory test failed in fieldbus interface 

35 Initialisation failed in fieldbus interface 

36 Watchdog timeout in fieldbus interface 

37 Fieldbus interface initialisation lost. 

38 Bus Off in fieldbus interface. 

39 Lost contact with analog remote node. 

*)

Unit DC voltage 1 DC voltage 2 DC voltage 3

SLUD 3 V (batt)
LUD +15VC --15V +15VB
MEK 15V 20V

bi10c001e

-- 2 9 --

p

-- 3 0 --

p

-- 3 1 --

ESAB subsidiaries and representative offices

Europe

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Tel: [phone]
Fax: [phone]

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Tel: [phone]
Fax: [phone]

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Tel: [phone]
Fax: [phone]

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Tel:[phone]
Fax:[phone]

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Fax: [phone]

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Tel:[phone]
Fax:[phone]

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Tel: [phone]
Fax: [phone]

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Tel: [phone]
Fax: [phone]

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CHINA

Shanghai ESAB A/P
Shanghai
Tel: [phone]
Fax: [phone]

INDIA

ESAB India Ltd
Calcutta
Tel: [phone]
Fax: [phone]

INDONESIA

P.T. ESABindo Pratama
Jakarta
Tel: [phone]
Fax: [phone]

JAPAN

ESAB Japan
Tokyo
Tel: [phone]
Fax:[phone]

MALAYSIA

ESAB (Malaysia) Snd Bhd
Selangor
Tel: [phone]
Fax:[phone]

SINGAPORE

ESAB Asia/Pacific Pte Ltd
Singapore
Tel:[phone]
Fax: [phone]

SOUTH KOREA

ESAB SeAH Corporation
Kyungnam
Tel: [phone]
Fax: [phone]

UNITED ARAB EMIRATES

ESAB Middle East FZE
Dubai
Tel: [phone]
Fax: [phone]

Representative offices

BULGARIA

ESAB Representative Office
Sofia
Tel/Fax: [phone]

EGYPT

ESAB Egypt
Dokki--Cairo
Tel: [phone]
Fax: [phone]

ROMANIA

ESAB Representative Office
Bucharest
Tel/Fax: [phone]

RUSSIA

LLC ESAB
Moscow
Tel: [phone]
Fax: [phone]

LLC ESAB
St Petersburg
Tel: [phone]
Fax: [phone]

Distributors

For addresses and phone
numbers to our distributors in
other countries, please visit our
home page

www.esab.com

ESAB AB
SE--695 81 LAXÅ
SWEDEN
Phone [phone]

www.esab.com

060517