Parker 6K, GEM6K User Information

Automation

Ethernet Networking for 6K and Gem6K

Effective: February 11, 2002

U

se

r

I

nform

ation

!!

6K and Gem6K Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel.

6K and Gem6K Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.

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nnifin

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orporation

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ights

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eserve

d

Motion Planner and Servo Tuner are trademarks of Parker Hannifin Corporation. Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation.

W

ARNIN

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hnical

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ort

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A

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Contact your local automation technology center (ATC) or distributor,

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urop

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:

Ethernet Networking

User Instruction Material

Contents

Ethernet Networking ......................................................................................................1

Overview ........................................................................................................1

Networking Guidelines...........................................................................................3

Configuring the 6K for Ethernet Communication ..................................................5

Networking with Other 6K or Gem6K Products (Peer-to-Peer) .............................8

Networking with OPTO22 SNAP I/O ....................................................................9

Networking with a DVT Vision System...............................................................11

Networking with an Allen-Bradley SLC 5/05 PLC ..............................................12

Error Conditions ...................................................................................................15

Command Descriptions ................................................................................................17

NTCONN Network Connect ..........................................................................17

NTID Network Sharing Unit ID for Peer-to-Peer Communication.........18

NTIO Network I/O (OPTO22) Configuration.........................................19

NTIP Network IP Address......................................................................21

NTMPRB Network Map Binary Variables for Reading from PLC................22

NTMPWB Network Map Binary Variables for Writing to PLC.....................23

NTMPRI Network Map Integer Variables for Reading from PLC...............24

NTMPWI Network Map Integer Variables for Writing to PLC.....................25

NTPOLL Network Polling Rate....................................................................26

NTRATE Network Sharing Rate for Peer-to-Peer Communication ..............27

[ NTS ] Network Status..............................................................................28

NTSELP Network Program Select Enable...................................................28

NTWRIT Network Write ASCII String to DVT Camera..............................29

TNTS Transfer Network Status ...............................................................30

TNTSF Transfer Network Status (full-text report).....................................30

VARSHI Shared Input Variable for Peer-to-Peer Data Exchange................31

VARSHO Shared Output Variable for Peer-to-Peer Data Exchange .............32

[ \ANI ] Network Analog Input Voltage Status ..........................................34

\ANO Network Analog Output................................................................35

[ \ANO ] Network Analog Output Status .....................................................36

[ \IN ] Network Digital Input Status ........................................................37

\OUT Network Digital Output ................................................................38

[ \OUT ] Network Digital Output Status......................................................39

\TANI Transfer Network Analog Input Status .........................................40

\TANO Transfer Network Analog Output Status.......................................41

\TIN Transfer Network Digital Input Status..........................................42

\TIO Transfer Ethernet I/O status..........................................................42

\TOUT Transfer Network Digital Output Status .......................................43

Ethernet Networking

Overview

The 6K is equipped for Ethernet communication. It includes 10Base-T (10Mbps twisted pair);

TCP/IP protocol. RJ-45 connector. Default IP address is 192.168.10.30. You have these options for networking the 6K over Ethernet:

Setup Wizard Available

The Motion Planner Wizard Editor provides a setup wizard, called “Network”, to help you establish 6K Client/Server communication (up to six servers).

• 6K as a client. You can connect the 6K via Ethernet to multiple devices, creating a client/server network. The 6K is the client, and has the ability to open or close a connection with another device (server) and request information from that device. The 6K supports up to 6 simultaneous server connections. Devices (servers) that may be connected to the 6K include:

− Allen Bradley SLC5-05 PLC (see page 12 for setup procedures)

− OPTO22 SNAP I/O, using Modbus/TCP protocol (see page 9 for setup

procedures)

− DVT vision system cameras (see page 11 for setup procedures)

EXAMPLE — Closed Network:

6K

Client (Server to PC)

IP = 192.168.10.30

Device 1

Server

IP = 192.168.10.120

Ethernet Switch

(255.255.255.0)

out

Device 2

Server

IP = 192.168.10.80

Client

IP = 192.168.10.31

Ethernet Switch

(255.255.0.0)

out

Connection to company network

Ethernet

Card

Ethernet

Card

IP = 172.20.44.180

PC

page 1

EXAMPLE — Direct Connect to One Server:

Crossover Cable provided in 6K ship kit (p/n 71-017635-01)

Serial Cable

Device

6K

PC

• 6K as a server. The 6K waits for a PC to establish a connection with it and then provides information on a continual or requested basis. The PC communicates with the 6K using the COM6SRVR Communications Server, which is also what Motion Planner uses to communicate with the 6K (for details, refer to the COM6SRVR Communications Server Programmer’s Reference). The 6K does not support simultaneous connections with multiple clients (PCs).

EXAMPLE — Closed Network:

Switch or Hub

(255.255.255.0)

6K

Server

IP = 192.168.10.30

Client

IP = 192.168.10.31

Ethernet

Card

EXAMPLE — Direct Connect to PC:

Crossover Cable provided in 6K ship kit (p/n 71-017635-01)

6K

Server

IP = 172.20.34.30

Ethernet

Card

Switch or Hub

(255.255.0.0)

Connection to company network

Ethernet

Card

PC

IP = 172.20.44.180

Switch or Hub

(255.255.0.0)

Connection to company network

Ethernet

Card

PC

Client

IP = 172.20.34.160

IP = 172.20.44.180

• Combination of server and client. For example, the 6K could be the client for an OPTO22 (server) and an Allen-Bradley PLC (server). At the same time, a software program running on a PC could be using the 6K as a server.

Ethernet Switch

(255.255.255.0)

out

6K

Client (Server to PC)

IP = 192.168.10.30

Device 2

Device 1

Server

IP = 192.168.10.120

Server

IP = 192.168.10.80

Client

IP = 192.168.10.31

Ethernet Switch

(255.255.0.0)

out

Connection to company network

Ethernet

Card

Ethernet

Card

IP = 172.20.44.180

PC

page 2

Setup Wizard Available

The Motion Planner Wizard Editor provides a setup wizard, called “Network”, to help you establish 6K peer-to-peer communication.

• Peer-to-peer network with other 6K or Gem6K units. The 6K may be connected to other 6K devices (6K Controllers or Gem6K drive/controllers) via Ethernet. Up to eight 6K devices may be networked in this manner. This type of connection uses UDP broadcasting and is not

a client/server relationship. (see page 8 for setup procedures)

Ethernet Switch

(255.255.255.0)

out

Ethernet Switch

(255.255.0.0)

out

IP = 192.168.10.30

Networking Guidelines

• Use a closed network. Because of network broadcasts, it is best to put the 6K, along with any associated server devices, on a closed network with its own subnet. If you have a PC connected to the Ethernet Client/Server network and the PC is also connected to your company’s network, use one Ethernet card for the Ethernet Client/Server network and another Ethernet card for the company network (refer to the example below).

6K unit 1

6K unit 2

IP = 192.168.10.40

IP = 192.168.10.31

Ethernet Switch

(255.255.255.0)

Ethernet

Card

IP = 172.20.44.180

Ethernet Switch

(255.255.0.0)

out

Connection to company network

Ethernet

Card

PC

out

page 3

6K

Client (Server to PC)

IP = 192.168.10.30

IP = 192.168.10.120

Device 1

Server

Device 2

Server

IP = 192.168.10.80

Client

IP = 192.168.10.31

Ethernet

Card

Ethernet

Card

PC

IP = 172.20.44.180

• If the 6K is placed on an open network, put the 6K and any associated server devices

p

on one side of an Ethernet network switch with its own subnet and install a bridge to filter traffic, such that broadcast traffic does not pass in either direction (see diagram below).

Ethernet Switch

(255.255.255.0)

out

Bridge

Ethernet Switch

(255.255.0.0)

out

6K

Client

IP = 192.168.10.30

Device 1

Server

IP = 192.168.10.120

Device 2

Server

IP = 192.168.10.80

IP = 172.20.44.180

Ethernet

Card

PC

• Use a switch (recommended) or hub if you are making more than one Ethernet connection with the 6K.

• The 6K client must have the same subnet address as all of the server devices it will connect to (PLC, OPTO22, DVT, etc.). For example, if the subnet mask (

NTMASK

255.255.255.0, and the subnet address is 192.168.10.*, then all devices (including the 6K) must have an address starting with 192.168.10.*, where the * number is unique to the device.

• Fieldbus (DeviceNet or Profibus) versions of the 6K (part numbers 6Kn-DN or 6Kn-PB) cannot also communicate as an Ethernet Client at the same time.

If you have a Fieldbus unit and need to use Ethernet instead, execute the command, then the

NTFEN1

or

NTFEN2

To re-enable Fieldbus communication, execute the command (this disables Ethernet communication), and then the

command (this disables the Fieldbus features), and then the

RESET

command.

NTFENØ

command, then the

OPTEN1

OPTENØ

command.

RESET

) is

page 4

You cannot communicate to the 6K with simultaneous transmissions over both the

•

“ETHERNET” and “RS-232” (

PORT1

) connections.

• Follow the manufacturer’s setup procedure for each Allen-Bradley PLC, DVT camera and OPTO22 Ethernet I/O rack.

• You should be able to ping every 6K, DVT camera, PLC and OPTO22 I/O rack from the PC. Use the ping command at the DOS prompt:

ing 192.168.10.30

(space)

Device’s IP Address

If your PC responds with “ check your Ethernet wiring and IP address setting.

Request Timed Out

”,

• The following Ethernet setup commands need only be sent once to the 6K because they are saved in non-volatile memory and are remembered on power-up and

NTIO, NTIP, NTMPRB, NTMPRI, NTMPWB

, and

NTMPWI

.

RESET: NTID

• If a PC is connected to the 6K/Device Ethernet network, then the PC should include all devices in a static mapping table. The static mapping procedure, for the 6K’s address, is found on page 6.

• If the 6K is in a peer-to-peer network, enable Ethernet communication with the command (

NTFEN2

mode is not compatible with peer-to-peer communication).

NTFEN1

,

Configuring the 6K for Ethernet Communication

Step 1— Preparing the Controller over RS-232

Step 2—Setting TCP/IP Properties and Static Mapping

Changing the 6K’s IP

Address or Subnet Mask

The factory default 6K IP address is 192.168.10.30; the default mask is

255.255.255.0.

If the default address and mask are not compatible with your network, you may change them with the NTADDR and NTMASK commands, respectively (see 6K Series Command Reference for details on the NTADDR and NTMASK commands). To ascertain the 6K’s Mac address, use the TNTMAC command. The NTADDR, NTMASK and TNTMAC commands may be sent to the 6K controller over an RS-232 interface (see Steps 4-6). NOTE: If you change the 6K’s IP address or mask, the changes will not take affect until you cycle power or issue a RESET command.

There are three major steps in setting up Ethernet communication between a PC and controller:

• Step 1 prepares the 6K for Ethernet communication, and must be performed using RS-232 communication.

• Step 2 sets the TCP/IP properties on your PC to allow Ethernet communication, and statically maps the 6K’s MAC address to the IP address of the Ethernet card in your PC. The static mapping eliminates the PC’s need to ARP the controller, which reduces communication overhead.

• Step 3 connects the PC to the 6K via the Ethernet.

1. Connect the 6K controller to your network (refer to Networking Guidelines on page 3).

2. Establish an RS-232 communication link between the 6K and your computer (connect to the 6K’s “RS-232” connector according to the instructions in the 6K Installation Guide).

3. Install Motion Planner on your computer, and launch Motion Planner. Click on the Terminal tab to view the terminal emulator.

4. In the Terminal window, click on the

button to view the Communications Settings dialog. Select the Port tab and select the COM port that is connected to the 6K’s “RS-232” connector (see Step 2 above). Click OK.

5. In the Terminal window, enable Ethernet communication:

a. If you are using the 6K as a server or client, type the

ENTER, then type the

command and press ENTER.

RESET

NTFEN2

command and press

b. If you are using the 6K in a peer-to-peer connection with another 6K or Gem6K, type the

NTFEN1

command and press ENTER, then type the

command and press ENTER.

RESET

1. Connect the 6K controller to your network (refer to Networking Guidelines on page 3).

Install your Ethernet card and configure it for TCP/IP protocol. Refer to your Ethernet card’s

2.

user documentation for instructions. (If you need to change the 6K’s IP address or subnet mask, refer to the note on the left.)

3.

(see illustration below) Configure your Ethernet card’s TCP/IP properties so that your computer can communicate with the 6K controller.

a. Access the Control Panels directory. b. Open the Network control panel. c. In the Network control dialog, select the Configuration tab (95/98) or the Protocols tab

(NT) and double-click the TCP/IP network item to view the TCP/IP Properties dialog.

d. In the TCP/IP Properties dialog, select the IP Address tab, select “Specify an IP Address”,

type in 192.168.10.31 in the “IP Address” field, and type in 255.255.255.0 in the “Subnet Mask” field.

e. Click the OK buttons in both dialogs to finish setting up your computer’s IP address.

page 5

If you are using Windows NT, select the “Protocols” tab.

Make sure this number is different from the one in the 6K’s IP address. If the 6K’s default IP address is unchanged (192.168.10.30), then select a number other than 30.

If you are using a computer (Ethernet card) that is normally connected to a network, you should write down the existing IP Address and Subnet Mask values, so that you may restore them later.

NOTE

4. Establish an RS-232 communication link between the 6K and your computer (connect to the 6K’s “RS-232” connector according to the instructions in the 6K Installation Guide).

5. Install Motion Planner on your computer, and launch Motion Planner. Click on the Terminal tab to view the terminal emulator.

6. In the Terminal window, click on the

button to view the Communications Settings dialog. Select the Port tab and select the COM port that is connected to the 6K’s “RS-232” connector (see Step 4 above). Click OK.

7. In the Terminal window, enable Ethernet communication with the appropriate

NTFEN

command:

a. If you are using the 6K as a server or client, type the

then type the

command and press ENTER.

RESET

NTFEN2

command and press ENTER,

b. If you are using the 6K in a peer-to-peer connection with another 6K or Gem6K, type the

NTFEN1

command and press ENTER, then type the

command and press ENTER.

RESET

8. Use the following sub-procedure to statically map the 6K’s Ethernet MAC address to IP

address of the Ethernet card in your PC. Static mapping eliminates the need for the PC to ARP the 6K controller, thereby reducing communication overhead.

In Motion Planner’s Terminal window, type

a.

and press ENTER. The response

TNT

includes the 6K IP address, and the 6K Ethernet address value in hex

(this is also known as the “MAC” address). Write down the IP address and the Ethernet address (hex value) for later use in the procedure below.

b. Start a DOS window. The typical method to start a DOS window is to select MS-DOS

Prompt from the Start/Programs menu (see illustration below).

page 6

c.

p

At the DOS prompt, type the

arp –s 192.168.10.30 0-90-55-0-0-1 192.168.10.31

arp –s

command (see example below) and press ENTER.

Spaces

(press the space bar)

6K’s IP Address

(from

d.

To verify the mapped addresses, type the

TNT

report)

If you receive the response “

Switch to the Motion Planner Terminal window, type NTFEN2 (or NTFEN1 if using a

1)

6K’s Ethernet Address

(from

TNT

report)

arp –a

No ARP Entries Found

IP Address of Ethernet Card

command and press ENTER.

”:

peer-to-peer network) and press ENTER, then type RESET and press ENTER.

Switch the DOS window, type the ping command and press ENTER: to

2)

ing 192.168.10.30

(space)

Repeat the arp –s command as instructed above. Use arp –a to verify.

3)

6K’s IP Address (from

TNT

report)

If your PC responds with “

Timed Out

wiring and IP address setting.

”, check your Ethernet

4) Switch to the Motion Planner Terminal window, type NTFEN2 (or NTFEN1 if using a peer-to-peer network) and press ENTER, then type RESET and press ENTER.

e. (OPTIONAL) Automate the

arp –s

static mapping command. This allows your PC

to automatically perform the static mapping when it is booted; otherwise, you will have to manually perform static mapping every time you boot your PC.

• Windows 95/98: Add the

• Windows NT:

Create a batch file that contains the arp –s command. Save the file

arp –s

(name the file “6KARP.BAT”) to the root directory on the C drive. Using Windows Explorer, locate the 6KARP.BAT file, create a shortcut, then cut and paste the shortcut into the StartUp directory. Windows NT has several StartUp directories to accommodate various user configurations. We recommend using the Administrators or All Users locations. For example, you can paste the shortcut into the WinNt\Profiles\AllUsers\StartMenu\Programs\StartUp directory, allowing all users to statically map the IP and Mac addresses whenever the PC is booted.

command to the Autoexec.bat file.

Request

Step 3— Connecting the 6K to the PC through Ethernet

1. Connect the 6K Controller to your computer using a cross-over 10Base-T cable (5-foot cable provided in ship kit).

2. In Motion Planner’s Terminal window, click the{bmc b_comset.bmp} button to view the Communications Settings dialog. Select the Port tab, select “Network” and type the IP address (192.168.10.30) in the text field. Click OK.

You may now communicate to the controller over the Ethernet interface. Reminder: You cannot communicate to the 6K with simultaneous transmissions over both the “ETHERNET” and “RS-232” (PORT1) connections.

(located on the RJ-45 “ETHERNET” connector):

Ethernet Connection Status LEDs

• Green LED turns on to indicate the Ethernet physical connection is OK.

• Yellow LED flashes to indicate the 6K is transmitting over the Ethernet interface.

page 7

Networking with Other 6K or Gem6K Products (Peer-to-Peer)

You can communicate information between 6Ks and Gem6Ks over Ethernet. This feature uses UDP broadcasting over the subnet to transfer data, so no client/server connection is needed.

Up to 8 different 6K or Gem6K devices can share information, with each device having access to shared data from the 7 other devices. Each device can broadcast 8 pieces of information using “shared output” variables (

VARSHO1 through VARSHO8

information you can assign to a “shared output” variable.

). The following table lists the

Setup

..........Acceleration

A

........Deceleration

AD

.....Analog input voltage

ANI

.....Analog output voltage

ANO

........Axis status

AS

.....Extended axis status

ASX

..........Distance

D

.....DAC output value

DAC

...RP240 keypad value

DKEY

........Error status

ER

........Feedback device pos.

FB

........Following status

FS

........Input status

IN

.....Enable input status

INO

.....Limit input status

LIM

.....Axis moving status

MOV

... Master cycle number

NMCY

..... Output status

OUT

... Analog input position

PANI

....... Commanded position

PC

..... Captured command pos.

PCC

..... Captured encoder pos.

PCE

... Captured master enc. pos. V............Velocity

PCME

....... Encoder position

PE

..... Position error

PER

... Position of Master

PMAS

..... Master encoder pos.

PME

... Net position shift

PSHF

... Follower pos. command

PSLV

....... Controller status

SC

... PLC scan time

SCAN

..... Free segment buffers

SEG

..........System status

SS

SWAP

TASK

........Timer value

TIM

TRIG

..........User-defined status

US

VARI

VARB

........Commanded velocity

VEL

VELA

VMAS

VARSHI

......Task swap assignment

......Task number

......Trigger interrupt status

......Integer variable

......Binary variable

......Actual velocity

......Velocity of the master

.Shared input variable

The data can be either binary, as in the AS (axis status) operand, or a 32-bit unscaled integer, as

(encoder position) operand. The data stored in the

in

The

PE

NTRATE

command sets the rate at which each controller broadcasts its updated

VARSHO

data. RECOMMENDATION: Set all devices to broadcast at the same

is not scaled.

NTRATE

VARSHO

rate of 50

milliseconds.

For 6K or Gem6K sending and/or receiving information via the Peer to Peer feature:

1. Connect the 6K/Gem6K products to the network and configure each 6K/Gem6K for Ethernet communication according to the procedures on page 4.

2. Set the broadcasting rate with

NTRATE

command, preferably the same for each unit.

3. If the unit is to receive data only (not send) you are finished with the setup for that unit. If the unit is to send also, complete steps 4 and 5.

4. Assign a unique unit number (1-8) with the

5. Assign data to the eight broadcast variables with the

NTID

command.

VARSHO

command.

6. Repeat steps 2-5 for each unit in the peer-to-peer network.

Example

First 6K or Gem6K:

NTID1 ; Assign this unit a peer-to-peer unit number of 1 VARSHO1 = 1A ; Shared variable #1 contains axis 1's acceleration VARSHO2 = 1PE ; Shared variable #2 contains axis 1's encoder position ; *********************************************************************** ; * Use this space to define shared output variables VARSHO3 – VARSHO7. * ; *********************************************************************** VARSHO8 = VARI1 ; Shared variable #8 contains the value of VARI1 NTRATE50 ; Set the broadcasting rate to 50 milliseconds

Second 6K or Gem6K:

NTID2 ; Assign this unit an ID of 2 VARSHO1 = 1D ; Shared variable #1 contains axis 1's programmed distance VARSHO2 = 3PE ; Shared variable #2 contains axis 3's encoder position ; *********************************************************************** ; * Use this space to define shared output variables VARSHO3 – VARSHO7. * ; *********************************************************************** VARSHO8 = 1ANI.1 ; Shared variable #8 contains the voltage value at analog

page 8

Program Interaction

; input 1 on I/O brick 1 NTRATE50 ; Set the broadcasting rate to 50 milliseconds

Third 6K or Gem6K:

NTRATE50 ; Set the broadcasting rate to 50 milliseconds ; This third unit will receive data only. Therefore, it does not require ; a unit ID number or VARSHO data assignment

Each Unit can read the broadcast variables of each other unit with the The “n” specifies the ID number (

VARSHO VARSHO8

number of that unit to be read. For example, if you want unit 1 to read unit 2’s

data, then use

2VARSHI8

) of the unit you want to read from, the “i” is the

NTID

.

nVARSHIi

command.

Using the

VARSHI

command, you can process data from the

to-peer unit. Use the following ways:

• Assign the

VARSHO

data to a For example, the command to the

• Assign the VARSHO the binary value of

• Use the

integer variable.

VARI1

VARSHO

data to a virtual input (IN). For example,

VARSHO3

data in a conditional expression for an IF, statement. For example, if onboard trigger input 3 ( unit 1 wait until trigger input 3 on unit 2 was on:

Example

First 6K or Gem6K (unit 1):

VARI1 = 2VARSHI8 ; Assign Unit 2's VARSHO8 (which is the voltage value ; at analog input 1 on I/O brick 1) to VARI1.

Second 6K or Gem6K (unit 2):

VARI100 = 1VARSHI2 ; Assign Unit 1's VARSHO2 (which is the encoder position ; of axis 1) to VARI100.

Third 6K or Gem6K (reading data only):

VARI90 = 1VARSHI1 ; Assign Unit 1's VARSHO1 (which is the acceleration of ; axis 1) to VARI90.

Networking with OPTO22 SNAP I/O

(numeric),

VAR

VARI1=2VARSHI8

(integer), or

VARI

assigns the value of

from unit 2 to virtual input brick 3.

VARSHO5

VARSHO5=IN.3

on unit 2 is assigned is assigned the status of

), then you could use this command to make

WAIT(2VARSHI5=b1)

VARSHO

WAIT, WHILE

variable of another peer-

(binary) variable.

VARB

, or

UNTIL

on unit 2

assigns

VARSHO8

3IN=2VARSHI3

.

The 6K client can communicate with the OPTO22 SNAP I/O server to read digital and analog inputs and outputs, and write digital and analog outputs. The 6K supports up to eight modules per OPTO22.

Setup

1. Follow the manufacturer’s setup procedure for the OPTO22 Ethernet I/O rack.

2. Connect the 6K and OPTO22 products in a network and configure the 6K for Ethernet

3. Choose a Server Connection Number for this device. The 6K can support up to 6

4. Enter the IP address of the OPTO22 and specify a 2 for connection type with the

5. Attempt a connection to the device with

6. Inform the 6K of the configuration of the OPTO22. For each module position, use the

page 9

communication according to the procedures on page 4.

simultaneous server connections. Pick a number (1-6) that has not been used already for another connection. This will be used to reference the OPTO22 unit from now on.

NTIP

command. For example, if the OPTO22 is Server #3 and its IP address is 172.20.34.170, then the command would be

the command would be is set (see set (see

NTS, TNTS, TNTSF

ER, TER, TERF

3NTCONN1

).

3NTIP2,172,20,34,170

NTCONN

. If the connection is successful, Network Status bit #1

). If the connection is unsuccessful, Error Status bit #23 is

.

. For example, if the server number is 3,

command to specify the type of module in that position.

NTIO

n \ m NTIO

Example

Program Interaction

Network Server #

Range: 1-6

Module Type. Options are:

1 = Digital/Discrete Inputs 2 = Digital/Discrete Outputs 3 = Analog Inputs 4 = Analog Outputs

Module # on Server “n”

Range: 0-7

For example, if there is a digital input module in slot 0, then the command would be

3\0NTIO1 3\7NTIO3

7. Set the polling rate with the example, to set the polling rate to 50 ms on server #3, use the

. If there is an Analog Input module in slot 7, then the command would be .

NTPOLL

command. 50 milliseconds is recommended. For

3NTPOLL50

command. If

there is an error during polling, then Error Status bit #24 will be set.

NTADDR172,34,54,123 ; Set the IP address of the 6K OPTEN0 ; Disable the option card (for Fieldbus units only) RESET NTFEN2 ; Enable network function on 6K RESET

DEL OPTOSU DEF OPTOSU 2NTIP2,172,34,54,124 ; Identify an OPTO22 device as Server #2, which is ; located at IP address 172.34.54.124 2NTCONN1 ; Attempt connection to Server #2 (OPTO22) 2\1NTIO2 ; Configure OPTO22 module 1 as digital output 2\2NTIO2 ; Configure OPTO22 module 2 as digital output 2\3NTIO1 ; Configure OPTO22 module 3 as digital input 2\4NTIO3 ; Configure OPTO22 module 4 as analog input 2NTPOLL50 ; Begin polling, set polling interval to 50 ms END

Once the OPTO22 is configured and a connection is made, you can then set outputs and check inputs.

How the 6K addresses OPTO22 I/O locations:

The 6K addresses each I/O bit by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four I/O points, or channels, and are numbered 1-4. Analog input and output modules have two I/O points, or channels, and are numbered 1-2.

EXAMPLE: OPTO22 is Network Server #3

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

3\0IN.3 3\3OUT.2 3\5ANO.1 3\7ANI.2

• To verify the I/O configuration (as per inputs and outputs, type

n\TIO

• To set a digital output, type module number, “

= off). To set multiple digital outputs on the same module, type

0

” is the point number on that module and “b” is the state (1 = on,

i

1

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2

Digital Output

Module

Output

1

Output

2

Output

3

Output

4

NTIO

3

Digital Output Module

Output

Analog

Output

Module

Output

1

Output

2

3

4

) and to check the status of each module’s

, where “n” is the server number.

n\mOUT.i-b

, where “n” is the server number, “m” is the

Ot t#1

4

1

2

5

Analog Output Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

n\mOUTbbbb

:

7

Analog

Input

Module

Input

1

Input

2

page 10

Output #1

Output #2 Output #3 Output #4

n \ m OUT b b b b

Network Server #

Range: 1-6

Module # on Server “n”

Range: 0-7

Options for “b” are:

1 = Turn on 0 = Turn off x = Don’t Change

For example (Server #3), to turn on outputs #1 and #4 and leave outputs #2 and #3 unchanged on module #2, type

3\2OUT1XX1

. To turn off only output #4, type

3\2OUT.4-0

.

• To set an analog output voltage, type

n\mANO.i-r

, where “n” is the server number, “m” is the module number, “i” is the output number on that module and “r” is the voltage. For example, to set analog output #1 on module #5 of Server #3 to 6.4V, type

3\5ANO.1=6.4

• To read a digital input or output module, use the assignment/comparison operands ( or

n\mOUT

- IF(3\0IN=b1100) is an IF condition that reads all four digital inputs on module #0.

- IF(3\2OUT=b1100) is an IF condition that reads all four outputs on module #2.

- 3\0TIN transfers the binary status of all four digital inputs on module #0.

- 3\2TOUT transfers the binary status of all four digital outputs on module #2.

) or the transfer commands (

IF(3\0IN.2=b1) is an IF condition that reads only digital input #2 on module #0.

IF(3\2OUT.3=b1) is an IF condition that reads only digital output #3 on module #2.

3\0TIN.2 transfers the binary status of only digital input #2 on module #0.

3\2TOUT.3 transfers the binary status of only digital output #3 on module #2.

n\mTIN

or

n\mTOUT

). Following are examples:

• To read an analog input or output module, use the assignment/comparison operands (

n\mANI

or

n\mANO

) or the transfer commands (

n\mTANI

or

n\mTANO

). Following are

examples:

- WAIT(3\7ANI.2<2.4) is an WAIT condition that reads analog input #2 on module #7.

- IF(3\5ANO.1>=1.0) is an IF condition that reads analog output #1 on module #5.

- 3\6TANI transfers the voltage status of both analog inputs on module #6. 3\6TANI.2 transfers the voltage status of only analog input #2 on module #6.

- 3\4TANO transfers the voltage status of both analog outputs on module #4.

3\4TANO.1 transfers the voltage status of only analog output #1 on module #4.

n\mIN

.

Networking with a DVT Vision System

The controller can send trigger commands to the camera. The camera should send back ASCII

page 11

Setup

strings similar to what follows:

assignments set apart by commas. The values are then written to the controller’s

VAR

This data can represent anything, such as an x-y coordinate.

1. Follow the manufacturer’s setup procedure for the DVT camera.

2. Connect the 6K and DVT camera in a network and configure the 6K for Ethernet communication according to the procedures on page 4.

3. Choose a Server Connection Number for this device. The 6K can support up to 6 simultaneous client connections. Pick a number (1-6) that has not been used already for another server connection. This will be used to reference the device from now on.

4. Enter the IP address of the camera and specify a 3 for connection type with the command. For example, if the DVT camera is Server #6 and its IP address is

172.20.34.150, then the command would be

5. Attempt a connection to the device with the command would be #1 is set (see is set (see

NTS, TNTS, TNTSF

ER, TER, TERF

VARn = 123.456, VARm = 234.567

6NTCONN1

).

. The ASCII strings are

s;

VAR

NTIP

6NTIP3,172,20,34,150

NTCONN

. For example, if the server number is 6,

.

. If the connection is successful, Network Status bit

). If the connection is unsuccessful, Error Status bit #23

Example

6NTIP3,172,34,54,150 ; Identify a DVT camera as Server #6, located at ; IP address 172.34.54.150. 6NTCONN1 ; Attempt the connection to Server #6

Program Interaction

Example

Once a connection has been established, you can write trigger commands to the camera using the

NTWRIT

DEL DVT DEF DVT 6NTCONN1 ; Attempt connection to DVT camera 6NTWRIT"DVT commands" ; Write the text "DVT commands" to camera END

command.

Networking with an Allen-Bradley SLC 5/05 PLC

The Allen-Bradley SLC 5/05 exchanges integer and binary data with the 6K. The data exchange is accomplished by mapping integer variables ( the 6K with data elements in the PLC’s integer and binary data files. The 6K limits the amount of variable mapping to 100 binary variables (50 write, 50 read) and 100 integer variables (50 write, 50 read).

Setup

1. Follow the manufacturer’s setup procedure for each Allen-Bradley PLC, DVT camera and OPTO22 Ethernet I/O rack.

2. Connect the 6K and Allen-Bradley PLC in a network and configure the 6K for Ethernet communication according to the procedures on page 4.

3. Choose a connection number for this device. The 6K can support up to 6 simultaneous client connections. Pick a number (1-6) that has not been used already for another client connection. The number is used to reference the device from now on.

4. Enter the IP address of the PLC and specify a 1 for connection type with the command. For example, if the PLC is Server #5 and its IP address is 172.20.34.124, then the command would be

3NTIP1,172,20,34,124

) and binary variables (

VARI

.

VARB

NTIP

) in

5. Attempt a connection to the device with the command would be #1 is set (see is set (see

NTS, TNTS, TNTSF

ER, TER, TERF

5NTCONN1

).

. If the connection is successful, Network Status bit

). If the connection is unsuccessful, Error Status bit #23

NTCONN

. For example, if the server number is 5,

6. Map the required integer and binary variables between the 6K and the data files in the Allen-Bradley PLC. There are four mappings possible (a programming example is provided below).

• Use the NTMPRB file and write them to

Network Server #

Range: 1-6

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first binary variable (

(beginning of range, max value is 125)

• Use the file and write them to

NTMPRI

command to read up to 50 binary elements from a PLC’s binary

variables in the 6K.

VARB

n NTMPRB i, i, i, i

) in 6K

VARB

EXAMPLE:

IF:

Allen-Bradley PLC is server #5

•

The PLC’s binary data file 3 has 30

•

elements. Use data elements 15-29 (15 elements total) for binary data that is to be shared with the 6K. Use the 6K’s binary variables 35-49

•

(15 variables total) to store the data from the PLC.

The required mapping command is:

5NTMPRB3,15,15,35

command to read up to 50 integer elements from a PLC’s Integer

variables in the 6K.

VARI

page 12

Example

n NTMPRI i, i, i, i

Network Server #

Range: 1-6

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first integer variable (

(beginning of range, max value is 225)

• Use the the 6K to binary elements in a PLC’s binary file.

• Use the the 6K to a integer elements in a PLC’s integer file.

NTMPWB

Network Server #

Range: 1-6

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first binary variable (

(beginning of range, max value is 125)

NTMPWI

Network Server #

Range: 1-6

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first integer variable (

(beginning of range, max value is 225)

command to write up to 50 binary values from

command to write up to 50 integer values from

7. Set the polling rate with the

n NTMPWB i, i, i, i

n NTMPWI i, i, i, i

VARI

VARB

VARI

NTPOLL

) in 6K

command. 50 milliseconds is recommended. For example, to set the polling rate to 50 ms on Server #5, use the there is an error during polling, Error Status bit #24 will be set (see

EXAMPLE:

IF:

Allen-Bradley PLC is server #5

•

The PLC’s integer data file 9 has 30

•

elements. Use data elements 15-29 (15 elements total) for integer data that is to be shared with the 6K. Use the 6K’s integer variables 35-49

•

(15 variables total) to store the data from the PLC.

The required mapping command is:

5NTMPRI9,15,15,35

variables in

VARB

EXAMPLE:

IF:

Allen-Bradley PLC is server #5

•

In the PLC’s binary data file 3, use

•

data elements 0-14 (15 elements total) for binary data that is to be transmitted from the 6K. Use the 6K’s binary variables 20-34

•

(15 variables total) to store the data to be transmitted to the PLC.

The required mapping command is:

5NTMPWB3,0,15,20

variables in

VARI

EXAMPLE:

IF:

Allen-Bradley PLC is server #5

•

The PLC’s integer data file 9 has 30

•

elements. Use data elements 0-14 (15 elements total) for integer data to be transmitted from the 6K. Use the 6K’s integer variables 20-34

•

(15 variables total) to store the data to be transmitted to the PLC.

The required mapping command is:

5NTMPWI9,0,15,20

5NTPOLL50

command. If

ER, TER

or

TERF

).

NTADDR172,34,54,123 ; Set the IP address of the 6K OPTEN0 ; Disable the option card (for Fieldbus units only) RESET NTFEN2 ; Enable network function on 6K RESET 5NTIP1,172,34,54,124 ; Identify network server #5 as an Allen Bradley PLC ; at IP address 172.34.54.124 5NTCONN1 ; Connect to network server #5 5NTMPRB11,7,1,106 ; File 11, element 7 in the AB PLC is mapped to the 6K's ; binary variable VARB106 5NTMPRI20,5,2,128 ; File 20, elements 5-6 in the AB PLC are mapped to ; the 6K's integer variables VARI128-VARI129, respectively 5NTMPWB11,3,4,100 ; File 11, elements 3-6, in the AB PLC are mapped to ; the 6K's binary variables VARB100-VARB103 5NTMPWI20,3,2,120 ; File 20, elements 3-4, in the AB PLC are mapped to ; the 6K's integer variables VARI120-VARB121 5NTPOLL50 ; Start polling network server #5, set interval to 50 ms. ; ********************************************************************* ; The 6K's VARB106 will read from the PLC's File 11, element 7. ; The 6K's VARI128-VARI129 will read from the PLC's File 20, elements 5-6. ; The PLC's File 11, elements 3-6 will read from the 6K's VARB100-VARB103. ; The PLC's File 20, elements 3-4 will read from the 6K's VARI120-VARB121. ; *********************************************************************

page 13

Program Interaction

After the connection is established, mapping has been set up, and polling enabled, the 6K starts exchanging data automatically with the PLC. Here is how to:

Example

• Write a binary variable to the PLC

NTMPWB

mapping. The new data is written to the binary file during the next poll.

• Write an integer variable to the PLC

NTMPWI

mapping. The new data is written to the integer file during the next poll.

• Read a binary variable from the PLC

: Write a value to one of the

: The

variables in the

VARB

variables in the

VARB

variables in the

VARI

NTMPRB

mapping

correspond to the values in the binary file in the PLC.

• Read an integer variable from the PLC

: The

variables in the

VARI

NTMPRI

mapping

correspond to the values in the integer file in the PLC.

VARB100 = HAB79 ; Element 3 in file 10 of the AB PLC will be equal to VARB100 if(VARB106 = B1111111111111111) ; VARB106 will be equal to variable 7 in ; file 10 of the AB PLC if(VARI129 = 17) ; Element 6 in file 20 of the AB PLC will be equal to VARI129 VARI121 = 17 ; Element 4 in file 20 of the AB PLC will be equal to VARI121

page 14

Error Conditions

Error Messages

The 6K will transmit error message to alert you of certain error conditions. Following are the error messages related to Ethernet networking.

Error Response Possible Cause

CONNECTION COULD NOT BE CLOSED OR

ALREADY CLOSED

CONNECTION COULD NOT BE OPENED

CONNECTION ERROR, CONNECTION IS

NOW BEING CLOSED

CONNECTION IS NOT OPEN

CONNECTION IS OPEN - MUST CLOSE

FIRST

ERROR, INVALID FILE TYPE, NUMBER

OR SIZE. SETTING NTMP COMMANDS TO 0 ELEMENTS. CHECK MAPPING.

ERROR, INVALID STRING

ETHERNET CAN NOT BE USED WITH

OPTION CARD - SEE OPTEN

ETHERNET COMMUNICATION MUST BE

ENABLED BEFORE MAKING CONNECTION - SEE NTFEN

INVALID CONNECTION NUMBER

INVALID I/O POINT

INVALID POINT TYPE OR NUMBER,

SEE NTIO

INVALID SERVER TYPE

NETWORK INPUTS AND OUTPUTS CANNOT

BE ASSIGNED TO A VARSHO

NETWORK IP ADDRESS CANNOT BE

CHANGED WHILE CONNECTION IS OPEN, SEE NTCONN

NO NETWORK IP ADDRESS SPECIFIED

FOR CONNECTION, SEE NTIP

NTFEN MUST BE 1 TO USE THIS

COMMAND

NTRATE MUST BE 0 TO CHANGE NTFEN

Tried to close the network server connection (nNTCONNØ)

when the connection was already closed.

Tried NTCONN1 and failed. Problem could be invalid IP

address or it refused a connection.

Connection error or timeout with server. When polling and

get timeout or message aborted. This condition also sets

Error Status bit #23 (see ER, TER, TERF).

Tried a NTWRIT when connection is not open; or tried a

\TANI or \TANO or \TIN or \TOUT or \TIO when

connection is not open.

Tried to open a network server connection (nNTCONN1)

when the connection was already open.

Tried to read the wrong Allen-Bradley PLC file type, there

are not enough elements in the file, or the file doesn’t exist.

The 6K automatically stop polling all mapped binary and

integer variables (equivalent to executing the

NTMPRBi,i,0,i, NTMPWBi,i,0,i, NTMPRIi,i,0,i,

and NTMPWIi,i,0,i, commands).

The DVT camera sent an invalid string response.

Tried to enable Ethernet communication (NTFEN) on a

Fieldbus version of the 6K (part number is 6Kn-PB for

PROFIBUS units, 6Kn-DN for DeviceNet units). You must

disable the internal option card with OPTENØ before

enabling Ethernet communication. The 6K cannot

communicate over a Fieldbus connection and Ethernet

connection simultaneously.

Tried to connect to an Ethernet server (nNTCONN1) before

you enabled Ethernet communication in the 6K with the

NTFEN command.

Tried to make an NTS assignment or comparison using an

invalid server number (e.g., VARB1 = 7NTS).

Tried to read or write an OPTO22 I/O point that is not

configured according to the NTIO command.

Tried to set or read an I/O point (with an \IN, \OUT, \ANI,

\ANO, \TANI, \TANO, \TIN, or \TOUT command), but that

I/O point was configured with the NTIO command to be

different I/O type.

Tried an OPTO22-related command (\TANI, \TANO, \TIN,

\TOUT, \TIO, \IN, \OUT, \ANI, \ANO, etc.) for a non-

OPTO22 connection.

Tried to assign the status of OPTO22 I/O to a VARSHO

variable.

Tried to execute an NTIP command while the connection is

open.

Tried to connect (nNTCONN1) to a server # that has not yet

been established with the NTIP command, or tried to

connect to a server in an incompatible subnet.

(Peer-to-peer connection only) Tried to execute an NTRATE

command while NTFEN is set to a value other than NTFEN1.

(Peer-to-peer connection only) Tried to execute an NTFEN

command while NTRATE is set to a non-zero value.

page 15

Error Response

NTSELP ALREADY ENABLED ON THIS

TASK

OPTION CARD CAN NOT BE USED WITH

ETHERNET - SEE NTFEN

VARB USED BY OPTION CARD

VARIABLE MAPPING CONFLICT, SEE

NTMPRB, NTMPRI, NTMPWI, NTMPWB MAPPINGS

Possible Cause

NTSELP, which enables program selection via OPTO22 inputs, has already been enabled (if multitasking, it has been enabled for this specific Task).

Tried to enable the internal Fieldbus Option card for PROFIBUS or DeviceNet communication (6Kn-PB and 6KnDN products only) with the OPTEN1 command. You must disable Ethernet communications with the NTFENØ command before enabling the Option card. The 6K cannot communicate over a Fieldbus connection and Ethernet connection simultaneously.

Tried to map a binary variable to read from or write to an Allen-Bradley data file, but the variable is already used for Fieldbus (PROFIBUS or DeviceNet) data transfer functions.

Tried to map the same 6K VARB or VARI variables for read and write functions. Or tried to map the same 6K VARB or VARI variables to another PLC.

Error Handling

The 6K has a Error Status register for logging certain error conditions. If you enable checking for an error condition (see program (see

ERRORP

command) when it detects the error condition. The Ethernet networking

command), the 6K will branch to the designated error

ERROR

related Error Status register bits are noted below.

ERROR

Bit #

Cause of the Error

23 Ethernet Client

Connection Error. (Can’t connect.)

24

Ethernet Client Polling Error. (After connect and polling device for data, polling timeout occurred. Cause could be disconnect, client lost power, etc.)

Branch Type to ERRORP

Gosub

How to Remedy the Error

Clear the error bit (ERROR.23-0), re-establish

the Ethernet connection (nNTCONN1), and then issue ERROR.23-1.

Clear the error bit (ERROR.24-0), re-establish

the Ethernet connection (nNTCONN1), and then issue ERROR.24-1.

page 16

Command Descriptions

NTCONN

Type: Syntax: Units:

Range:

Default:

Response: See Also:

The

NTCONN

connection is successful, it will be reported to the user with the message “ status bit #1 will be set (see

Network

<!><n>NTCONN

n = network server # b = Enable bit

n = 1-6 b = 0 (disconnect) or 1 (connect)

n = 1 b = 0

1NTCONN: *1NTCONN0

ER, NTIP, [ NTS ], TER, TERF, TNTS, TNTSF

command attempts the connection to the server (the server # is assigned with the

Network Connect

NTS, TNTS

, and

Product Rev

6K 5.3

command). If the

NTIP

CONNECTION SUCCESSFUL

). If the connection is unsuccessful (e.g., attempting to connect to an

TNTSF

” and Network Server

unspecified server #, or attempting to connect to a server in an incompatible subnet), then Error Status bit #23 is set to 1 (see

ER, TER

CONNECTION, SEE NTIP

, and

) and the 6K transmits the error message “

TERF

”.

NO NETWORK IP ADDRESS SPECIFIED FOR

Potential Error Conditions:

• If you attempt to connect to an Ethernet server before you enable Ethernet communication in the 6K with the command, the 6K will not allow the connection and will transmit the error message “

NTFEN

COMMUNICATION MUST BE ENABLED BEFORE MAKING CONNECTION - SEE NTFEN

• If you attempt to execute an

message “

NETWORK IP ADDRESS CANNOT BE CHANGED WHILE CONNECTION IS OPEN, SEE NTCONN

command attempt while the connection is open, the 6K will transmit the error

NTIP

”.

ETHERNET

”.

• If there is a connection error, a polling timeout, error message from the server (etc.), the 6K will transmit the error

message “

ER, TER

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC located at

2NTCONN1 ; Attempt connection to network server #2 2NTCONN0 ; Close the connection to network server #2

CONNECTION ERROR, CONNECTION IS NOW BEING CLOSED

, and

).

TERF

; IP address 172.54.125.34

page 17

” and will also set Error Status bit #23 (see

NTID

Type: Syntax: Units: Range: Default: Response: See Also:

The

NTID

Network

<!>NTID

n/a

i = 0-8

i = 0 (receive variable data only, do not send variable data)

NTID *NTID2

NTRATE, VARSHI, VARSHO

command establishes the Network Unit ID for a 6K unit involved in a peer-to-peer Ethernet connection with

Network Sharing Unit ID for Peer-to-Peer Communication

Product Rev

6K 5.3

other 6K or Gem6K products. Up to eight 6K or Gem6K products may be connected in the peer-to-peer network.

Saved in Non-Volatile Memory

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

Implementation process for peer-to-peer communication (further details are provided in the Programmer’s Guide):

1. Connect the 6K/Gem6K products to the network and configure each 6K/Gem6K for Ethernet communication according to the Ethernet Networking configuration procedures in the Programmer’s Guide.

2. Set the broadcasting rate with

NTRATE

command, preferably the same rate (50 milliseconds is recommended) for

each unit.

3. If the unit is to receive data only (not send) you are finished with the setup for that unit. If the unit is to also send, complete steps 4 and 5.

4. Assign a unique unit number (1-8) with the

5. Assign data to the broadcast variables (up to eight) with the

NTID

command.

VARSHO

command.

6. Repeat steps 2-5 for each unit in the peer-to-peer network.

Example:

; ************************************************************************************* ; CONNECT TO 6K UNIT #1 AND SEND THE FOLLOWING SETUP COMMANDS

NTID1 ; Assign this unit a peer-to-peer unit #1 VARSHO1 = 1A ; Shared variable #1 contains axis 1's acceleration VARSHO2 = 1PE ; Shared variable #2 contains axis 1's encoder position ; ``````````````````````````````````````````````````````````````````````` ; ` Use this space to define shared output variables VARSHO3 – VARSHO7. ` ; ``````````````````````````````````````````````````````````````````````` VARSHO8 = VARI1 ; Shared variable #8 contains the value of VARI1 NTRATE50 ; Unit #1 will broadcast at 50-millisecond intervals

; *************************************************************************************

; ************************************************************************************* ; CONNECT TO 6K UNIT #2 AND SEND THE FOLLOWING SETUP COMMANDS

NTID2 ; Assign this unit a peer-to-peer unit #2 VARSHO1 = 1D ; Shared variable #1 contains axis 1's programmed distance VARSHO2 = 3PE ; Shared variable #2 contains axis 3's encoder position ; ``````````````````````````````````````````````````````````````````````` ; ` Use this space to define shared output variables VARSHO3 – VARSHO7. ` ; ``````````````````````````````````````````````````````````````````````` VARSHO8 = 1ANI.1 ; Shared variable #8 contains the voltage value at analog

NTRATE50 ; Unit #2 will broadcast at 50-millisecond intervals

; *************************************************************************************

; ************************************************************************************* ; CONNECT TO 6K UNIT #3 AND SEND THE FOLLOWING SETUP COMMANDS

NTRATE50 ; Unit #3 will broadcast at 50-millisecond intervals ; This third unit will receive data only. Therefore, it does

; *************************************************************************************

; input #1 on I/O brick #1

; not require a unit ID number or VARSHO data assignment.

page 18

NTIO

Type: Syntax: Units:

Range:

Default: Response: See Also:

Network I/O (OPTO22) Configuration

Network

<!><n>\<m>NTIO

n = network server # m = OPTO22 I/O module # i = I/O module type identifier

n = 1-6 m = 0-7 i = 1 (digital inputs), 2 (digital outputs), 3 (analog inputs), or 4 (analog outputs)

0\0NTIO0

2\3NTIO: *2\3NTIO2

\ANI,

[ \ANI ], \ANO, [ \ANO ], \IN, NTCONN, NTIP, \OUT, [ \OUT ], \TIO

n \ m NTIO

Product Rev

6K 5.3

Network Server #

Range: 1-6

Module # on Server “n”

Range: 0-7

Use the

command to identify to the 6K controller the type(s) of I/O modules that are used by a specific OPTO22

NTIO

server. The 6K, in turn, can use these I/O with the network I/O handling commands (

Module Type. Options are:

1 = Digital/Discrete Inputs 2 = Digital/Discrete Outputs 3 = Analog Inputs 4 = Analog Outputs

\IN, \OUT, \ANI

, and

\ANO

).

Saved in Non-Volatile Memory

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

Implementation process for client/server connection to an OPTO22 unit (further details are provided in the Programmer’s Guide):

1. Follow the manufacturer’s setup procedure for the OPTO22 Ethernet I/O rack.

2. Connect the 6K and OPTO22 products in a network and configure the 6K for Ethernet communication according to the Ethernet Networking configuration procedures in the Programmer’s Guide

3. Choose a Server Connection Number for this device. The 6K can support up to 6 simultaneous server connections. Pick a number (1-6) that has not been used already for another connection. This will be used to reference the OPTO22 unit from now on.

4. Enter the IP address of the OPTO22 and specify a 2 for connection type with the

command. For example, if

NTIP

the OPTO22 is Server #3 and its IP address is 172.20.34.170, then the command would be

3NTIP2,172,20,34,170

5. Attempt a connection to the device with

3NTCONN1

. If the connection is successful, Network Status bit #1 is set (see

is unsuccessful, Error Status bit #23 is set (see

6. Inform the 6K of the configuration of the OPTO22. For each module position, use the

.

NTCONN

. For example, if the server number is 3, the command would be

). If the connection

command to specify

ER, TER, TERF

NTS, TNTS, TNTSF

).

NTIO

the type of module in that position. For example, if there is a digital input module in slot 0, then the command would be

3\0NTIO1

7. Set the polling rate with the rate to 50 ms on server #3, use the

. If there is an Analog Input module in slot 7, then the command would be

NTPOLL

command. 50 milliseconds is recommended. For example, to set the polling

3NTPOLL50

command. If there is an error during polling, then Error Status

3\7NTIO3

.

bit #24 will be set.

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 device at IP address

2NTCONN1 ; Attempt connection to network server #2 2\0NTIO1 ; Server #2 (OPTO22), module 0 is a digital input module 2\1NTIO2 ; Server #2 (OPTO22), module 1 is a digital output module 2\2NTIO3 ; Server #2 (OPTO22), module 2 is an analog input module 2NTPOLL50 ; Start polling the OPTO22 (start reading and writing I/O),

; 172.54.125.34

; set the polling interval to 50 milliseconds. ; After this point, you can read and write to the inputs with

page 19

; the OPTO22 I/O handling commands: \ANI, [ \ANI ], \ANO, [ \ANO ], ; \IN, \OUT, [

\OUT ], \TANI, \TANO, \TIN, \TIO, \TOUT

page 20

NTIP

Type: Syntax: Units:

Range:

Default:

Response:

See Also:

Network IP Address

Network

<!><n>NTIP,,,,

n = network server #

st

1

i = Server type

nd

2

i = IP address octet1

rd

3

i = IP address octet2

th

4

i = IP address octet3

th

5

i = IP address octet4

n = 1-6

st

1

i = 1-3 (1 = Allen-Bradley PLC, 2 = OPTO22, 3 = DVT camera)

nd

2

i through 5th i = 0-255.

n = 0 1st i = 1

nd

2

i through 5th i = 0

NTIP: *1NTIP1,172,54,125,34

*2NTIP1,172,54,125,67

*3NTIP ... (shows config. of all servers)

1NTIP: *1NTIP1,172,54,125,34

ER, NTADDR, NTCONN, NTMASK, [ NTS ], TNTS, TNTSF

Network Server #

Range: 1-6

Server Type

1 = Allen-Bradley PLC 2 = OPTO22 (MODBUS/TCP) 3 = DVT Vision Camera

.

<n> NTIP ,,,,

IP Address of Server

Range for each octet = 0-255. For example, to enter an address of

172.20.34.246, type in (be sure to use commas instead of periods between the octets).

Product Rev

6K 5.3

.

172,20,34,246

The NTIP

command describes the type of connection the 6K controller will make with a server, and it specifies the IP

address of the server.

Saved in Non-Volatile Memory

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

Potential Error Conditions:

• A valid IP address for the designated server must be specified or the 6K connection will timeout and Error Status bit #23 (see

ER, TER

, and

) will be set to 1, and the

TERF

NTS/TNTS/TNTSF

reports will indicate which connection

was in error.

• The subnet address must be the same for the 6K and any server it connects to, or a connection error (

ER.23

occur. For example, if the subnet mask is 255.255.255.0 (class C) and the 6K’s address is 172.20.34.246, then every server it connects to must have an address of 172.20.34.x.

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC

; (Server Type #1) at IP address 172.54.125.34

) will

page 21

NTMPRB

Type: Syntax: Units:

Range:

Default: Response: See Also:

Network

<!><n>NTMPRB,,,

n = network server # 1 2 3 4

n = 1-6 1 2 3 4

1NTMPRB0,0,0,0 (no mapping)

1NTMPRB: *1NTMPRB1,5,15,23

NTCONN, NTIP, NTMPWB, NTMPWI, NTMPRI, NTPOLL, [ NTS ], TNTS, TNTSF, VARB

Network Server #

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first binary variable (VARB) in 6K

(beginning of range, max value is 125)

Network Map Binary Variables for Reading from PLC

st

i = Allen Bradley data file #

nd

i = # of the 1st element in data file (beginning of range)

rd

i = # of the elements to include in range

th

i = # of the 1st binary (VARB) variable in the 6K to map to

st

i = 0-n (n depends on size of file)

nd

i = 0-n (n depends on size of file)

rd

i = 0 or 1-50 (0 disables polling for this mapping only)

th

i = 1-125

<n> NTMPRB ,,,

Range: 1-6

EXAMPLE:

IF:

Allen-Bradley PLC is server #2

•

The PLC’s binary data file 3 has 30

•

elements. Use data elements 15-29 (15 elements total) for binary data that is to be shared with the 6K. Use the 6K’s binary variables 35-49

•

(15 variables total) to store the data from the PLC.

The required mapping command is:

2NTMPRB3,15,15,35

Product Rev

6K 5.3

NTMPRB

The 6K. There are 125

command maps a range of binary data elements from the AB PLC to a range of binary (

variables available in the 6K for storing binary data. To perform a binary read from the PLC:

VARB

1. Assign the AB PLC a server number, according to its IP address (

2. Connect to the AB PLC, according to its server number (

NTCONN

3. Map a range of binary elements in the AB PLC to a range of binary (

command).

NTIP

command).

) variables in the 6K (

VARB

) variables in the

VARB

NTMPRB

command).

4. Start polling the AB device at a specific polling interval (

NTPOLL

variables with the binary element data from the AB PLC. You can then use the PLC binary data (via the

command). This updates the 6K binary (

VARB

variables) in conditional expressions, command value substitutions and variable assignments.

Saved in Non-Volatile Memory

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

Potential Error Conditions:

• You are not allowed to map the same 6K VARB the same 6K

NTMPRB

command and will transmit the error message “

variables to another PLC. If you attempt either of these conditions, the 6K will not accept the

VARB

variables for read and write functions. Nor are you allowed to map

VARIABLE MAPPING CONFLICT…

”.

• If you attempt to read from an AB data file of the wrong type, or read from a non-existent data element, the 6K will not accept the

NTMPRB

OR SIZE…” and it will automatically stop polling all mapped binary and integer variables (equivalent to executing

the

NTMPRBi,i,0,i, NTMPWBi,i,0,i, NTMPRIi,i,0,i

command, it will transmit the error message “

, and

NTMPWIi,i,0,i

ERROR, INVALID FILE TYPE, NUMBER

, commands).

Control over Polling: If you want to stop the 6K from reading binary data from the PLC, but continue to exchange

NTMPRI, NTMPWI

use the

nNTPOLL0

and

NTMPWB

command.

data, use the

NTMPRBi,i,0,i

command. If you need to stop polling all mapped variables,

VARB

)

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC at

page 22

2NTCONN1 ; Attempt connection to network server #2 2NTMPRB3,15,15,35 ; File 3, elements 15-29, in the AB PLC are mapped to

2NTPOLL50 ; Start polling network server #2, set interval to 50 ms WAIT(VARB40=b1111111100000000) ; Wait until the value of VARB40 (mapped to file 3,

; IP address 172.54.125.34

; the 6K's binary variables VARB35-VARB49

; element 20, in the PLC) is 1111111100000000

NTMPWB

Type: Syntax: Units:

Range:

Default: Response: See Also:

Network

<!><n>NTMPWB,,,

n = network server #

st

1

nd

2

rd

3

th

4

n = 1-6

st

1

nd

2

rd

3

th

4

1NTMPWB0,0,0,0 (no mapping)

1NTMPWB: *1NTMPWB1,5,15,23

NTCONN, NTIP, NTMPRB, NTMPWI, NTMPRI, NTPOLL, [ NTS ], TNTS, TNTSF, VARB

Network Server #

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first binary variable (VARB) in 6K

(beginning of range, max value is 125)

Network Map Binary Variables for Writing to PLC

i = Allen Bradley data file # i = # of the 1st element in data file (beginning of range) i = # of the elements to include in range i = # of the 1st binary (VARB) variable in the 6K to map to

i = 0-n (n depends on size of file) i = 0-n (n depends on size of file) i = 0 or 1-50 (0 disables polling for this mapping only) i = 1-125

<n> NTMPWB ,,,

EXAMPLE:

Range: 1-6

IF:

Allen-Bradley PLC is server #2

•

In the PLC’s binary data file 3, use

•

data elements 0-14 (15 elements total) for binary data that is to be transmitted from the 6K. Use the 6K’s binary variables 20-34

•

(15 variables total) to store the data to be transmitted to the PLC.

The required mapping command is:

2NTMPWB3,0,15,20

Product Rev

6K 5.3

The NTMPWB 6K. There are 125

command maps a range of binary data elements from the AB PLC to a range of binary (

variables available in the 6K for exchanging binary data. To perform a binary write to the PLC:

VARB

1. Assign the AB PLC a server number, according to its IP address (

2. Connect to the AB PLC, according to its server number (

3. Map a range of binary elements in the AB PLC to a range of binary (

NTCONN

command).

NTIP

command).

) variables in the 6K (

VARB

) variables in the

VARB

NTMPWB

command).

4. Start polling the AB device at a specific polling interval ( the AB PLC with the data from the mapped

Saved in Non-Volatile Memory

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

variables in the 6K.

VARB

NTPOLL

command). This updates binary data elements in

Potential Error Conditions:

• You are not allowed to map the same 6K VARB the same 6K

NTMPWB

command and will transmit the error message “

variables to another PLC. If you attempt either of these conditions, the 6K will not accept the

VARB

variables for read and write functions. Nor are you allowed to map

VARIABLE MAPPING CONFLICT…

”.

• If you attempt to write to an AB data file of the wrong type, or to a non-existent data element, the 6K will not accept the

NTMPWB

SIZE…” and it will automatically stop polling all mapped binary and integer variables (equivalent to executing the NTMPRBi,i,0,i, NTMPWBi,i,0,i, NTMPRIi,i,0,i

command, it will transmit the error message “

, and

NTMPWIi,i,0,i

ERROR, INVALID FILE TYPE, NUMBER OR

, commands).

page 23

Control over Polling: If you want to stop the 6K from writing binary data to the PLC, but continue to exchange

NTMPWI nNTPOLL0

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC at

2NTCONN1 ; Attempt connection to network server #2 2NTMPWB3,0,15,20 ; File 3, elements 0-14, in the AB PLC are mapped to

2NTPOLL50 ; Start polling network server #2, set interval to 50 ms VARB25 = b1111000011110000 ; The value of AB file 3, element 5, will be set to

and

NTMPRB

command.

data, use the

NTMPWBi,i,0,i

; IP address 172.54.125.34

; the 6K's binary variables VARB20-VARB34

; 111000111000, because it is mapped to VARB25

command. If you need to stop polling all mapped variables, use the

NTMPRI Network Map Integer Variables for Reading from PLC

Type: Syntax: Units:

Range:

Default: Response: See Also:

Network

<!><n>NTMPRI,,,

n = network server #

st

1

i = Allen Bradley data file #

nd

2

i = # of the 1st element in data file (beginning of range)

rd

3

i = # of the elements to include in range

th

4

i = # of the 1st integer (VARI) variable in the 6K to map to

n = 1-6

st

1

i = 0-n (n depends on size of file)

nd

2

i = 0-n (n depends on size of file)

rd

3

i = 0 or 1-50 (0 disables polling for this mapping only)

th

4

i = 1-225

1NTMPRI0,0,0,0 (no mapping)

1NTMPRI: *1NTMPRI1,5,15,23

NTCONN, NTIP, NTMPRB, NTMPWB, NTMPWI, NTPOLL, [ NTS ], NTSELP, TNTS, TNTSF, VARI

<n> NTMPRI ,,,

EXAMPLE:

Network Server #

Range: 1-6

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first integer variable (VARI) in 6K

(beginning of range, max value is 225)

IF:

Allen-Bradley PLC is server #2

•

The PLC’s integer data file 9 has 30

•

elements. Use data elements 15-29 (15 elements total) for integer data that is to be shared with the 6K. Use the 6K’s integer variables 35-49

•

(15 variables total) to store the data from the PLC.

The required mapping command is:

2NTMPRI9,15,15,35

Product Rev

6K 5.3

NTMPRI

,

The NTMPRI the 6K. There are 225

command maps a range of integer data elements from the AB PLC to a range of integer (

variables available in the 6K for storing integer data. To perform an integer data read from the

VARI

PLC:

1. Assign the AB PLC a server number, according to its IP address (

2. Connect to the AB PLC, according to its server number (

3. Map a range of integer elements in the AB PLC to a range of integer ( command).

4. Start polling the AB device at a specific polling interval ( variables with the integer element data from the AB PLC. You can then use the PLC integer data (via the variables) in conditional expressions, command value substitutions and variable assignments.

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

page 24

NTIP

NTCONN

NTPOLL

command).

command). This updates the 6K integer (

Saved in Non-Volatile Memory

command).

) variables in the 6K (

VARI

) variables in

VARI

NTMPRI

VARI

)

Potential Error Conditions:

• You are not allowed to map the same 6K the same 6K

NTMPRI

command and will transmit the error message “

variables to another PLC. If you attempt either of these conditions, the 6K will not accept the

VARI

variables for read and write functions. Nor are you allowed to map

VARI

VARIABLE MAPPING CONFLICT…

”.

• If you attempt to read from an AB data file of the wrong type, or read from a non-existent data element, the 6K will not accept the

OR SIZE…

the

NTMPRBi,i,0,i, NTMPWBi,i,0,i, NTMPRIi,i,0,i

NTMPRI

” and it will automatically stop polling all mapped binary and integer variables (equivalent to executing

command, it will transmit the error message “

, and

NTMPWIi,i,0,i

ERROR, INVALID FILE TYPE, NUMBER

, commands).

Control over Polling: If you want to stop the 6K from reading integer data from the PLC, but continue to exchange

NTMPWI, NTMPRB

use the

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC at

2NTCONN1 ; Attempt connection to network server #2 2NTMPRI9,15,15,35 ; File 9, elements 15-29, in the AB PLC are mapped to

2NTPOLL50 ; Start polling network server #2, set interval to 50 ms WAIT(VARI40=22) ; Wait until the value of VARI40 (mapped to file 9,

nNTPOLL0

and

NTMPWB

command.

data, use the

; IP address 172.54.125.34

; the 6K's integer variables VARI35-VARI49

; element 20, in the PLC) is 22

NTMPRIi,i,0,i

command. If you need to stop polling all mapped variables,

NTMPWI

Type: Syntax: Units:

Range:

Default: Response: See Also:

Network Server #

# of Allen-Bradley data file

# of first element in AB data file

(beginning of range)

# of elements in range

# of first integer variable (VARI) in 6K

(beginning of range, max value is 225)

Network Map Integer Variables for Writing to PLC

Network

<!><n>NTMPWI,,,

n = network server #

st

1

i = Allen Bradley data file #

nd

2

i = # of the 1st element in data file (beginning of range)

rd

3

i = # of the elements to include in range

th

4

i = # of the 1st integer (VARI) variable in the 6K to map to

n = 1-6 1st i = 0-n (n depends on size of file)

nd

2

i = 0-n (n depends on size of file)

rd

3

i = 0 or 1-50 (0 disables polling for this mapping only)

th

4

i = 1-225

1NTMPWI0,0,0,0 (no mapping)

1NTMPWI: *1NTMPWI1,5,15,23

NTCONN, NTIP, NTMPRB, NTMPRI, NTMPWB, NTPOLL, [ NTS ], TNTS, TNTSF, VARI

<n> NTMPWI ,,,

EXAMPLE:

Range: 1-6

IF:

Allen-Bradley PLC is server #2

•

The PLC’s integer data file 9 has 30

•

elements. Use data elements 0-14 (15 elements total) for integer data to be transmitted from the 6K. Use the 6K’s integer variables 20-34

•

(15 variables total) to store the data to be transmitted to the PLC.

The required mapping command is:

2NTMPWI9,0,15,20

Product Rev

6K 5.3

NTMPWI

The the 6K. There are 225

command maps a range of integer data elements from the AB PLC to a range of integer (

variables available in the 6K for exchanging integer data. To perform a integer write to the

VARI

PLC:

1. Assign the AB PLC a server number, according to its IP address (

2. Connect to the AB PLC, according to its server number (

page 25

NTCONN

command).

NTIP

command).

) variables in

VARI

3. Map a range of integer elements in the AB PLC to a range of integer (

) variables in the 6K (

VARI

NTMPWI

command).

4. Start polling the AB device at a specific polling interval ( in the AB PLC with the data from the mapped NOTE: The Therefore, the range for the

This command is saved in the controller’s non-volatile memory, and is remembered on power-up and RESET.

variables in the 6K are 32 bit values, but the integers in the AB PLC are 16 bit values.

VARI

variables must be kept in the range –32767 to +32767.

VARI

Saved in Non-Volatile Memory

variables in the 6K.

VARI

NTPOLL

command). This updates integer data elements

Potential Error Conditions:

• You are not allowed to map the same 6K VARI the same 6K

NTMPWI

command and will transmit the error message “

variables to another PLC. If you attempt either of these conditions, the 6K will not accept the

VARI

variables for read and write functions. Nor are you allowed to map

VARIABLE MAPPING CONFLICT…

”.

• If you attempt to write to an AB data file of the wrong type, or to a non-existent data element, the 6K will not accept the

SIZE… NTMPRBi,i,0,i, NTMPWBi,i,0,i, NTMPRIi,i,0,i

NTMPWI

” and it will automatically stop polling all mapped binary and integer variables (equivalent to executing the

command, it will transmit the error message “

, and

NTMPWIi,i,0,i

ERROR, INVALID FILE TYPE, NUMBER OR

, commands).

Control over Polling: If you want to stop the 6K from writing integer data to the PLC, but continue to exchange

NTMPRB nNTPOLL0

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC at

2NTCONN1 ; Attempt connection to network server #2 2NTMPWI9,0,15,20 ; File 9, elements 0-14, in the AB PLC are mapped to

2NTPOLL50 ; Start polling network server #2, set interval to 50 ms VARI = 42 ; The value of AB file 9, element 5, will be set to 42,

and

NTMPWB

command.

data, use the

NTMPWIi,i,0,i

; IP address 172.54.125.34

; the 6K's integer variables VARI20-VARI34

; because it is mapped to VARI25

command. If you need to stop polling all mapped variables, use the

NTPOLL Network Polling Rate

Type: Syntax: Units:

Range:

Default: Response: See Also:

The

NTPOLL

• Allen-Bradley PLC Devices:

Network

<!><n>NTPOLL

n = network server # i = polling rate (milliseconds)

n = 1-6 i = 0 (disable polling) or 1-9999 (50 is recommended)

0 (disabled)

1NTPOLL: *1NTPOLL50

NTIP, NTCONN, NTMPRB, NTMPRI, NTMPWB, NTMPWI

Product Rev

6K 5.3

command establishes the rate at which the 6K polls the Ethernet server devices for information:

NTPOLL

that are mapped to the Allen-Bradley PLC. Variables are mapped with the

sets the rate at which the 6K reads and writes the

NTMPRB, NTMPRI, NTMPWB

VARI

commands.

and

VARB

variables

and

NTMPRI

NTMPWI

,

• OPTO22:

NTPOLL

sets the rate for polling or changing the states of the input and output modules on the OPTO22.

OPTO22 outputs are controlled with the

\ANI, \TANI, \TANO, \TIN, \TIO, \TOUT

The polling rate affects the 6K overall command execution speed (slowing the polling rate will speed up the 6K’s command processing).

page 26

and

\OUT

commands.

commands, and the inputs are monitored with the

\ANO

\IN

,

The

NTPOLL

rate when you cycle power or issue a

STARTP

Example:

2NTIP1,172,54,125,34 ; Identify network server #2 as an Allen-Bradley PLC at

2NTCONN1 ; Attempt connection to network server #2 2NTMPRI20,5,2,128 ; File 20, variables 5 and 6 in the AB PLC are mapped to VARI128

2NTPOLL50 ; Start polling network server #2, set interval to 50 milliseconds

command is not saved in the 6K’s non-volatile memory. If you wish the 6K to re-establish the

RESET command

, put the

NTPOLL

command in the startup program assigned with the

command.

; IP address 172.54.125.34

; and VARI129, respectively

NTPOLL

polling

NTRATE

Type: Syntax: Units: Range: Default: Response: See Also:

Use the

NTRATE0

of 50 is recommended. All sharing units should have the same in

NTFEN1

Each 6K unit internally updates its command must be set to a value of

NTRATE

The

NTRATE

broadcasting rate when you cycle power or issue a assigned with the

Example:

; ************************************************************************************* ; Send these setup commands to 6K unit #1 NTID1 ; Set unit 1's network ID to 1 NTRATE50 ; Unit 1 will broadcast at 50-millisecond intervals ; *************************************************************************************

; ************************************************************************************* ; Send these setup commands to 6K unit #2 NTID2 ; Set unit 2's network ID to 2 NTRATE50 ; Unit 2 will broadcast at 50-millisecond intervals

Network

<!>NTRATE

i = milliseconds

0 (off) to 1000 (50 milliseconds is recommend)

0 (off)

NTRATE: *NTRATE50

NTFEN, NTID

NTRATE

, broadcasting and listening to other units that are broadcasting is disabled. With a value > 0, it is enabled. A rate

mode.

value accordingly.

command is not saved in the 6K’s non-volatile memory. If you wish the 6K to re-establish the

Network Sharing Rate for Peer-to-Peer Communication

SYSPER, VARSHO, VARSHI

,

command to establish the broadcast rate for

data at the System Update Rate (2 milliseconds); therefore, the

2 milliseconds. If you lengthen the System Update Rate (see

RESET command

STARTP

VARSHO

≥

command.

VARSHO

information packets to other 6K units. With

NTRATE. NTRATE

, put the

Product Rev

6K 5.3

is not accepted unless the 6K is operating

SYSPER

NTRATE

command in the startup program

NTRATE

), increase the

NTRATE

page 27

[ NTS ]

Type: Syntax: Units:

Range:

Default: Response: See Also:

Use the hexadecimal value.

Network; Assignment/Comparison

nTNTS<.i>

n = server #

i = bit number of status register (see table below)

n = 1-6

i = 1-8

n/a

NTCONN, NTIP, NTPOLL, TNTSF

operand to assign the Network Status bits to a binary variable, or to make a comparison against a binary or

NTS

Network Status

Product Rev

6K 5.3

Syntax:

VARBx=nNTS

where “n” is the network server number (e.g.,

in an expression such as

IF(2NTS=b11Ø1)

, or

IF(2NTS=h7F)

VARB16=2NTS

. To make a comparison against a binary value,

). The

operand can also be used

NTS

place the letter b (b or B) in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make a comparison against a hexadecimal value, place the letter h (h or H) in front of the value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9. Bit Select Operation: Use the bit select operator (.) in conjunction with the bit number to specify a specific Network Status bit. Examples: variable 1;

IF(2NTS.3=b1)

is a conditional statement that is true if Network Status bit 3 for network server 2 is

VARB1=2NTS.3

assigns Network Status bit 3 for network server 2 to binary

set to 1 (polling is enabled).

Bit #

(left to right)

1 Connection Open.

2 Client Connection Error. This bit is set when a connection attempt with a server times out. This will

3

4 Error during polling. This bit is set when an error during polling occurs. This will also set Error Status

5-8

NTSELP

Type: Syntax: Units:

Range:

Default:

Response: See Also:

The

NTSELP

Function (1 = yes, 0 = no)

also set Error Status bit #23 (see ER, TER, TERF).

Polling Enabled. This bit is set when polling is enabled with NTPOLL.

bit #24 (see ER, TER, TERF).

Reserved

Network Program Select Enable

Network

<!>NTSELP,

b = enable bit i = number of the integer variable (VARI) used for program select

b = 0 (disable) or 1 (enable) i = 1-225

b = 0 (disabled) i = 1

NTSELP: *NTSELP0,1

COMEXS, NTCONN, NTIP, NTMPRI, NTMPWI, NTPOLL, [ NTS ], TDIR, TNTS, TNTSF

Product Rev

6K 5.3

command allows you to enable/disable the Network Program Select Mode, where, through the process of exchanging integer data, an Allen-Bradley PLC can execute a 6K/Gem6K program by its number. Use the following procedure as a guideline for implementing the Network Program Select mode:

1. Setup up Ethernet Networking with the Allen-Bradley PLC. This includes assigning the server connection ( and connecting (

2. Use the

NTMPRI

NTCONN

command to map at least one 6K variable to an Element in an integer data file in the PLC.

).

NTIP

)

page 28

3. Start polling the PLC for integer data (

NTPOLL

Element into the associated 6K integer variable (

4. Use the

NTSELP

command to enable the Network Program Select mode and identify the 6K integer variable ( to supply the program selection number. Once enabled, the 6K will poll the PLC (at the integer data from the PLC into the mapped value of the mapped

variable. After executing and completing the selected program, the controller will

VARI

resume polling the inputs again. To disable the Network Program Select mode, place the

). When the 6K polls the PLC, it will read the value of the mapped

).

VARI

NTPOLL

variable, and execute the program (by number) according to the

VARI

rate), read the

NTSELPØ

command in a

VARI

program that can be selected.

5. Program the PLC to set the Element value to select the program (by its number) in the 6K. For example, suppose Element #4 of File #2 is mapped to the 6K’s integer variable #9. If the value of Element #4 is 8 when it is polled, the 6K will execute program #8.

WHAT IS THE PROGRAM NUMBER?

A program’s number is determined by the order in which the program was downloaded to the controller. The first program downloaded is program #1, the second downloaded is program #2, etc. The number of each program stored in the controller's memory can be obtained through the TDIR report — refer to the number reported in front of each program name. When selecting programs with an integer variable (mapped to an Element in the PLC data file), the 6K will execute the program number that matches the value of the variable at the time the associated Element was polled from the PLC.

Multi-Tasking: If you are using multi-tasking, be aware that each Task has its own Network Program Select Mode. If you wish to enable variable-initiated program selection in an external task (a task other than the task that is executing the

NTSELP

command), then you must prefix the

NTSELP

enables Network Program Select Mode in Task #3, and uses the value of

command to address the targeted task. For example

VARI40

to program the number of the program to

3%NTSELP1,40

execute.

)

What conditions can disable the Network Program Select Mode?

) command

• Executing the Kill (

• Executing the Stop (

disables Program Select Mode only if the Task is operating in the

Example:

2NTIP1,172,54,125,34 ; Network server #2 is an Allen-Bradley PLC at IP address

2NTCONN1 ; Attempt connection to network server #2 2NTMPRI20,5,2,128 ; VARI128 and VARI129 (in the 6K) are mapped to File 20, Elements

2NTPOLL50 ; Start polling the AB PLC, set polling interval to 50 ms 3%NTSELP1,128 ; VARI128 is the network program select variable, which is mapped

!K

) command, or activating an input defined as a stop input (see

!S

COMEXS2

; 172.54.125.34

; 5 and 6 in the AB PLC. The values of VARI128 and VARI129 will be ; derived from the values of File 20, elements 5 and 6 in the PLC.

; with File 20, Element 5, in the AB PLC. When the 6K polls ; Element 5, it will execute the program according to the value ; of Element 5. The program will be executed in Task 3.

mode.

INFNC

or

LIMFNC

NTWRIT Network Write ASCII String to DVT Camera

Type: Syntax: Units:

Range:

Default: Response: See Also:

Use the connection (see

Network

<!><n>NTWRIT"<message>"

n = network server # message = ASCII string

n = 1-6 message = up to 69 characters (cannot use ", ; or :)

n/a

NTIP

NTWRIT

command to write ASCII strings to the DVT camera. If you address the

), the 6K transmits the error message “

NTIP

INVALID SERVER TYPE

”.

Product Rev

6K 5.3

NTWRIT

command to a non-DVT

). This

Example:

page 29

2NTIP3,172,54,125,34 ; Network server #2 a DVT camera at IP address 172.54.125.34 2NTCONN1 ; Attempt connection to the DVT camera 2NTWRIT"P134" ; Write the string "P134" to the DVT camera

TNTS

Type: Syntax: Units:

Range:

Default: Response:

See Also:

The

TNTS

Network

<!><n>TNTS<.i>

n = server #

i = bit number of status register (see table below)

n = 1-6

i = 1-8

n/a

TNTS: *TNTS: (displays status of all six servers)

2TNTS: *2NTS 1010_0000 (status for server 2)

2TNTS.3: *2TNTS.3 1 (bit 3 for server 2)

TNTS.3: *TNTS.3 110000 (bit 3 for all six servers)

NTCONN, NTIP, NTPOLL, [ NTS ], TNTSF

command returns the current status of all network server connections. To use the Network Status register

Transfer Network Status

1TNTS 0000_0000

2TNTS 0000_0000

3TNTS 0000_0000

4TNTS 0000_0000

5TNTS 0000_0000

6TNTS 0000_0000

conditions in a conditional expression or for a binary variable assignment, use the

FULL-TEXT STATUS REPORT AVAILABLE

The TNTS status command reports a binary bit report. If you would like to see a more descriptive textbased report, use the TNTSF command description.

Bit #

(left to right)

1 Connection Open.

2 Client Connection Error. This bit is set when a connection attempt with a server times out. This will

3

4 Error during polling. This bit is set when an error during polling occurs. This will also set Error Status

5-8

Function (1 = yes, 0 = no)

also set Error Status bit #23 (see ER, TER, TERF).

Polling Enabled. This bit is set when polling is enabled with NTPOLL.

bit #24 (see ER, TER, TERF).

Reserved

Product Rev

6K 5.3

assignment/comparison operand.

NTS

TNTSF Transfer Network Status (full-text report)

Type Network

Syntax <!>TNTSF

Units N/A

Range N/A

Default N/A

Response *TNTSF: (see example below)

See Also NTCONN, NTIP, NTCLS, NTPOLL, [ NTS ], TNTS

The report (

*TNTSF Connection # * 1 2 3 4 5 6

page 30

command returns a text-based status report of network server connections. This is an alternative to the binary

TNTSF

TNTS

). Example

TNTSF

response:

Product Rev 6K N.N.N

*Connection Open YES NO NO NO NO NO *Server Connection Error NO NO NO NO NO NO *In Polling Mode YES NO NO NO NO NO *Polling Timeout Error NO NO NO NO NO NO * *Reserved NO NO NO NO NO NO *Reserved NO NO NO NO NO NO *Reserved NO NO NO NO NO NO *Reserved NO NO NO NO NO NO

VARSHI Shared Input Variable for Peer-to-Peer Data Exchange

Type: Syntax:

Units:

Range:

Default: Response: See Also:

The

VARSHI

products. (binary) variable, or to a virtual input brick (

WHILE

Variable; Network

<!><n>VARSHI (see diagram below for assignment syntax)

n = unit number in the peer-to-peer network; i = VARSHO number from unit “n”

n = 1-8; i = 1-8

n/a

1VARSHI1: *1VARSHI1=0.0

IN, VAR, VARB, VARI, VARSHO

command helps you use shared data over a peer-to-peer Ethernet connection with other 6K or Gem6K

VARSHI

, or

can be used to assign the integer or binary

IN

.

UNTIL

VARSHO

). You can also use

data to a

VARSHI

(numeric),

VAR

in a conditional statement, such as IF,

Product Rev

6K 5.3

(integer), or

VARI

VARB

WAIT

,

The diagram below shows the syntax requirements for assigning

<assignment> = <n> VARSHI

Assignment options:

<variable>n

Variable number

(numeric variable)

VAR

(integer variable)

VARI

(binary variable)

VARB

(virtual input assignment)

IN

n

I/O brick number.

Range: 1-8

•

Must be an unused I/O brick

•

The Implementation Process, beginning on page 8, identifies how to use the

VARSHI

data to a variable:

Number of the variable from unit

Number of the source unit (use this unit’s data)

VARSHI

VARSHO

<n>

VARSHO

command in

context with the process of setting up the peer-to-peer Ethernet data sharing.

Example: This example uses peer-to-peer communication with three 6K8 products.

;**** This code is executed on Peer unit #1: ************************** NTID1 ; This unit is the "primary unit" (unit #1) NTRATE100 ; Set the sharing rate to 100ms and enable this unit VARSHO1=1PE ; Store axis #1 encoder position in shared output variable #1 ;*************************************************************************

;**** This code is executed on unit #3: ************************** NTID3 ; Set unit ID to 3 NTRATE100 ; Set the sharing rate to 100ms and enable this unit VARSHO2=4PCEA ; Store the captured encoder position of axis #4 in shared

VARSHO1=3AS ; Store axis #3's axis status (binary data) in shared

;*************************************************************************

; output variable #2

; output variable #1

page 31

;**** This code is executed on unit #2: ************************** NTID2 ; Set unit ID to 2 NTRATE100 ; Set the sharing rate to 100ms and enable this unit VAR1=1VARSHI1 ; Load the value of unit #1's first shared data (1PE) into VAR1 WRITE"AXIS 1 AT POSITION" ; Report axis 1's current position (the value of VAR1) WRVAR1 VAR2=8PCEA-3VARSHI2 ; Calculate offset position: Subtract synch unit #3's

IF(VAR2>10000) ; If position offset by more than 10000 encoder counts WRITE"AXIS 20 OUT OF POSITION" NIF VARB1=3VARSHI1 ; Get unit 3's VARSHO1 information (3AS) IF(VARB1=B1) ; If axis 3 on unit #3 (axis #19) is in motion WRITE"AXIS 19 IN MOTION" NIF ;*************************************************************************

; VARSHO2 (4PCEA) from the captured encoder position ; of axis #8 (8PCEA).

VARSHO Shared Output Variable for Peer-to-Peer Data Exchange

Type: Syntax: Units:

Range: Default: Response: See Also:

The

VARSHO

other 6K or Gem6K products).

Variable; Network

<!>VARSHO<=xx>

i = variable number xx = 32-bit data operand (see list below)

i = 1-8

n/a

VARSHO1: *VARSHO1=PME

NTRATE, VAR, VARB, VARI, VARSHI

Product Rev

6K 5.3

command is used to set up data to be shared over a peer-to-peer Ethernet connection (i.e., connection between

Each unit on the Ethernet peer-to-peer network has eight “shared output” variables (

VARSHO1 through VARSHO8

) with which it can share with other units the values of its motion attributes, controller status, variables, etc. (see list below). The type of data can be either binary, as in the operand. The data stored in the

For example

, unit #2 could execute

Each unit will re-broadcast its updated RECOMMENDATION: Set all devices to broadcast at the same

The Implementation Process, beginning on page 8, identifies how to use the

(axis status) operand, or a 32-bit unscaled integer, as in PE (encoder position)

AS

VARSHO

is not scaled.

VARSHO1=3PE

VARSHO

data at a rate set with the

to share the encoder position of axis #3 in shared output variable #1.

command.

VARSHO

command in

NTRATE

rate of 50 milliseconds.

context with the process of setting up the peer-to-peer Ethernet data sharing.

Options for shared data in the

......... Acceleration

A

....... Deceleration

AD

..... Analog input voltage

ANI

..... Analog output voltage

ANO

....... Axis status

AS

..... Extended axis status

ASX

......... Distance

D

..... DAC output value

DAC

... RP240 keypad value

DKEY

....... Error status

ER

....... Feedback device pos.

FB

....... Following status

FS

....... Input status

IN

..... Enable input status

INO

..... Limit input status

LIM

..... Axis moving status

MOV

VARSHO

variable:

...Master cycle number

NMCY

......Output status

OUT

...Analog input position

PANI

........Commanded position

PC

......Captured command pos.

PCC

......Captured encoder pos.

PCE

...Captured master enc. pos. V............Velocity

PCME

........Encoder position

PE

......Position error

PER

...Position of Master

PMAS

......Master encoder pos.

PME

...Net position shift

PSHF

...Follower pos. command

PSLV

........Controller status

SC

...PLC scan time

SCAN

......Free segment buffers

SEG

..........System status

SS

SWAP

TASK

TIM

TRIG

..........User-defined status

US

VARI

VARB

VEL

VELA

VMAS

VARSHI

.....Task swap assignment

.....Task number

.......Timer value

.....Trigger interrupt status

.....Integer variable

.....Binary variable

.......Commanded velocity

.....Actual velocity

.....Velocity of the master

.Shared input variable

page 32

Example: This example uses peer-to-peer communication with three 6K8 products.

;**** This code is executed on Peer unit #1: ************************** NTID1 ; This unit is the "primary unit" (unit #1) NTRATE100 ; Set the sharing rate to 100ms and enable this unit VARSHO1=1PE ; Store axis #1 encoder position in shared output variable #1 ;*************************************************************************

;**** This code is executed on unit #3: ************************** NTID3 ; Set unit ID to 3 NTRATE100 ; Set the sharing rate to 100ms and enable this unit VARSHO2=4PCEA ; Store the captured encoder position of axis #4 in shared

VARSHO1=3AS ; Store axis #3's axis status (binary data) in shared

;*************************************************************************

;**** This code is executed on unit #2: ************************** NTID2 ; Set unit ID to 2 NTRATE100 ; Set the sharing rate to 100ms and enable this unit VAR1=1VARSHI1 ; Load the value of unit #1's first shared data (1PE) into VAR1 WRITE"AXIS 1 AT POSITION" ; Report axis 1's current position (the value of VAR1) WRVAR1 VAR2=8PCEA-3VARSHI2 ; Calculate offset position: Subtract synch unit #3's

IF(VAR2>10000) ; If position offset by more than 10000 encoder counts WRITE"AXIS 20 OUT OF POSITION" NIF VARB1=3VARSHI1 ; Get unit 3's VARSHO1 information (3AS) IF(VARB1=B1) ; If axis 3 on unit #3 (axis #19) is in motion WRITE"AXIS 19 IN MOTION" NIF ;*************************************************************************

; output variable #2

; output variable #1

; VARSHO2 (4PCEA) from the captured encoder position ; of axis #8 (8PCEA).

page 33

[ \ANI ]

Type: Syntax: Units:

Network; Assignment or Comparison

n\mANI.i (see example below)

n = network server #

Network Analog Input Voltage Status

m = module #

i = analog input # on module “m”

Range:

n = 1-6

m = 0-7

j = 1-2

Default: Response: See Also:

Use the

n/a

NTIO, \TANI, \TIO, VAR

operand to assign the voltage level of an OPTO22 analog input to a real variable (

\ANI

comparison against another value.

Product Rev

6K 5.3

), or to make a

VAR

Syntax:

VARx=n\mANI.i

and “i” is the input/channel number on the module (e.g., on module 1 of OPTO22 server 2 to

IF(2\3ANI.1>=2.0)

where “n” is the network server number of the OPTO22 unit, “m” is the I/O module number,

assigns the voltage at analog input 1

). The

VAR3

or

WAIT(2\4ANI.1<=1.5)

VAR3=2\1ANI.1

operand can also be used in a condition expression such as

\ANI

.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four 1-4. Analog input and output modules have two

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2\0IN.3 2\3OUT.2 2\5ANO.1 2\7ANI.2

1

Digital

Input

Module

Input

I/O points, or channels, and are numbered 1-2.

1

2

3

4

2

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

3

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

I/O points, or channels, and are numbered

4

1

2

5

Analog Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 unit at IP address

; 172.54.125.34 2NTCONN1 ; Attempt a connection to network server #2 (OPTO22 unit) 2\6NTIO3 ; Server #2 (OPTO22), module #6 is an analog input module 2\7NTIO3 ; Server #2 (OPTO22), module #7 is an analog input module WAIT(2\6ANI.1<=+1.5) ; Wait until the voltage at analog input #1 of module #6 on

; Server #2 (OPTO22) is less than or equal to +1.5VDC IF(2\7ANI.2>+2.4) ; If the voltage at analog input #2 of module 7 on Server #2

; (OPTO22) is greater than +2.4 VDC ...

page 34

\ANO

Type: Syntax: Units:

Network

<!>n\mANO.i=r

n = network server #

Network Analog Output

Product Rev

6K 5.3

m = module #

i = analog output # on module “m”

r = voltage value (VDC)

Range:

n = 1-6

m = 0-7

i = 1-2

r = -10.00 to +10.00

Default: Response: See Also:

Use the

n/a

[ \ANO ], NTIO, \TANO, \TIO

command to set the voltage of an OPTO22 analog output. The maximum output range can be set from –

\ANO

10.00 VDC to +10.00 VDC. The 6K controller does not recognize the voltage range set on the I/O device (i.e., an setting of +10 VDC is allowed for an analog output configured with a maximum limit of +5 VDC.)

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four 1-4. Analog input and output modules have two

EXAMPLE: OPTO22 is Network Server #2

0

1

I/O points, or channels, and are numbered 1-2.

2

3

I/O points, or channels, and are numbered

4

5

6

7

\ANO

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Digital Output Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

Analog

Output

Module

Output

1

Output

2

Analog

Input

Module

Input

1

Input

2

Analog

Input

Module

Input

1

Input

2

2\0IN.3 2\3OUT.2 2\5ANO.1 2\7ANI.2

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 unit at IP address

; 172.54.125.34 2NTCONN1 ; Attempt a connection to network server #2 (OPTO22 unit) 2\4NTIO4 ; Server #2 (OPTO22), module #4 is an analog output module 2\5NTIO4 ; Server #2 (OPTO22), module #5 is an analog output module 2\4ANO.1=4.8 ; On Server #3, module #4, set the voltage on analog output #1 to

; +4.8 VDC

page 35

[ \ANO ]

Type: Syntax: Units:

Network; Assignment or Comparison

n\mANO.i (see example below)

n = network server #

Network Analog Output Status

m = module #

i = analog output # on module “m”

Range:

n = 1-6

m = 0-7

j = 1-2

Default: Response: See Also:

Use the

n/a

\ANO, NTIO, \TANI, \TIO, VAR

operand to assign the voltage level of an OPTO22 analog output to a real variable (

\ANO

comparison against another value. The voltage at the analog outputs is controlled with the

Product Rev

6K 5.3

), or to make a

VAR

command.

\ANO

Syntax:

VARx=n\mANO.i

and “i” is the output/channel number on the module (e.g., on module 5 of OPTO22 server 2 to

IF(2\3ANO.1>=2.0)

where “n” is the network server number of the OPTO22 unit, “m” is the I/O module number,

assigns the voltage at analog input 1

). The

VAR3

or

WAIT(2\4ANO.1<=1.5)

VAR3=2\5ANO.1

operand can also be used in a condition expression such as

\ANO

.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four I/O points, or channels, and are numbered 1-4. Analog input and output modules have two I/O points, or channels, and are numbered 1-2.

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2\0IN.3 2\3OUT.2 2\5ANO.1 2\7ANI.2

1

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

3

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

5

Analog Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 unit at IP address

; 172.54.125.34 2NTCONN1 ; Attempt a connection to network server #2 (OPTO22 unit) 2\4NTIO4 ; Server #2 (OPTO22), module #4 is an analog output module 2\4ANO.1=4.8 ; On Server #3, module #4, set the voltage on analog output #1 to

; +4.8 VDC VAR23=2\4ANO.1 ; Assign the voltage at analog output #1 on module #4 of Server #2

; to real variable #23 (VAR23). Based on the preceding command,

; the value should be +4.80. WAIT(2\4ANO.2<=+1.5) ; Wait until the voltage at analog output #1 of module #4 on

; Server #2 is less than or equal to +1.5VDC

page 36

[ \IN ]

Type: Syntax:

Network; Assignment or Comparison

n\mIN<=Bbbbb> (see example below)

Network Digital Input Status

n\iIN.i (see example below)

Units:

n = network server #

m = module #

i = digital input # on module “m” (for bit-select operation)

Range:

n = 1-6

m = 0-7

j = 1-4

Default: Response: See Also:

Use the

n/a

NTIO, \TIN, \TIO, VARB

operand to assign an OPTO22 digital input value to a binary variable (

\IN

binary or hexadecimal value.

Product Rev

6K 5.3

), or to make a comparison against a

VARB

Syntax:

VARBx=n\mIN

(e.g.,

VARB16=2\0IN

IF(2\3IN=h7F)

where “n” is the network server number of the OPTO22 unit and “m” is the I/O module number

). The

operand can also be used in an expression such as

\IN

IF(2\3IN=b11Ø1)

. To make a comparison against a binary value, place the letter b (b or B) in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make a comparison against a hexadecimal value, place the letter h (h or H) in front of the value. The hexadecimal value itself must only contain the letters A-F, or the numbers Ø-9. Bit Select Operation: To address only one input value, instead of all the inputs, use the bit select ( For example,

VARB1=2\3IN.3

variable 1. In another example,

assigns the binary state of input 3 on module 3 of OPTO22 server 2 to binary

WAIT(2\3IN.1=b1)

tells the 6K to wait until input 1 on module 3 of OPTO22

server 2 is active.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four

I/O points, or channels, and are numbered

1-4. Analog input and output modules have two I/O points, or channels, and are numbered 1-2.

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

1

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

3

Digital Output Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

5

Analog

Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

, or

) operator.

.

2\0IN.3 2\3OUT.2 2\5ANO.1 2\7ANI.2

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 unit at IP address

; 172.54.125.34 2NTCONN1 ; Attempt a connection to network server #2 (OPTO22 unit) 2\0NTIO1 ; Server #2 (OPTO22), module #0 is a digital input module 2\1NTIO1 ; Server #2 (OPTO22), module #1 is a digital input module WAIT(2\1IN.2=b1) ; Wait until input #2 of module #1 on Server #2 (OPTO22) is active IF(2\0IN=bxx1) ; If input #3 of module 0 on Server #2 (OPTO22) is active ...

page 37

\OUT

O

#1

Output Numb

Type: Syntax:

Units:

Range:

Default: Response: See Also:

Controlling Multiple Outputs

Network Server #

(Range: 1-6)

Module # on Server “n”

(Range: 0-7)

Network

<!>n\mOUT

<!>n\mOUT.i-b

n = network server #

m = module #

b = enable bit

i = digital output # on module “m”

n = 1-6

m = 0-7

b = 1 (turn on), 0 (turn off), or X (don’t change)

i = 1-4

n\mOUT0000

n/a

[ \OUT ], NTIO, \TIO, \TOUT

Network Digital Output

utput Output #2 Output #3 Output #4

n \ m OUT b b b b

Options for “b” are:

1 = Turn on 0 = Turn off x = Don’t Change

Product Rev

6K 5.3

Controlling One Output

Network Server #

(Range: 1-6)

Module # on Server “n”

(Range: 0-7)

(Range: 1-4)

n \ m OUT .i - b

Options for “b” are:

1 = Turn on 0 = Turn off x = Don’t Change

er

Use the

command to control the state of each digital output on the OPTO22 unit.

\OUT

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four

I/O points, or channels, and are numbered

1-4. Analog input and output modules have two I/O points, or channels, and are numbered 1-2.

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

1

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

3

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

5

Analog Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

2\0IN.3 2\3OUT.2 2\5ANO.1 2\7ANI.2

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 unit at IP address

2NTCONN1 ; Attempt a connection to network server #2 (OPTO22 unit) 2\2NTIO2 ; Server #2 (OPTO22), module #2 is a digital output module 2\3NTIO2 ; Server #2 (OPTO22), module #3 is a digital output module 2\3OUT1001 ; On Server #2, module #3, turn on Outputs #1 and #4 and turn off

2\2OUT.3-1 ; On Server #2, module #2, turn on only Output #1

; 172.54.125.34

; Outputs #2 and #3

page 38

[ \OUT ]

Type: Syntax:

Network; Assignment or Comparison

n\mOUT<=Bbbbb> (see example below)

Network Digital Output Status

n\iOUT.i (see example below)

Units:

n = network server #

m = module #

i = digital output # on module “m” (for bit-select operation)

Range:

n = 1-6

m = 0-7

j = 1-4

Default: Response: See Also:

Use the

n/a

NTIO, \OUT, \TOUT, \TIO, VARB

operand to assign an OPTO22 digital output value to a binary variable (

\OUT

a binary or hexadecimal value. The digital outputs are turned on and off with the

\OUT

Product Rev

6K 5.3

), or to make a comparison against

VARB

command.

Syntax:

VARBx=n\mOUT

(e.g.,

VARB16=2\0OUT

IF(2\3OUT=h7F)

where “n” is the network server number of the OPTO22 unit and “m” is the I/O module number

). The

operand can also be used in an expression such as

\OUT

IF(2\3OUT=b11Ø1)

. To make a comparison against a binary value, place the letter b (b or B) in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make a comparison against a hexadecimal value, place the letter h (h or H) in front of the value. The hexadecimal value itself must only contain the letters A-F, or the numbers Ø-9. Bit Select Operation: To address only one output value, instead of all the outputs, use the bit select ( For example,

VARB1=2\3OUT.3

variable 1. In another example,

assigns the binary state of output 3 on module 3 of OPTO22 server 2 to binary

IF(2\3OUT.1=b1)

evaluates true if output 1 on module 3 of OPTO22 server 2

.

is active.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four I/O points, or channels, and are numbered 1-4. Analog input and output modules have two I/O points, or channels, and are numbered 1-2.

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

1

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

3

Digital Output Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

5

Analog

Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

, or

) operator.

2\0IN.3 2\3OUT.2 2\5ANO.1 2\7ANI.2

Example:

2NTIP2,172,54,125,34 ; Identify network server #2 as an OPTO22 unit at IP address

; 172.54.125.34 2NTCONN1 ; Attempt a connection to network server #2 (OPTO22 unit) 2\3NTIO2 ; Server #2 (OPTO22), module #3 is a digital output module 2\3OUT1001 ; On Server #2, module #3, turn on Outputs #1 and #4 and turn off

; Outputs #2 and #3 VARB9=2\3OUT ; Assign the binary state of all digital outputs on module #3 of

; Server #2 to binary variable #9 (VARB9). As a result, the value

; of VARB9 will be 1001_0000_0000_0000_0000_0000_0000_0000. IF(2\3OUT=bxx1) ; If input #3 of module 3 on Server #2 (OPTO22) is active ...

page 39

\TANI

Type: Syntax: Units:

Network; Transfer

<!>n\mTANI<.i>

n = network server #

Transfer Network Analog Input Status

m = module #

i = analog input # on module “m” (for bit-select operation)

(The response represents volts DC.)

Range:

n = 1-6 m = 0-7 i = 1-2

Default: Response:

See Also:

The

\TANI

n/a

1\1TANI:

1\1TANI.2:

*2.42,3.32

*3.32

[ \ANI ], NTIO, \TIO

command returns the voltage present at one of the network analog inputs. The network server number and module number must precede the module 3 of network server 2).

command (e.g.,

\TANI

2\3ANI

Product Rev

6K 5.3

reports the voltage present on all analog inputs on

If the status of a specific analog input is required, use the bit select operator (.). For example,

1\3TANI.2

reports the

voltage of analog input 2 on module 3 of network server 1.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four 1-4. Analog input and output modules have two

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2\0TIN.3 2\3TOUT.2 2\5TANO.1 2\7TANI.2

1

Digital

Input

Module

Input

I/O points, or channels, and are numbered 1-2.

2

Digital

Output

Module

1

2

3

4

Output

1

Output

2

Output

3

Output

4

3

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

I/O points, or channels, and are numbered

4

1

2

5

Analog Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

page 40

\TANO

Type: Syntax: Units:

Network; Transfer

<!>n\mTANO<.i>

n = network server #

Transfer Network Analog Output Status

m = module #

i = analog output # on module “m” (for bit-select operation)

(The response represents volts DC.)

Range:

n = 1-6 m = 0-7 i = 1-2

Default: Response:

See Also:

The

\TANO

the

\ANO

n/a

1\1TANO:

1\1TANO.2:

*2.42,3.32

*3.32

\ANO, [ \ANO ], NTIO, \TIO

command returns the voltage commanded at one of the network analog outputs (the voltage is commanded with

command). The network server number and module number must precede the

reports the voltage commanded on all analog outputs on module 3 of network server 2).

Product Rev

6K 5.3

command (e.g.,

\TANO

2\3ANO

If the status of a specific analog output is required, use the bit select operator (.). For example,

1\3TANO.2

reports the

voltage of analog output 2 on module 3 of network server 1.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four 1-4. Analog input and output modules have two

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2\0TIN.3 2\3TOUT.2 2\5TANO.1 2\7TANI.2

1

Digital

Input

Module

Input

I/O points, or channels, and are numbered 1-2.

2

Digital

Output

Module

1

2

3

4

Output

1

Output

2

Output

3

Output

4

3

Digital Output Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

I/O points, or channels, and are numbered

4

1

2

5

Analog

Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

page 41

\TIN

Type: Syntax: Units:

Network; Transfer

<!>n\mTIN<.i>

n = network server #

Transfer Network Digital Input Status

m = module #

i = digital input # on module “m” (for bit-select operation)

Range:

n = 1-6 m = 0-7 i = 1-4

Default: Response:

See Also:

The

\TIN

n/a

1\1TIN:

1\1TIN.2:

*1100

*1

[ \IN ], NTIO, \TIO

command returns the current status (active/on or inactive/off) of the network digital inputs. Each module of digital inputs has its own unique command (e.g.,

2\3TIN

reports the status of all digital inputs on module 3 of network server 2).

Product Rev

6K 5.3

response. The network server number and module number must precede the

\TIN

If the status of a specific input is required, use the bit select operator (.). For example,

1\3TIN.2

reports the status of input

2 on module 3 of network server 1.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute 32-bit location on the OPTO22.) Digital input and output modules have four 1-4. Analog input and output modules have two

EXAMPLE: OPTO22 is Network Server #2

0

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

2\0TIN.3 2\3TOUT.2 2\5TANO.1 2\7TANI.2

1

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

I/O points, or channels, and are numbered 1-2.

2

Digital Output

Module

Output

1

Output

2

Output

3

Output

4

3

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

I/O points, or channels, and are numbered

5

Analog Output

Module

Output

1

Output

2

6

Analog

Input

Module

Input

1

Input

2

7

Analog

Input

Module

Input

1

Input

2

\TIO Transfer Ethernet I/O status

Type: Syntax: Units: Range: Default: Response: See Also:

The

\TIO

module is not configured (with the and an analog I/O module has 2.

Network; Transfer

<!>n\TIO

Product Rev

6K 5.3

n = network server #

n = 1-6

n/a

(see example below)

NTIO, \TANI, \TANO, \TIN, \TOUT

command displays the status of the current I/O configuration for the specified OPTO22 network server. If a

command), it will not be included in the report. A digital I/O module has 4 points

NTIO

Example Response:

>1\TIO

*SERVER 1

* Module Type Status

* 0 DIGITAL INPUTS 1011

page 42

* 1 DIGITAL OUTPUTS 0001

* 2 ANALOG OUTPUTS +10.000, -4.456

* 4 DIGITAL INPUTS 1110

* 7 ANALOG INPUTS +6.753, +0.000

\TOUT

Type: Syntax: Units:

Network; Transfer

<!>n\mTOUT<.i>

n = network server #

Transfer Network Digital Output Status

Product Rev

6K 5.3

m = module #

i = digital output # on module “m” (for bit-select operation)

Range:

n = 1-6 m = 0-7 i = 1-4

Default: Response:

See Also:

The

\TOUT

turned on and off with the network server number and module number must precede the

n/a

1\1TOUT:

1\1TOUT.2:

*1100

*1

[ \OUT ], NTIO, \TIO

command returns the current status (active/on or inactive/off) of the OPTO22 digital outputs (the outputs are

command). Each module of digital outputs has its own unique

\OUT

command (e.g.,

\TOUT

2\3TOUT

reports the status of all

response. The

\TOUT

digital outputs on module 3 of network server 2).

If the status of a specific output is required, use the bit select operator (.). For example,

1\3TOUT.2

reports the status of

output 2 on module 3 of network server 1.

The controller addresses the OPTO22 I/O locations as follows:

Each I/O bit is addressed by its location on a specific module. (NOTE: I/O points are not addressed by an absolute

32-bit location on the OPTO22.) Digital input and output modules have four

1-4. Analog input and output modules have two

EXAMPLE: OPTO22 is Network Server #2

0

1

I/O points, or channels, and are numbered 1-2.

2

3

I/O points, or channels, and are numbered

4

5

6

7

page 43

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

Digital

Input

Module

Input

1

Input

2

Input

3

Input

4

Digital

Output

Module

Output

1

Output

2

Output

3

Output

4

Digital Output Module

Output

1

Output

2

Output

3

Output

4

Analog

Output

Module

Output

1

Output

2

Analog

Output

Module

Output

1

Output

2

Analog

Input

Module

Input

1

Input

2

Analog

Input

Module

Input

2\0TIN.3 2\3TOUT.2 2\5TANO.1 2\7TANI.2

1

2

Parker 6K, GEM6K User Information

Specifications and Main Features

Frequently Asked Questions

User Manual