Parker Hannifin 6K, GEM6K User Manual

Automation

Ethernet Networking for 6K and Gem6K

Effective: February 11, 2002

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.

Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice.

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2002

, P

arke

nnifin

orporation

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ights

eserve

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.

ARNIN

hnical

ort

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

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(non-German speaking)

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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:

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

page 1

EXAMPLE — Direct Connect to One Server:

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

Device

Serial Cable

• 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)

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)

Server

IP = 172.20.34.30

Ethernet

Card

Switch or Hub

(255.255.0.0)

Connection to company network

Ethernet

Card

IP = 172.20.44.180

Switch or Hub

(255.255.0.0)

Connection to company network

Ethernet

Card

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

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

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

out

page 3

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

IP = 172.20.44.180

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

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

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

• 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

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

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

(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

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.

page 6

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).

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

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

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

ing 192.168.10.30

(space)

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

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

........Deceleration

.....Analog input voltage

ANI

.....Analog output voltage

ANO

........Axis status

.....Extended axis status

ASX

..........Distance

.....DAC output value

DAC

...RP240 keypad value

DKEY

........Error status

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

........Following status

........Input status

.....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

..... Captured command pos.

PCC

..... Captured encoder pos.

PCE

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

PCME

....... Encoder position

..... Position error

PER

... Position of Master

PMAS

..... Master encoder pos.

PME

... Net position shift

PSHF

... Follower pos. command

PSLV

....... Controller status

... PLC scan time

SCAN

..... Free segment buffers

SEG

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

SWAP

TASK

........Timer value

TIM

TRIG

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

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

The

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.

page 8

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

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

page 9

Setup

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.

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 procedures on page 4.

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

NTIP

command. For example, if 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 the command would be is set (see set (see

NTS, TNTS, TNTSF

ER, TER, TERF

3NTCONN1

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

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

NTCONN

. For example, if the server number is 3,

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

command to specify the type of module in that position.

NTIO

n \ m NTIO <i>

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

Digital

Input

Module

Input

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

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

Digital

Input

Module

Input

Digital Output

Module

Output

NTIO

Digital Output Module

Output

Analog

Output

Module

Output

) 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

Analog Output Module

Output

Analog

Input

Module

Input

n\mOUTbbbb

Analog

Input

Module

Input

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

n\mTOUT

). Following are examples:

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

n\mANI

n\mANO

) or the transfer commands (

n\mTANI

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

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

+ 32 hidden pages

Parker Hannifin 6K, GEM6K User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Ethernet Networking

Overview

Networking Guidelines

Configuring the 6K for Ethernet Communication

Step 1— Preparing the Controller over RS-232

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

Setup

Example

Program Interaction

Example

Networking with OPTO22 SNAP I/O

Setup

Example

Program Interaction

Setup