Rockwell Automation 6008-SV2R User Manual

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AllenBradley

VMEbus Remote I/O

User

Scanner

(Cat.

No. 6008SV1R,

6008SV2R)

Manual

Important User Information

Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.

The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.

Allen-Bradley publication SGI-1.1, Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control (available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen-Bradley Company, Inc., is prohibited.

Throughout this manual we use notes to make you aware of safety considerations:

ATTENTION: This notation identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss.

Attention statements help you to:

identify a hazard avoid the hazard recognize the consequences

Important: This notation identifies information that is critical for successful application and understanding of the product.

Using This Manual pi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Introduction pi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Audience pi Required Hardware pi Terms

Scanner Overview 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Chapter 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Introduction 11 VMEbus How the Scanner Scans 16 Comparison to 6008SV Scanner 18 Operating Modes 19 VME Master Processor Watchdog Timer 111

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Relationship

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pii

14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installing the Scanner 21. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Chapter 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Handling the Scanner 21 Setting Switches 21 Removing VME Backplane Jumpers 26 Grounding the VME Chassis 26 Inserting the Scanner 27 Determining PowerSupply Requirements 27 Connecting

Addressing

Using This Chapter 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O Addressing Concept 31 Choosing an Addressing Mode 33 Addressing BlockTransfer Modules 36 Assigning Racks 37

to the Remote I/O Link

I/O

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31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Communicating with Remote I/O 41. . . . . . . . . . . . . . . . . . . .

Using This Chapter 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Selecting Devices that You Can Connect 41 Introduction Designing Specifying a Scan List 45 Processing Processing Block Data 48

to Remote I/O

a Remote I/O Link

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Discrete I/O

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42. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

43. . . . . . . . . . . . . . . . . . . . . . . . . . . .

46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contentsii

Operating

Using This Chapter 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Addressing Command Summary 56 SETUP command byte 13 57 description 57 parameters 58 coding sequence 58 AUTOCONFIGURE command byte 10 59 description 59 parameters 510 coding sequence 512 SCAN LIST command byte 11 513 description 513 parameters 513 coding sequence 515 FAULT DEPENDENT GROUP command byte 12 516 description 516 parameters 516 coding sequence 518 SET MODE command byte 20 519 description 519 parameters 519 coding sequence 520 LINK STATUS command byte 21 521 description 521 parameters 522 coding sequence 524 BT READ command byte 01 525 description 525 parameters 526 coding sequence 526 BT WRITE command byte 02 527 description 527 parameters 527 coding sequence 528 RESET 529 description 529 parameters 530 coding sequence 530

in SV

Compatible Mode 51. . . . . . . . . . . . . . . . . . .

Global RAM

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51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents iii

Operating

Using This Chapter 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Addressing Command Summary 67 SETUP command byte 13 68 description 68 parameters 68 coding sequence 610 AUTOCONFIGURE command byte 10 611 description 611 parameters 612 coding sequence 614 SCAN LIST command byte 11 615 description 615 parameters 615 coding sequence 617 FAULT DEPENDENT GROUP command byte 12 618 description 618 parameters 618 coding sequence 620 SET MODE command byte 20 621 description 621 parameters 621 coding sequence 622 LINK STATUS command byte 21 623 description 623 parameters 624 coding sequence 627 BT READ command byte 01 628 description 628 parameters 630 coding sequence 631 BT WRITE command byte 02 632 description 632 parameters 634 coding sequence 635 CONTINUOUS BT READ command byte 06 636 description 636 parameters 638 coding sequence 639 CONTINUOUS BT WRITE command byte 07 640 description 640 parameters 642 coding sequence 643 RESET 644

in SV

Superset Mode 61. . . . . . . . . . . . . . . . . . . . .

Global RAM

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61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contentsiv

description 644. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

parameters 645 coding sequence 645

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Starting the Scanner 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Chapter 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Understanding the Scanner States 71 Powering Up the Scanner 74 After Waking Up the Scanner 78

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Programming the Scanner 81. . . . . . . . . . . . . . . . . . . . . . . . .

Using This Chapter 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using the Semaphore 81 Knowing When a Command Is Complete 82 Programming Examples of Each Scanner Management Command 82 Programming Block Transfers 834 Communicating with PLC5 Processor in Adapter Mode 839

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Troubleshooting 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Chapter 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Indicators 91 Error Codes 92 Troubleshooting Suggestions 94

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Specifications A1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Environmental Performance VMEbus

Specifications

A1. . . . . . . . . . . . . . . . . . . . . . . . . . .

A1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Manual

Preface

Introduction

Audience

Required Hardware

This manual describes how to install and use the VMEbus remote I/O scanners (catalog numbers 6008-SV1R and 6008-SV2R).

You should have experience in system development and integration and in writing software for VMEbus master processors. You should also have a working knowledge of the C programming language, including the concepts of structures and pointers. Knowledge of Allen-Bradley 1771 I/O products is helpful but not essential.

You need a VMEbus-compatible VME master processor to set up and control the VMEbus remote I/O scanner. You install the scanner in a standard 6U, full-height VME rack.

The 1771 I/O modules that the scanner monitors and controls depend on your application. You also need an adapter in the 1771 chassis to allow communication between the scanner and the I/O modules. You can use any A-B adapter module or a PLC-5 processor that operates in adapter mode.

pi

Preface

Terms

This table defines common terms:

This term: Refers to the:

scanner

VME master processor main CPU of your VME system

VME chassis frame that VME cards are mounted in

VMEbus circuit board or backplane mounted in the chassis that the scanner, the

I/O chassis AllenBradley 1771 series I/O chassis

input image table area of global memory in the scanner that contains the data from the

output image table area of global memory in the scanner that contains output data for

block transfer transfer of data between an intelligent I/O module and a scanner

general data area designated area of global VME memory, existing within the scanner,

global RAM an area of global VME memory in the scanner that can be accessed

semaphore bit bit that indicates whether part of the global RAM (the general data

scan list list that the scanner maintains internally to determine the I/O racks that

both remote scanners (catalog numbers 6008SV1R and 6008SV2R)

The VME master processor runs the application program that accesses the scanner. A VME system can have more than one VME master processor, each assigned different duties and both accessing the same scanner(s).

Both the scanner and the VME master processor are mounted in the chassis along with other VME hardware.

VME master processor, and other VME cards plug into

This is the frame that houses the I/O modules, power supply, and adapter or PLC processor.

input terminals of input modules

When an input switch is closed its corresponding input bit in the image table is set to 1.

terminals of output modules

When a bit is set to 1, the corresponding output turns on.

A block transfer sends as many as 64 words of data at a time.

that is used to pass information between the scanner and a VME master processor.

Scanner commands are processed in this data area.

by both the scanner and the VME master processor(s).

This area of memory is the key means for communication between the scanner and the VME master

area) is being used.

Typically this bit is used to prevent multiple masters or the scanner from writing to the general data area simultaneously.

it is to scan, and the order in which it is to scan them.

You create the scan list using the AUTOCONFIGURE command or the SCAN LIST command.

pii

Scanner Overview

Chapter

Using This Chapter

Introduction

This chapter provides an overview of the scanner. This chapter describes how the scanner relates to the VMEbus and to the remote I/O link.

If you want to read about: go to page:

introduction VMEbus relationship 14 how the scanner scans 16 operating modes 19 VME master processor watchdog timer 111

The VMEbus scanners (catalog number 6008-SV1R and 6008-SV2R) monitor and control remote Allen-Bradley I/O modules without using a PLC processor. Use your VME master processor(s) to manage as many as 32 racks of remote A-B I/O (16 per scanner channel).

The scanner communicates with I/O adapters that reside in the left slot of a remote chassis and with other products that have node adapters built into them. The scanner transfers the information necessary to control discrete and block-transfer data to and from the VMEbus.

The VMEbus scanner physically resides in the VME chassis. The scanner occupies one 6U (full-height) VME slot. The scanner uses the P1 connector to interface to the VMEbus. You can use more than one scanner in your VME system to create large and flexible I/O subsystems.

11

To the VMEbus, the scanner is a memory-mapped slave that responds to 8-bit or 16-bit accesses in either A16 or A24 address space. The scanner can act as a VME interrupter on any of the seven VMEbus interrupt lines.

The SV1R and SV2R scanners replace the Allen-Bradley 6008-SV scanner. The SV1R has one remote I/O channel; the SV2R has two remote I/O channels. The SV1R and SV2R scanners have an extra embedded communication microprocessor, which gives them more flexibility and faster performance than the 6008-SV scanner. The new scanners are backward-compatible with the 6008-SV scanner and offer:

continuous block-transfer operations each remote I/O channel supports as many as 16 racks of remote I/O configurable scan rate at 57.6, 115.2, or 230.4 kbps

VME interrupt signals change in the scanner input table

11

Chapter

Scanner Overview

Figure 1.1

connection overview

System

HP 9000 computer

VAX computer

Ethernet network

Vision

VME CPU

PanelView

PLC5 processor

Ethernet

Data

remote I/O channel B

6008SV2R

VME chassis

remote I/O channel A

1336 drive

Flex I/O

Note: The 6008SV1R scanner is interchangeable with the 6008SV2R scanner, except that the SV1R scanner supports only one channel of remote I/O.

12

chassis with 1771ASB

Chapter

Scanner Overview

Each scanner channel supports as many as 32 physical adapters (16 logical racks). Figure 1.2 shows the front panels of the scanners.

6008SV2R

PWR

BPLN COM

FLT

Indicators:

power (green)

VMEbus backplane communication (green)

fault (red)

Indicators:

channel status (green/red)

Channels:

remote I/O channel A communication port (factory enabled)

Figure 1.2 Scanner

front panel

6008SV1R

PWR

BPLN COM

FLT

Table 1.A Significance of scanner indicators

When this indicator:

PWR

(power) green LED

BPLN COM

(backplane communication) green LED

FLT

(fault) red LED

is: it means:

illuminated power is applied to the

module

illuminated for approximately a half second

illuminated the scanner board is reset,

a VMEbus access is made to the scanner board

performing a self test, or a fault has been detected

Table 1.B Significance

of channel status

indicators

When the status indicator is:

off

green is on line, in Run mode, and

the scanner:

is off line

scanning the racks in the scan list

remote I/O channel B communication port (factory disabled)

blinking green is on line, in Run mode, and

scanning only some of the racks in the scan list

red has an unrecoverable fault

blinking red has a recoverable fault

13

Chapter

Scanner Overview

VMEbus Relationship

The scanner complies with the VMEbus specification (revision C.1) and responds to VME masters on the VMEbus. The scanner appears as an area of global VME RAM to other master processors on the VMEbus. This area contains the I/O image area, control/status area, general data area, and interrupt ID area.

memory map for one channel

SVcompatible mode SVsuperset mode

output image table

64 words

input image table

64 words

control/status area

16 words

general data area

1872 words

output image table

128 words

input image table

128 words

control/status area

16 words

general data area

112 words

interrupt/VME ID area

32 words

continuous BT write

16 entries (72 words each)

continuous BT read

32 entries (72 words each)

interrupt/VME ID area

32 words

For more details on these memory areas, see chapter 5 or 6 for SV-compatible mode or SV-superset mode, respectively.

There is no direct communication between a VME master processor and the discrete I/O, rather the VME master processor communicates with the I/O image table in the scanner (shown above). The VME master processor reads the status of inputs from the input image table and controls the outputs by writing data to the output image table.

14

Chapter

Scanner Overview

These VMEbus transfers are asynchronous to the scanner’s I/O update. This means there is no way to know exactly when the data being put in the output image table will be sent to the appropriate I/O rack. Data is sent to an adapter only when that adapter is being scanned. Best-case timing is if the data is placed in the output image table just before the specified adapter is scanned; worst-case timing is if the data is placed in the output image table just after the specified adapter was scanned. In the worst-case scenario, the data does not reach the specified I/O rack until the next time that adapter is scanned.

How the Scanner Responds to VME Signals

The scanner can generate interrupts on any of seven request levels (IRQ1-IRQ7). When a VMEbus master acknowledges the interrupt, the scanner replies with a vector (status/id) using the odd 8 bits of the data bus.

Important: The VME master processor might “crash” if there is no software routine written to process an interrupt from the scanner. Or, you can use the SETUP command to configure the scanner so that it never generates interrupts, in case no interrupt software routine has been written. If the scanner does not generate interrupts, the application program must “poll” the scanner to see when commands have been processed.

The scanner responds to Data Transfer Bus (DTB) cycles initiated by masters that transfer data 16 bits at a time or 8 bits transferred in an even and odd format (D16, D08EO). The scanner works in the 16-bit (short) addressing mode or the 24-bit (standard) addressing mode.

The scanner responds to common VME signals as follows:

This VME signal:

SYSFAIL

ACFAIL When the scanner recognizes an ACFAIL signal, it shuts itself down because this

SYSRESET If SYSRESET is asserted on the VMEbus, the scanner resets itself and goes

means:

When the scanner recognizes a SYSFAIL signal, it can either ignore the signal or shut itself down, depending on how the scanner is configured. When the scanner shuts down, the I/O serviced by the adapter either resets to a default condition or holds all of its current values, as determined by switches on the I/O chassis backplane. When the scanner is faulted or shut down, it asserts SYSFAIL on the VMEbus.

means that power will soon be gone. When the scanner shuts down, the I/O serviced by the adapter either resets to a default condition or holds all of its current values as determined by switches on the I/O chassis backplane.

through its initialization tests. The scanner does not clear (reset to 0) the input and output image tables. After a SYSRESET signal, you have to wake up the scanner, the same as a powerup situation.

15

Chapter

Scanner Overview

For more information, see the VMEbus specification (revision C.1) published by VITA (VMEbus International Trade Association), 10229 N. Scottsdale Rd., Suite B, Scottsdale, AZ, 85253, (602) 951-8866. Contact a VITA representative for a copy.

VMEbus Address Modifier Codes

The scanner can respond to the following VMEbus address modifier codes, depending on how you configure the scanner’s address space and response to VME accesses.

How

the Scanner Scans

This code (hex):

39 standard (A24) nonprivileged access

2D short (A16) supervisory access

29 short (A16) nonprivileged access

means:

standard (A24) supervisory access

The scanner runs asynchronously to other VME master processors. Once in Run mode, the scanner continuously scans all the adapters in its scan list. The scan list identifies which adapters to scan and in what order to scan them. An adapter can appear several times in the scan list. For more information about using the scan list, see chapter 4.

When the scanner scans an adapter, it brings in digital input data and places the data in the scanner’s input image table. At the same time, the scanner sends digital output data to the adapter.

16

VME system with scanner (scanner using only 1 channel)

Chapter

Scanner Overview

remote I/O system

adapter 1

example scan list:

adapter 1 adapter 2 adapter 1 adapter 3

➂ scan adapter 1

scan

list: adapter 1 adapter 2 adapter 1 adapter 3

➃ scan adapter 3

remote I/O channel A

remote I/O channel B (6008SV2R only)

➄ if the VME master

processor sent a command, execute the command and then return to processing the scan list

if there is no command, continue processing the scan list

adapter 2

adapter 3

command processing

➁ scan adapter 2

scanner

➀ scan adapter 1

adapter scan

output data

status and input data

scanning the adapters in the scan list

17

Chapter

Scanner Overview

Getting the Scanner's Attention

For a VME master processor to get the scanner’s attention, it must write a value (any value) to any byte in the scanner’s identification area. This area is located in the last 64 bytes of the global RAM for each scanner channel.

The scanner gets the attention of a VME master processor by generating a VMEbus interrupt to which the VME master processor must respond. This interrupt is sent when the scanner finishes commands that a VME master processor initiated.

Comparison to 6008SV Scanner

The 6008-SV1R and 6008-SV2R scanners replace and are backward compatible with the Allen-Bradley 6008-SV VMEbus remote I/O scanner. The 6008-SV1R and 6008-SV2R scanners offers these improvements:

each remote I/O channel controls as many as 32 adapters configurable communication rate of 230.4, 115.2, or 57.6 kbps lets you

select I/O scan time embedded communication microprocessor increases

scanner performance VME interrupt signals change in the scanner input table configurable VME operating mode lets you select the scanner features

you need for your application

Important: The SCAN LIST command is the only difference between the 6008-SV1R and 6008-SV2R scanners and the 6008-SV scanner. If you use that command, you must modify the command to specify the rack size.

The 6008-SV1R and 6008-SV2R also offer improved block transfer operations. In addition to single block transfer operations, the 6008-SV1R and 6008-SV2R support continuous block transfer operations. A single block transfer is a single read or write transfer to a specific intelligent I/O module. If your application needs to continuously poll a module to receive up-to-date data, use a continuous block transfer request. The continuous block transfer requests uses less programming overhead than programming a single block transfer request each time you need the data.

18

Chapter

Scanner Overview

Operating

Modes

Before you begin using the scanner, you have several choices to make concerning how the scanner operates. You need to specify how the scanner operates in the VME system and how you want to program the scanner.

Selecting VME Operating Mode

The scanner offers two VME operating modes. The mode you select determines the command set available to the scanner and the memory structure the scanner uses. You set a switch on the scanner to specify the operating mode you want.

If you want: select this VME

the scanner to operate exactly as the 6008SV scanner

This mode is compatible with the 6008SV so you can run previouslydeveloped applications with minor modifications. Select this mode if you are replacing a 6008SV with a 6008SV2R and do not want to modify your application.

In any application that uses the SCAN LIST command with the 6008SV scanner, you must modify the command to specify the rack size.

For more information see chapter 5. the scanner to use the new commands and additional memory, as

compared to the SVcompatible mode

This mode provides additional features, as compared to the 6008SV.

For more information, see chapter 6.

operating mode:

SVcompatible

SVsuperset

Important: An application developed for one operating mode will not work in another operating mode.

19

Chapter

Scanner Overview

Selecting a Programming Mode

Select the appropriate programming mode for programming the scanner.

Table 1.C Programming

modes

If you want these conditions: select this

• the scanner doesn't send output information to the adapters

• all module outputs are reset (off); outputs are disabled, so they

remain reset

• discrete input information is updated

• the scanner doesn't send blocktransfer requests to the adapters,

but the scanner will queue the requests from the VME master processor

• the scanner sends output information to the adapters

• all module outputs are held reset (off) outputs are disabled, so they

remain reset

• discrete input information is updated

• the scanner sends blocktransfer requests to the adapters, but

actual outputs are disabled (reset)

• the scanner sends output information to the adapters

• input information is updated

• the scanner sends blocktransfer requests to the adapters

• all outputs are allowed to energize

programming mode:

Program

Test

Run

When your application program first starts the scanner with the SETUP command, the scanner is in the Program mode. Your program must issue a SET MODE command to change the scanner to Run mode.

110

Chapter

Scanner Overview

VME

Master Processor

Watchdog Timer

The VME master processor must issue a valid command to the scanner at least once in a user-specified time period (the default is 500 msec). If the scanner fails to see a valid command from a VME master processor in this time period (as counted by the watchdog timer), the scanner resets itself and repeats its startup initialization sequence. This causes the I/O racks on the link to fault within 100 msec and the I/O all turn off or remain in their last state, depending on the switch setting on the I/O chassis.

You can disable the watchdog timer or change its timeout period with the SETUP command.

To keep the watchdog from shutting down the scanner, periodically issue a LINK STATUS command. This command provides the application program with important diagnostic information about the status of the I/O link and, at the same time, causes the least amount of overhead for the scanner to complete the command.

To debug your application program you can select debug mode and disable the watchdog timer using the SETUP command.

ATTENTION: Unwanted machine action can result from disabling the VME master processor watchdog. When the VME master processor watchdog is disabled, the scanner has no way of knowing that communication has been lost with your VME master processor and will continue to send data from the output image table to the output modules.

111

Installing the Scanner

Chapter

Using This Chapter

Handling the Scanner

This chapter explains how to install the scanner and connect it to a remote I/O link. For information about programming and using the scanner, use the flow chart preceding each chapter to determine where to find the information you need.

If you want to read about: go to page:

handling the scanner setting switches 21 removing VME backplane jumpers 26 grounding the VME chassis 26 inserting the scanner 27 determining power requirements 27 connecting to the remote I/O link 28

The scanner is shipped in a static-shielded bag to guard against electrostatic damage. Electrostatic discharge can damage integrated circuits or semiconductors in the scanner. Avoid electrostatic damage by observing these precautions.

Remain in contact with an approved ground point while handling the

scanner (by wearing a properly grounded wrist strap).

21

Wrist strap

Setting Switches

Do not touch the backplane connector or connector pins.

When not in use, keep the scanner in its static-shielded bag.

The scanner has several on-board switches you set to configure:

address space VME operating mode VME address space scanner responses to VME accesses

21

Chapter

Installing the Scanner

Determine the VMEbus A24/A16 Address Space

Use this diagram and the example to set SW1 and SW2 for the correct VMEbus address space.

12345678

slide switch pushed up on = closed = 0

slide switch pushed down off = open = 1

SW2

SW1

Important: These pins are for manufacturing use only

- do not jumper these pins.

A23 A22 A21 A20 A19 A18 A17 A16

SW2

12345678

reserved

A15 A14 A13 A12

SW1

12345678

22

In this VME operating mode:

SVcompatible

SVsuperset A23 through A13 1 channel active

If there are switches not accounted for in a particular address space, such as the switches for A16A23 for SVcompatible, A16 address space, the switch position does not affect scanner operation.

these bits: are valid for this

A23 through A12 1 channel active A23 through A13 2 channels active

A15 through A12 1 channel active A15 through A13 2 channels active

A23 through A14 2 channels active

address space:

A24

A16

A24

Chapter

Installing the Scanner

Determine the Operating Mode, Address Space, Scanner Response, and Rack Configuration

Use this diagram and Table 2.A on page 2-4 to set SW3.

SW3

Important: These pins are for manufacturing use only

- do not jumper these pins.

12345678

slide switch pushed up on = closed = 0

slide switch pushed down off = open = 1

SW3

12345678

23

Chapter

Installing the Scanner

This switch: configures: with these options:

Table 2.A

settings for SW3

Switch

switch 1, 2, 3

switch 4, 5 VME operating mode switch 4 switch 5

switch 6 VME address space on A16

switch 7 how the scanner responds to

switch 8 which channels are active on only channel A is active

not used set to off

on on SV compatible on off SV superset off off reserved off on reserved

off A24 Select A24 if you select SVsuperset as the VME operating mode.

on responds to nonprivileged and supervisory VME accesses

VME accesses

off responds to supervisory VME accesses

off both channel A and B are active

this switch is ignored if you are configuring the 6008SV1R

(2D, 3D, 29, and 39 address modifiers)

(29 and 39 address modifiers)

24

For example:

12345678

SW3

SW2

Chapter

Installing the Scanner

These switch settings specify:

• SVcompatible mode

• A24 address space

• response to both nonprivileged and supervisory access

• only channel A is active

Switch

These switch settings specify VME address 562,000.

SW1

12345678

Specifying VME addresses

You specify the first digit (for A16) or first 3 digits (for A24) of the address space; the remaining digits are always 0. The switches are set from left to right. For example, to set the address space at 562,000 (hex) in A24 with one channel active, set the bits as:

VME address space of 562,000 (hex) A24 address mode with 1 channel active

SW1SW2

A23 A22 A21 A20 A19 A18 A17 A16 A15 A14 A13 A12

Setting

010101100010 (on) (off) (on) (off) (on) (off) (off) (on) (on) (on) (off) (on)

562

The last three digits in 562,000 (hex) address are already determined by the scanner, so there are no switches to set.

25

Chapter

Installing the Scanner

Removing

VME

Backplane Jumpers

one empty slot (jumpers are installed)

The VMEbus has several daisy-chained control signals. Almost all VMEbus backplanes contain jumpers for these control signals to allow systems to operate with empty slots. There are five jumpers per VME slot, one for each of the four bus-grant arbitration levels and one for the interrupt-acknowledge daisy chain.

Depending on the backplane manufacturer, the jumpers can be on the rear pins of the J1 connector or alongside it on the front of the backplane. The scanner uses 1 slot of the VME backplane. Remove these jumpers from the slot where you plan to insert the scanner.

remove all the backplane jumpers in the slot where you insert the scanner

backplane

Grounding the VME Chassis

other VME module

scanner

CPU

Allen-Bradley makes specific recommendations for properly grounding its racks so that their operation is as safe and error-free as possible. VME systems, on the other hand, may have no formal specifications for grounding the VME chassis frame. Allen-Bradley recommends that you ground the VME chassis frame and that you connect the logic ground (common) of the VME power supply to the chassis frame’s earth ground.

The specific procedure for grounding a VME chassis varies depending on the style of the chassis. Read the Programmable Controller Wiring and Grounding Guidelines, publication 1770-4.1, for information on how Allen-Bradley racks are grounded, and try to ground your VME chassis frame in a similar way.

26

Chapter

Installing the Scanner

Inserting the Scanner

Insert the scanner in one slot in a 6U (full-height) VMEbus chassis.

ATTENTION: Make sure that your VME system is powered off. The scanner is not designed to be inserted or removed from a live system.

ATTENTION: Avoid touching the circuit board and connectors. You might damage the board, or electrostatic discharge might damage the board.

Use the VME chassis card guides to slide the scanner into the chassis. Use firm pressure on the top and bottom handles of the scanner to make its P1 connector fit firmly into the connector on the backplane. Tighten the screws on the top and bottom of the front panel to prevent the scanner from loosening.

Determining PowerSupply Requirements

The scanner operates on 5V dc @ 2.3A (typical), 2.5A (maximum).

27

Chapter

Installing the Scanner

Connecting to the Remote I/O Link

Each scanner channel supports as many as 32 physical adapters. Use 1770-CD (or Belden 9463) cable. Connect a remote I/O network using a daisy-chain or trunkline/dropline configuration.

Table 2.B

number of devices the scanner supports

Total

In this mode: the maximum number

SVcompatible

SVsuperset 16 32

of logical racks per channel is:

8 16

and the maximum number of physical adapters per channel is:

Important: The maximum cable length for remote I/O depends on the transmission rate. Configure all devices on a remote I/O link to communicate at the same transmission rate.

Table 2.C

the correct cable length based on the link'

Choose

A remote I/O link using this communication rate:

57.6 kbps

115.2 kbps 1,524 m (5,000 ft)

230.4 kbps 762 m (2,500 ft)

cannot exceed this cable length:

3,048 m (10,000 ft)

s communication rate

For proper operation, terminate both ends of a remote I/O link by using external resistors. See Table 2.D for information on whether to use a 150W or 82W terminator.

28

Chapter

Installing the Scanner

Table 2.D Terminating

If your remote I/O link:

operates at 230.4 K bit/s

operates at 57.6 or 115.2 K bit/s, and no devices listed below are linked

Scanners 1771SN; 1772SD, SD2;

1775SR, S4A, S4B; 6008SQH1, SQH2

Adapters 1771AS; 1771ASB (series A only); 1771DCM

Miscellaneous 1771AF

connects to any device listed below:

Scanners 1771SN; 1772SD, SD2;

1775SR, S4A, S4B; 6008SQH1, SQH2

Adapters 1771AS; 1771ASB (series A only); 1771DCM

Miscellaneous 1771AF

operates at 57.6 or 115.2 K bit/s, and you do not require over 16 physical devices

the remote I/O link

You can connect a remote I/O link in one of two ways:

trunkline/dropline—from the drop line to the connector screw terminals

on the remote I/O connectors of the scanner

usethis

his

use t resistor rating:

82W

150W

the maximum number of

physical devices that you can connect on the link is:

32 16

16 16

racks that you can scan on the link is:

daisy chain—to the connector screw terminals on the remote I/O

connectors of the scanner and then to the remote I/O connector screw terminals of the next remote I/O device

Important: The cable connections for the 6008-SV1R and 6008-SV2R scanner are opposite from those for the earlier 6008-SV scanner. Make sure you follow the instructions in Figure 2.1 below.

29

Chapter

Installing the Scanner

Figure 2.1

remote I/O connections

Make

To connect the remote I/O cable, do the following:

1. Run the cable (1770CD) from the processor to each

remote I/O adapter in the remote I/O system.

2. Connect the signal conductor with blue insulation to the

3pin connector terminal labeled 1 on the scanner and to each remote I/O adapter in the remote I/O system.

3. Connect the signal conductor with clear insulation to the

3pin connector terminal labeled 2.

4. Connect the shield drain wire to the middle 3pin

terminal (it is not labeled).

5. Tie wrap the remote I/O network cable to the chassis to

relieve strain on the cable.

6. Terminate the remote I/O link by connecting an external

terminator resistor between the remote I/O terminals labeled 1 and 2.

Important:

Last device on the remote I/O link. Terminate both ends of a remote I/O link.

To another remote I/O device

Blue

Shield

Clear

1770CD

(Belden 9463)

82Ω or 150Ω

resistor

210

Addressing I/O

Chapter

Using This Chapter

I/O Addressing Concept

Classification: Term: Relation to memory:

A specific terminal on an I/O module

I/O terminals that when combined occupy 1 word in the input image table and 1 word in the output image table

Combinations of bits or I/O groups I/O rack 128 input bits and 128 output bits

This chapter provides an overview of I/O addressing. This chapter also explains the basics of how the scanner processes discrete I/O and block-transfer data.

If you want to read about: go to page:

I/O addressing concept

choosing an addressing mode 33

addressing blocktransfer modules 36

assigning racks 37

Each terminal on an input or output module that can be wired to a field device occupies a bit within the scanner’s input image table or output image table.

I/O addressing maps the physical location of an I/O module terminal to a bit location in the processor memory. I/O addressing is just a way to segment memory:

terminal or point

I/O group 16 input bits = 1 word in the input image table

The density of an I/O module, i.e., 8point, 16point, 32point, directly relates to the amount of memory (bits) the module occupies in memory. For example, a 16point input module occupies 16 bits in the input image table.

16 output bits = 1 word in the output image table

8 input words and 8 output words

8 I/O groups

31

Figure 3.1 shows the relationship between an I/O terminal and its location in scanner memory.

31

Chapter

Addressing I/O

Figure 3.1

addressing as it relates to an I/O terminal

I/O

rack number 01

I/O group number

A B C

D 00 01 02 03 04 05 06 07 10 11 12

13 14 15 16 17

Input Module

(1771IAD)

Output Image Table

17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00

[

17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00

Input Image Table

word address

[

rack number 01

I/O group number

Output Module

(1771OAD)

A B C D 00 01 02 03 04 05 06 07 10 11 12 13 14 15 16 17 E

32

Important: The scanner addresses the image table with hexadecimal values. The addresses depend on the VME operating mode.

Chapter

ЙЙЙЙЙЙЙЙ

Addressing I/O

Choosing

Addressing Mode

For each chassis in your I/O system, you must define how many I/O chassis slots make up an I/O group (one word each in the input image table and output image table); this choice is the chassis’ addressing mode. Choose from among these available modes:

2slot

addressing

2 I/O chassis slots = 1 I/O group = 1 input image word and 1 output image word = 16 input bits and 16 output bits.

16 bits input

1slot

addressing

1 I/O chassis slot = 1 I/O group = 1 input image word and 1 output image word = 16 input bits and 16 output bits.

16 bits output

scanner memory

Rack x

Output Image Table

Word #

16 bits input and 16 bits output

1/2slot

addressing

1/2 of an I/O chassis slot = 1 I/O group = 1 input image word and 1 output image word = 16 input bits and 16 output bits.

16 bits input and 16 bits output

When you place your I/O modules in the I/O chassis slots, the module’s density determines how quickly I/O groups form.

Word #

Input Image Table

33

Chapter

Addressing I/O

0 1

Input Terminals

00 01 02 03 04 05 06 07

Group 0

An 8point I/O module occupies

8 bits in a word. See ➀

Input Terminals

4 5

10 11 12 13 14 15 16 17

8

and 16point examples

2 3

Input Terminals

00 01 02 03 04 05 06 07

Group 2 Group 3

Two 8point input modules occupy 8

bits of each group. See ➁

6 7

Input Terminals

00 01 02 03 04 05 06 07

1slot addressing

(1 I/O chassis slot = 1 I/O group = 1 input image word and 1 output image word = 16 input bits and 16 output bits.)

scanner memory

Rack x

Word #

➂

➃

Word #

➀

➁ ➂

➃

Output Image Table

0017 bits

Input Image Table

0017 bits

Input Terminals

00 01 02 03 04 05 06 07

Group 4 Group 5

An 8point input module in group 4 occupies the first 8 bits of input word

4. The 8point output module occupies the first 8 output bits in

output word 5. See ➂

34

Output Terminals

00 01 02 03 04 05 06 07

Input Terminals

00 01 02 03 04 05 06 07 10 11 12 13 14 15 16 17

Group 6 Group 7

16point I/O modules occupy 16 bits, an entire word, in the image table.

See ➃

Output Terminals

00 01 02 03 04 05 06 07 10 11 12 13 14 15 16 17

Chapter

Addressing I/O

32point input module

Group 0

32point

examples

0 1

32point I/O modules use the entire word of their group and borrow the entire word

of the next group. See ➀.

Since the module is in group 0 and the inputs for group 0 and group 1 are used, you must:

• install an output module in group 1, or

• leave the slot empty

0 1

32point output module

1slot addressing

(1 I/O chassis slot = 1 I/O group = 1 input image word and 1 output image word = 16 input bits and 16 output bits.)

scanner memory

Rack x

Word #

➁

Word #

➀

Output Image Table

0017 bits

Input Image Table

0017 bits

Group 0 Group 1

Since the input image table for group 1 is unavailable because it is being used by the input module of group 0, installing a 32point output

module makes use of output image table of group 0 and 1. See ➁.

You can also install 8 or 16point output modules. But you cannot install another input module since all the input image space for groups 0 and 1 is used by the input module of group 0.

35

Chapter

Addressing I/O

When planning your system design, consider the densities of the I/O modules you are using and choose an addressing mode that most efficiently uses processor memory.

Choose the addressing mode for each I/O chassis by setting the chassis backplane switch assembly.

Addressing Summary

Addressing Mode:

2slot

1slot

1/2slot

Guidelines:

• Two I/O module slots = 1 group

• Each physical 2slot I/O group corresponds to one word (16 bits) in the input image table and one word

(16 bits) in the output image table

• When you use 16point I/O modules, you must install as a pair an input module and an output module in

an I/O group; if you use an input module in slot 0, you must use an output module in slot 1 (or it must be empty). This configuration gives you the maximum use of I/O.

• You cannot use a blocktransfer module and a 16point module in the same I/O group because

blocktransfer modules use 8 bits in both the input and output table. Therefore, 8 bits of the 16point module would conflict with the blocktransfer module.

• You cannot use 32point I/O modules.

• One I/O module slot = 1 group

• Each physical slot in the chassis corresponds to one word (16 bits) in the input image table and one

word (16 bits) in the output image table

• When you use 32point I/O modules, you must install as a pair an input module and an output module in

an even/odd pair of adjacent I/O group; if you use an input module in slot 0, you must use an output module in slot 1 (or it must be empty). This configuration gives you the maximum use of I/O.

• Use any mix of 8 and 16point I/O modules, blocktransfer or intelligent modules in a single I/O chassis.

Using 8point modules results in fewer total I/O.

• One half of an I/O module slot = 1 group

• Each physical slot in the chassis corresponds to two words (32 bits) in the input image table and two

words (32 bits) in the output image table

• Use any mix of 8, 16, and 32point I/O or blocktransfer and intelligent modules. Using 8point and

16point I/O modules results in fewer total I/O.

Addressing BlockTransfer Modules

36

Block-transfer modules occupy 8 bits in the I/O image table. Since all block-transfer modules are bidirectional, they cannot be used to complement either input or output modules.

To address: use the:

singleslot modules

doubleslot modules assigned rack number and the lowest group number and 0 for the

assigned I/O rack and group number of the slot in which the module resides and 0 for the module number

When using 1/2slot addressing, use the assigned rack number and the lowest group number and 0 for the module number.

module number

Chapter

Addressing I/O

Assigning

Racks

Design Tip

The number of racks in a chassis depends on the chassis size and the addressing mode.

If using this chassis size:

4slot

8slot 1/2 rack 1 rack 2 racks

12slot 3/4 rack 11/2 racks 3 racks

16slot 1 rack 2 racks 4 racks

2slot addressing, rack type is:

1/4 rack 1/2 rack 1 rack

1slot addressing, rack type is:

1/2slot addressing, rack type is:

One I/O rack number is eight I/O groups, regardless of the addressing mode that you select.

When assigning remote I/O rack numbers, use the following guidelines:

Each scanner channel supports as many as 16 physical I/O adapters.

The number of racks the scanner supports depends on the VME

operating mode.

This operating mode: supports as many as: with a total maximum

SVcompatible

SVsuperset 16 full racks 32

SVadapter 1 rack 0

8 full racks 16

number of adapters:

For example, you can configure 8 racks as:

full racks of 128 I/0 each (8 adapters)

16 half racks of 64 I/O each (16 adapters)

6 full racks of 128 I/O each and 8 quarter racks of 32 I/O each (14 adapters)

37

Chapter

Addressing I/O

You can assign a remote I/O rack to a fraction of a chassis, a single I/O

chassis, or multiple I/O chassis:

I/O rack 0 I/O rack 1 I/O rack 2

01 23 45 67 01 23 45 67 01234567

16slot chassis, two racksOne

0123

4slot chassis, 1/2 rackOne 2slot chassis, 1/4 rack eachTwo

I/O rack 3

16slot chassis, one rackOne

16466

38

Chapter

Communicating with Remote I/O

Using This Chapter

Selecting Devices that Y Can Connect

This chapter provides an overview of remote I/O communication.

If you want to read about: go to page:

selecting devices that you can connect introduction to remote I/O 42 designing a remote I/O link 43 specifying a scan list 45 processing discrete data 46 processing block data 48

41

These are the devices you can use on a remote I/O link with the scanner.

Category: Product: Catalog

classic PLC5 processors 1785LT

enhanced PLC5 processors 1785L11B

PLC processors (in adapter mode)

to remote I/O

operator

operator interfaces

interfaces

drives

third party devices

ethernet PLC5 processors 1785L20E

local PLC5 processors 1785L40L

VME PLC5 processors 1785V30B

Direct Communication Module for SLC Processors 1747DCM SLC 500 Remote I/O Adapter Module 1747ASB 1791 Block I/O 1791 series FLEX I/O 1794 series Remote I/O Adapter Module 1slot I/O Chassis with Integral Power Supply and Adapter 2slot I/O Chassis with Integral Power Supply and Adapter 1771AM2 Direct Communication Module 1771DCM DL40 Dataliner 2706 series RediPANEL PanelView Terminal Remote I/O Adapter for 1336 AC Industrial Drives 1336RIO Remote I/O Adapter for 1395 AC Industrial Drives any devices incorporating AB node adapter chip sets under the

ENABLED Technology program

Number:

1785LT2 1785LT3

1785L20B 1785L30B 1785L40B 1785L60B 1785L80B

1785L40E 1785L80E

1785L60L

1785V40B 1785V40L

1771ASB 1771AM1

2705 series 2711 series

1395NA

41

Chapter

Communicating with Remote I/O

Introduction

to Remote I/O

A remote I/O system lets you control Allen-Bradley I/O that is not within a VME master processor’s chassis. The SV1R has one remote I/O channel; the SV2R has two remote I/O channels. Each channel transfers discrete and block-transfer data with remote I/O devices.

These components make up a remote I/O system:

Figure 4.1 Components

A VME system with an SV1R or SV2R scanner (only one remote I/O channel is shown being used)

Each scanner channel maintains a scan list that identifies all the racks connected to that channel.

Remote I/O link cable: Belden 9463

of a remote I/O system

Remote I/O node adapters like the 1771ASB modules or PanelView operator interfaces addressed as remote I/O racks.

PLC5 channel or a processor operating as a remote I/O adapter

42

Chapter

Communicating with Remote I/O

The scanner keeps a list of all of the devices connected to each channel. Figure 4.2 shows an example scan list for one channel.

Designing

SV2R

Ch A Ch B

a Remote I/O Link

Figure 4.2

Rack

Rack 2

Rack 3

scan list

Ch B Scan List

Rack Address

1 2 3

In this example, channel B continually scans the three racks in its scan list.

Starting Group

0 0 0

Rack Size

Full 1/2 Full

Range

010017 020023 030037

Example

The steps for setting up a remote I/O system are:

Step: See:

1.configure the remote I/O adapter devices

2.layout and connect the remote I/O link cable

3.specify a scan list page 45

the device's user manual

•page 43 for design

•your adapter's installation information

Designing a remote I/O link requires applying:

Design Tip

remote I/O link design guidelines cable design guidelines

Link Design Guidelines

Keep these rules in mind as you design remote I/O links:

All devices connected to a remote I/O link must communicate using the

same communication rate. The rate you choose depends on the VME operating mode:

This VME operating mode: supports these

SV compatible

SV superset 57.6 kbps

communication rate:

57.6 kbps

115.2 kbps

230.4 kbps

43

Chapter

Communicating with Remote I/O

Two channels on the same scanner cannot scan the same partial or full

rack address. Assign unique partial and full racks to each channel.

You can split rack addresses between scanner channels; however, issues

arise when performing block-data transfer. If you split remote rack addresses between scanner channels, channel A has priority over channel B.

A scan list can have a maximum of 16 rack numbers or a maximum of

64 physical devices connected to it using 82-Ω termination resistors.

Design Tip

Cable Design Guidelines

Specify 1770-CD (Belden 9463) cable. Connect a remote I/O network using a daisy chain or trunk line/drop line configuration.

Important: The maximum cable length for remote I/O depends on the transmission rate. Configure all devices on a remote I/O link to communicate at the same transmission rate.

For trunk line/drop line configurations, use the 1770-SC station connectors and follow these guidelines:

the length of the trunk line cable depends on the communication rate the length of the drop cable is 30.4 m (100 cable-ft)

For more information about designing trunk line/drop line configurations, see the Data Highway/Data Highway Plus/Data Highway II/Data Highway-485 Cable Installation Manual, publication 1770-6.2.2.

For daisy chain configurations, determine the total cable length you need.

A remote I/O link using this communication rate:

57.6 kbps

115.2 kbps 1,524 m (5,000 ft)

230.4 kbps 762 m (2,500 ft)

cannot exceed this cable length:

3,048 m (10,000 ft)

44

Chapter

Communicating with Remote I/O

For proper operation, terminate both ends of a remote I/O link by using external resistors. Use either a 150W or 82W terminator.

Table 4.A Selecting

If your remote I/O link:

operates at 230.4 K bit/s

operates at 57.6 or 115.2 K bit/s, and no devices listed below are linked

Scanners 1771SN; 1772SD, SD2;

1775SR, S4A, S4B; 6008SQH1, SQH2

Adapters 1771AS;

1771ASB (series A only); 1771DCM

Miscellaneous 1771AF

connects to any device listed below:

Scanners 1771SN; 1772SD, SD2;

1775SR, S4A, S4B; 6008SQH1, SQH2

Adapters 1771AS;

1771ASB (series A only); 1771DCM

Miscellaneous 1771AF

operates at 57.6 or 115.2 K bit/s, and you do not require over 16 physical devices

the external resistor

use this resistor rating:

82W

150W

the maximum number of

physical devices that you can connect on the link is:

32 16

16 16

racks that you can scan on the link is:

Specifying

a Scan List

The scan list is a map of the I/O devices the scanner channel scans. To create the scan list, use either of these commands:

If you want: use this command:

the scanner to poll all available adapter addresses and assemble a list with one entry for each adapter

in SVcompatible mode, there will be a maximum of 16 entries in the scan list; in SVsuperset mode , there will be a maximum of 32 entries in the scan list

to create the scan list manually

add adapters multiple times in the scan list

there can be a maximum of 64 entries in the scan list, as long as there are only 16 distinct physical adapters

AUTOCONFIGURE

SCAN LIST

45

Chapter

Communicating with Remote I/O

Processing

Design Tip

Discrete I/O

If you need multiple updates to an I/O device during an I/O scan, enter a logical address in the scan list more than one time. Do not assign the same partial or full rack address to more than one channel in scanner mode. Each channel must scan unique partial and/or full rack addresses.

The automatic configuration always displays the actual hardware configuration, except for racks that have their global-rack inhibit bit set. In this case, the global-rack bit overrides the automatic configuration.

Discrete I/O devices include such external devices as:

switches relay contacts indicator lights control relays motor starters

A scanner channel exchanges discrete data (digital and analog) with remote I/O node adapters like 1771-ASB modules via the scanner I/O image table (Figure 4.3).

Figure 4.3

I/O scan

Remote

Rack 3

Rack 2

Rack 1

adapteradapter adapter

scanner I/O table

data exchange

VME master processor

46

The remote I/O scan is the time it takes for the scanner to communicate with all of the entries in its scanlist once.

Chapter

Communicating with Remote I/O

Important: The remote I/O scan for one channel is independent of and asynchronous to the remote I/O scan for the other channel.

The status of the discrete devices is represented by a single bit in an input or output group (word). The scanner is related to these devices as shown in Figure 4.4.

Figure 4.4

Relationship between the scanner and I/O

The

VMEbus Subrack

VMEbus

VME master processor

backplane

scanner

channel

1771 I/O chassis

1771

adapter

I/O

input modules

output modules

motor starter

pushbutton switch

remote I/O link

Up to 13 more I/O adapters

1771 I/O chassis

PLC5 processor in adapter mode

operator interface terminal

input modules

output modules

15383

An external device, such as the switch shown above, causes an input of a discrete input module to turn on. This sets a bit to a “1” condition in the I/O module. The next time the I/O adapter scans the module, the new information is reported to the adapter. When the scanner scans the adapter, the corresponding bit in the I/O image table is set to a condition that reflects the status of the external device, the switch.

47

Chapter

Communicating with Remote I/O

A VME master processor then reads the input image information from the global RAM via the VMEbus.

To generate an output, a VME master processor sets a specific bit in the I/O image table in the scanner’s global RAM, corresponding to the desired output device, for example a control relay.

The scanner updates the adapter during the next scan cycle. The adapter sets the appropriate bit in the output module and the discrete output device energizes the control relay.

Processing

Block Data

Rack 3

In addition to discrete data, the scanner can also exchange block data with remote I/O. Block transfers are the communication of data blocks (files) between the scanner and intelligent I/O modules. These are any I/O modules that respond to read or write block transfers. These modules handle data such as analog input, analog output, positioning, and communication data.

Block-transfer instructs the scanner to transfer as many as 64 words of data to/from a selected I/O module. The operating mode of the scanner determines how many block-transfer requests the scanner can queue as many as 42 requests when operating in SV-compatible mode; only 1 request when operating in SV-superset mode. Figure 4.5 shows how the scanner handles a block-transfer.

Figure 4.5 Blocktransferring

data to remote I/O

scanner

48

Rack 2

Rack 1

adapteradapter adapter

blocktransfer sent to adapter

scanner block transfer table

Q = queue A = active

blocktransfer request

VME master processor

Chapter

Communicating with Remote I/O

The scanner processes block-transfers differently depending on the VME operating mode. In general though, block-transfer allows the VME master processor to read or write up to 64 16-bit words from an adapter.

In SV-compatible mode

The scanner processes single block-transfer operations. You must program a read or write command for each data transfer in your application. The scanner can queue as many as 42 block-transfer requests from the VME master processor.

In SV-superset mode

The scanner processes single block-transfer operations and continuous block-transfer operations. The single block-transfer operations work the same as in SV-compatible mode. The only difference is that the scanner can only queue one request from the VME master processor. Use continuous block-transfer requests for applications that need to continuously poll an adapter. The continuous block-transfer requests uses less overhead than programming a single block-transfer request each time you need the data.

For specifics on block-transfers based on VME operating mode, see chapter 5 or 6 for SV-compatible or SV-superset mode, respectively.

Understanding the BlockTransfer Sequence

The VME master processor and scanner alternately access the scanner’s global RAM while transferring a block transfer. See Figure 4.6 and Figure 4.7.

49

Chapter

Communicating with Remote I/O

Output Image Table Input Image Table Operating Status Word Confirmation Status Word Command Word Address Word BT Tag Word

Figure 4.6 Blocktransfer

❶

VME master processor

The scanner writes a result code in the confirmation status word. See chapters 5 or 6.

sequence - sending a request

The VME master processor sends a BT WRITE request to scanner

BT#n

The scanner copies the request parameters and data into its internal queue. In SVcompatible mode, the scanner can queue as many as 42 blocktransfer requests; in SVsuperset mode, the scanner can queue only one blocktransfer request.

❷

scanner

queue

BT#a

BT#b

BT#n

During the adapter scan, the scanner polls each adapter in the scan list. If a blocktransfer is pending for that adapter, the scanner sends a blocktransfer request to the adapter. The scanner doesn't receive or send the block data until the next scan. The scanner transmits only one blocktransfer request per adapter per scan.

❸

scan n

scanner

BT#n

1771 I/O chassis

adapter #n

input modules

output modules

410

Chapter

Communicating with Remote I/O

Figure 4.7 Blocktransfer

On the previous adapter scan, the scanner sent a block transfer request. During this scan, the adapter returns the response data to the scanner.

❹

scan n + 1

1771 I/O chassis

adapter #n

input modules

output modules

BT data

sequence - receiving data from a completed transfer

The scanner:

1. tests and sets the semaphore

2. places the blocktransfer data in the general data area

3. places a completion code in the confirmation area

4. provides the proper blocktransfer tag number

5. generates a VME interrupt (optional)

❺

BT#n

scanner

BT data

scanner's global RAM

The application program must move the blocktransfer data out of the general memory area and clear the semaphore so other blocktransfers can be completed.

❻

BT#n

BT data

VME master processor

411

Chapter

Communicating with Remote I/O

Sending Multiple BlockTransfers to the Same Adapter

The scanner can send as many block-transfer requests as it needs to an adapter (which corresponds to 1 physical rack), but it can only send one block-transfer request to a rack per scan. To achieve the most efficient block-transfers, arrange your intelligent I/O modules in multiple racks. Another method to achieve faster block-transfers is to use the SCAN LIST command so that a rack with several intelligent I/O modules is scanned more often through multiple listings in the scan list.

The scanner keeps track of each block-transfer request by its unique tag number. You assign the tag number when you configure the block-transfer command. When a block-transfer command completes, the scanner returns the tag number along with the data so your application can determine which block-transfer completed.

In SV-compatible mode

Each scanner channel can queue as many as 42 block-transfer requests. Each request has a block-transfer tag number that you assign in your application program. When a specific block-transfer is complete, the scanner sends the block-transfer tag number back to the VME master processor, along with the data. This way, your application program will know which block-transfer completed, since block-transfers do not necessarily get completed in the same order they are requested.

In SV-superset mode

The scanner still processes a block-transfer request the same way as in SV-compatible mode, but each scanner channel can queue only 1 block-transfer request. If you need multiple block-transfers to the same adapter, use the continuous block-transfer operation. It achieves the same result as sending several single block-transfer requests and it also reduces programming overhead.

Before initializing a continuous block-transfer requeues to an I/O modules, try a single block-transfer to the I/O module to verify the block-transfer parameters. After verifying the single block-transfer, use those parameters in a continuous block-transfer request.

412

Chapter

Communicating with Remote I/O

Maintaining Block Integrity

To maintain block integrity within the global RAM, use bit 7 of the semaphore byte. The semaphore byte is in the control/status area of global RAM for each channel. See chapters 5–6, depending on the operating mode you select for the scanner.

At power up, when the scanner is turned on, the semaphore bit is 0 (reset). When the scanner completes a block-transfer, it tests and sets the semaphore. If the semaphore was reset, the scanner loads status (either confirmation or error) into the confirmation status word and optionally interrupts the VME master processor to notify it of pending status. If the semaphore was set, the scanner holds the block-transfer information until the semaphore is reset by a VME master processor.

After receiving the status, the VME master processor must copy the data from the global RAM and reset the semaphore.

Rack n

Rack 2

Processing One Block Transfer Request

The order in which the scanner sends block-transfer requests to adapters depends on the scanner’s scan list. The scan list tells the scanner when to poll an adapter; an adapter can be in a scan list multiple times.

Figure 4.8 Adapter

scan sequence

adapteradapter adapter

remote I/O buffer

❶scanner sends discrete output data,

which includes a code identifying upcoming blocktransfer, if any

scanner

❷adapter accepts output data and sends

discrete input data, which includes a status bit that tells the scanner to send the blocktransfer

❸scanner recognizes status bit and

sends blocktransfer

Rack 1

❹adapter receives blocktransfer and

processes the request

413

Chapter

Communicating with Remote I/O

Important: Do not accidentally write data in the output image table in global RAM of the scanner. Any data in an output byte for an intelligent I/O module overrides the scanner block-transfer command and ruins any block-transfer request. Such an error is detected as a bit being set in the operating status word identifying an unsolicited block-transfer.

When the scanner is done with the block-transfer, it tests and sets the semaphore, places the necessary data in the general data area, places a completion code in the confirmation status byte, provides the block-transfer tag number, and generates a VMEbus interrupt. If the scanner sees that the semaphore is already set, it holds the block transfer data until the semaphore is reset.

Your application should copy the block-transfer data from the general data area and clear the semaphore.

BlockTransfer Timeout

If the block-transfer request does not complete within 4 seconds of the VME master processor sending the request to the scanner, the scanner:

1. tests and sets the semaphore

2. dequeues the failed request

3. places an error code in the confirmation status word

4. copies the correct tag value

5. optionally interrupts the VME master processor to indicate that the

block-transfer requests timed out.

The VME master processor then retrieves the result code and clears the semaphore.

The most common failure of a block-transfer is a block timeout, error code 23 (hex) in the confirmation status word. This error occurs if the block-transfer does not complete within 4 seconds of the initial request. This 4-second value is not variable.

Another frequent reason a block-transfer times out is because an incorrect intelligent module address is given to the scanner. Another common mistake is to put an incorrect value for the length of data words. The value for the length of data words must equal the number of words the I/O module expects to transfer. If these two values are not the same, the transfer will never happen.

414

The best way to avoid a block-transfer timeout is to give the scanner a transfer length of zero. This lets the I/O module decide how many words to send. When the transfer completes, the I/O modules replaces the 0 in the length of data words with the actual number of how many words were transferred.

Chapter

Operating in SVCompatible Mode

Using This Chapter

The SV-compatible mode supports these features:

each channel supports as many as 8 logical racks (16 physical adapters)

the global data area is 1872 words long

using the SETUP command, you can enable or disable the

VME-master-processor watchdog timer; change the timeout interval of the watchdog timer; select the command complete interrupt level and status ID; select whether to monitor SYSFAIL conditions; and select a communication rate of 57.6 or 115.2 kbps

Use this mode if you are replacing a 6008-SV scanner and want the 6008-SV1R or 6008SV2R scanner to operate exactly as the scanner you are replacing. Your programs for the 6008-SV scanner work for the 6008-SV1R or 6008-SV2R scanner. However, you need to change any reference in your application to the VME ID for the 6008-SV scanner to the VME ID for the 6008-SV1R or 6008-SV2R scanner.

Important: The SCAN LIST command uses two bits to identify rack size. These bits were not required for the 6008-SV. If you are migrating your application from a 6008-SV to a 6008-SV1R or 6008-SV2R, make sure to set these additional bits. See page 5-13.

Addressing Global RAM

This chapter describes the SV-compatible mode.

If you want to read about: Go to page:

addressing global RAM

command summary 56

Both the VME master processor and the scanner can read and write to the scanner’s VME global RAM. The global RAM structure depends on the VME operating mode of the scanner. Figure 5.1 shows the general structure for the SV-compatible operating mode. Page 5-3 shows the specifics of the structure for channel A.

51

Chapter

Operating in SVCompatible Mode

Figure 5.1 General

Channel A Channel B

byte offset

(hex)

000 output image table

64 words

080

100

120

FC0

input image table

64 words

control/status area

16 words

general data area

1872 words

interrupt/VME ID area

32 words

structure of global RAM for SV

compatible mode

(6008SV2R scanner only)

byte offset

(hex)

1000

1080

1100

1120

1FC0

output image table

64 words

input image table

64 words

control/status area

16 words

general data area

1872 words

interrupt/VME ID area

32 words

The physical address is the base address plus the byte offset. Important: Add 1000 (hex) to channel A addresses to get the

corresponding addresses for channel B.

52

global RAM structure for SVcompatible mode Channel A

Chapter

Operating in SVCompatible Mode

Rack 0, Output Group 0 Rack 0, Output Group 1 Rack 0, Output Group 2 Rack 0, Output Group 3 Rack 0, Output Group 4 Rack 0, Output Group 5 Rack 0, Output Group 6 Rack 0, Output Group 7 Rack 1, Output Group 0 Rack 1, Output Group 1

Rack 7, Output Group 6 Rack 7, Output Group 7 Rack 0, Input Group 0 Rack 0, Input Group 1 Rack 0, Input Group 2 Rack 0, Input Group 3 Rack 0, Input Group 4 Rack 0, Input Group 5 Rack 0, Input Group 6 Rack 0, Input Group 7 Rack 1, Input Group 0 Rack 1, Input Group 1

byte offset (hex)

00007F

output image table 64 words

0800FF

input image table 64 words

continued

not used

010A-011B not used

not used

General Data Area

Reset Words

operating status

confirmation

command

address

BT tag

semaphore

length of data

byte offset (hex)

10011F

control/status 16 words

120FBB

general data area 1872 words

FBCFBF

Rack 7, Input Group 6 Rack 7, Input Group 7

continued

contains 1 ASCII character/word

V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.2.R. or V.M.E.I.D.A.-.B.6.0.0.8.-.S.V

.A. .A.

.1.R. .A. .A.

FC0FFF

Table 5.A describes the components of global RAM.

scanner interrupt and VME ID area 32 words

53

Chapter

Operating in SVCompatible Mode

Table 5.A Descriptions

This area: stores the:

input and output image tables

control/status area operating status byte reflects the current status of the scanner (Figure 5.2)

general data area contains input parameters and result data for scanner commands

scanner interrupt and VME ID interrupt from the VME master processor to the scanner

input and output data for as many as 8 logical I/O racks with no more than 16 adapters.

confirmation status byte

command byte identifies the command the VME master processor wants the scanner to

address byte contains I/O rack, group, and slot parameters for block transfer commands

blocktransfer tag byte provided by the VME master processor to uniquely identify each

semaphore byte provides for the integrity of command requests, command responses, and completed

length of data byte specifies the amount of data associated with a command or response

The scanner interrupt area and VME ID area can be read anytime without causing an interrupt to the scanner. It contains 32 words in which the odd (lower byte) only is used; the information is an ASCII character string:

V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.2.R. .x. .y

where .x. .y. are the series and revision levels of the scanner. For example: V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.2.R. .A. .A. for series A, revision A.

Writing to any byte in this area interrupts the scanner. The scanner then looks at the command byte to determine which command to execute.

All even bytes have the value 0xFF; all odd bytes without ASCII characters have the value 0x00.

of the global memory areas

lets the VME master processor poll the scanner's status without interrupting ongoing operations

contains the result of the executed command

A result of 00 (hex) indicates the command completed successfully. See chapter 9 for a list of error codes.

execute next

For more information, see BT READ command on page 525 or BT WRITE command on page 527.

blocktransfer request

block transfers

If bit 7 is set, a VME master processor is using the control/status and general data area or the scanner just completed a blocktransfer and set the semaphore so no other VME master processor will overwrite the data. If the semaphore is set because of a blocktransfer, the appropriate VME master will know to come and retrieve the data and reset the semaphore. If the semaphore bit is clear, the general data area is available for access by any VME master processor.

Important: A VME master processor doesn't use the semaphore when it accesses the I/O image table. The VME master processor can access the I/O image table anytime.

For command requests, the scanner returns status, either confirmation or error, when the command is complete. When the VME master processor receives the confirmation status, it must retrieve the data from the general data area and clear the semaphore.

Important: Only 1 command can be issued at a time. A status confirmation or error must be received before a new command is issued.

Only the lower byte is used. Interpret the length of data based on the context of the requested command or received confirmation (i.e., number of words for blocktransfers and bytes for scanner management requests).

or V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.1.R. .x. .y.

54

Chapter

Operating in SVCompatible Mode

Operating Status Byte

The operating status byte holds scanner status information for the VME master processor. The scanner updates this byte every time it completes either a block-transfer or a command. The master processor can clear bits 4 and 7; the remaining bits are read only. The structure is as follows:

Figure 5.2 Structure

These bits:

bits 0-2

bit 3 If the debug mode bit is set by the scanner, the scanner cannot

bit 4 The scanner sets bit 4 when it detects an unsolicited

Considerations: These

These bits specify the programming mode of the scanner. These bits are mutually exclusive - the scanner can be in only one of these modes.

be shutdown by the internal watchdog.

ATTENTION: Unwanted machine motion can result from disabling the VME master processor watchdog. Only use the debug mode when you are debugging the application program for the VME master processor.

blocktransfer. An unsolicited blocktransfer results if a VME master processor accidentally writes discrete information to an output image table byte that is mapped to an I/O slot requiring a block transfer.

When this bit is set, take action to correct this situation because it can seriously degrade scanner response time. The scanner can only set this bit; the VME master processor must clear it.

of the operating status byte

76543210

bits:

Considerations:

bits 5 If bit 5 is set, the scanner has at least one blocktransfer

request in its internal queue. When the queue is empty, the scanner clears the bit.

bit 6 If bit 6 is set, at least one adapter has faulted, lost power, or

has been dropped from the I/O link. The VME master processor can issue the LINK STATUS command for fault details. When all the adapters in the scan list are cleared of faults or have been brought back on line, the scanner will clear this bit.

bit 7 If bit 7 is set, an adapter's operating status has changed. The

scanner uses this bit to tell VME master processors of a change in status of one of the adapters on the I/O link. An example is that if an operator temporarily pulled the swing arm from an adapter, the scanner would lose communications with that adapter. Maybe the operator could quickly put it back and the status LED and the adapter fault bit (bit 6) would say everything is working properly, but the adapter fault change bit would be left set, indicating that an adapter was temporarily off line. A VME master processor can issue the LINK STATUS command to make sure the I/O link and all adapters are operating properly upon seeing this bit set. Only the scanner can set this bit. The VME master processor must clear it.

55

Chapter

Operating in SVCompatible Mode

Command

If you want to: Use this command: With this

set the baud rate, watchdog rate, VMEbus interrupt level, how the scanner responds to SYSFAIL, and whether the scanner issues VMEbus interrupts

establish a default scan list and provide status of the I/O system to the VME master processor

establish your own scan list SCAN LIST 11 program 513

establish a fault dependent group structure FAULT DEPENDENT GROUP 12 program 516

change the operating mode of the scanner SET MODE 20 program

check adapter status and the scan list without affecting scanner operation

transfer a block of data from a specified I/O module to the scanner

transfer a block of data from the scanner to a specified I/O module

cause the scanner to reset itself RESET none program

Summary

The SV-compatible mode of the scanner supports these commands:

command byte

(hex):

SETUP 13 program 57

AUTOCONFIGURE 10 program 59

LINK STATUS 21 program

BT READ 01 program

BT WRITE 02 program

The scanner must

be in this

programming

mode:

test run

See page:

519

521

525

527

529

Waking up the scanner

When the scanner is first turned on, it does a self-test and then goes to sleep. A VME master processor must wake the scanner up by interrupting it (writing any value to the scanner’s ID area), which moves the scanner from sleep mode to program mode. Chapter 7 explains how to wake up the scanner. Chapter 8 provides additional programming examples.

56

SETUP

command

byte 13

description

Chapter

Operating in SVCompatible Mode

SETUP configures the scanner. The scanner must be in Program mode to execute this command. This is normally the first command sent to the scanner.

channel A general data

channel A control/status

01 = 57.6 kbps (default) 02 = 115.2 kbps FF = no change

01 = disable watchdog xx = enable watchdog

00-FF = command complete status ID

00 = SYSFAIL

monitor enabled

01 = SYSFAIL

monitor disabled

FF = no change

Byte offset

(Hex)

102

104

106

-11B

11C

11E

120

122

124

126

128

Name

not used

103

confirmation

105

not used command

not used

not used semaphore

11D

not used

120

122

124

126

baud rate

watchdog

disable

complete

status/ID

SYSFAIL

monitor

121

watchdog

timeout

123

complete

interrupt level

125

complete

interrupt enable

not used

00H returned means the command was successful. Any other value indicates an error.

13H is both sent and returned.

Bit 7 = semaphore

00 500 ms (default) 0A-FE (value x 100) ms (1000-25400ms) FF no change

01-07 = command complete interrupt level

00 interrupt enabled 01 interrupt disabled FF no change

-FBF

57

Chapter

Operating in SVCompatible Mode

parameters

The VME master processor writes 13 (hex) to the command byte. Then the VME master processor writes these parameters to the first 7 bytes of the selected channel’s general data area:

Byte

Parameter: Description: Byte

offset:

120 I/O link

baud rate

121 master

processor watchdog timeout

122 master

processor watchdog disable

123 command

complete VMEbus interrupt level

Write one of these values (hex):

01 57.6 kbps (default) 02 115.2 kbps FF no change

Values 00, 03-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Write one of these values (hex):

00 500 ms (default) 0A-FE (value x 100) ms (1000-25400ms) FF no change

Values 01-09 are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Write one of these values (hex):

01 disable watchdog timer 00, enable watchdog timer (default) 02-FF

Disable the watchdog timer when you want to run a master processor application in debug mode without incurring timeouts that disrupt the application. The default is debug disabled.

Write one of these values (hex):

01 level 1 05 level 5 02 level 2 06 level 6 03 level 3 07 level7 04 level 4 (default)

Values outside the range 01-07 are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

offset:

Parameter: Description:

124 command

complete interrupt status ID

125 command

complete interrupt enable

126 SYSFAIL

mask enable

The VME master processor writes an 8bit value here that the scanner will pass to the VME interrupt handler during the VMEbus interrupt cycle. The default value is 40H.

Write one of these values (hex):

00 generate VMEbus interrupt

upon command completion (default)

01 do not generate VMEbus interrupt

upon command completion

FF no change

Values 02-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Write one of these values (hex):

00 SYSFAIL monitor enabled (default) 01 SYSFAIL monitor disabled FF no change

Values 02-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

58

coding

sequence

Your code for a SETUP command should include these tasks:

1. get the semaphore

2. set up the general data area

3. send the command interrupt

4. wait for the result

(either poll for confirmation status or wait for an interrupt)

5. clear the semaphore

AUTOCONFIGURE

command

byte 10

description

Chapter

Operating in SVCompatible Mode

AUTOCONFIGURE builds the scan list by polling every possible adapter address. Every adapter on the link that responds is placed once in the scan list. The scanner must be in Program mode to issue this command.

channel A control/status

Byte offset

(Hex)

102

104

106

-11B

11C

11E

120

Name

not used

adapter status words 32 words

103

confirmation

105

11D

11F

command

semaphore

scan list

length

00H returned means the command was successful. Any other value indicates an error.

10H is both sent and returned.

Bit 7 = semaphore

number of entries in the scan list READ ONLY

16 bits per starting group (4 words per adapter)

see Figure 5.3 and Figure 5.4 READ ONLY

channel A general data

-15F

160

-16F

170

-FBF

scan list as many as 16 bytes

not used

1 byte per adapter see Figure 5.5 READ ONLY

59

Chapter

Operating in SVCompatible Mode

parameters

The VME master processor writes 10 (hex) to the command byte. There are no input parameters from the VME master processor. The scanner writes these parameters to the selected channel’s general data area:

Byte offset:

11F scan list length

120 I/O adapter status word block

160 scan list

Byte

offset

120

122

Parameter: Description:

READ ONLY

Figure 5.3

of the I/O adapter status word block and scan list

Format

rack 0, starting group 0

rack 0, starting group 2

The scan list length indicates the number of entries in the scan list. The scan list length is an 8bit quantity that the scanner writes to the length of data byte in the control/status area.

This word block contains four 16bit entries (4 words) for each adapter - 16 bits for each starting group per adapter (maximum of 8 groups of entries). See Figure 5.3 and Figure 5.4.

This list is a maximum of 16 bytes long (1 byte per adapter). The list contains one bytesized entry for each adapter found on the I/O link. See Figure 5.5 on page 512.

Byte offset

121

123

124

126

128

12A

15C

15E

rack 0, starting group 2 rack 1, starting group 2

160

rack 2, starting group 2 rack 3, starting group 0

162

rack 4, starting group 0 rack 5 starting group 2

164

rack 6, starting group 0 rack 7, starting group 4

166

rack 0, starting group 4

rack 0, starting group 6

rack 1, starting group 0

rack 1, starting group 2

●

rack 7, starting group 4

rack 7, starting group 6

●

up to as many as 16 bytes

125

127

129

12B

●

15D

15F

161

163

165

167

●

channel A adapter status words

Each block represents 1 word. Only those words representing starting groups of existing racks should contain the data described in Figure 5.4.

channel A example scan list

Each block represents 1 byte. See Figure 5.5.

510

Chapter

Operating in SVCompatible Mode

Figure 5.4

of one entry in the I/O adapter status word block

Format (as shown in

Format item: Description: Format item: Description:

in scan list bit 12

adapter attached bit 11

valid configuration bit 10

adapter size bits 9-8

Contains one of these values:

1 adapter is in the current scan list 0 adapter not in current scan list

Contains one of these values:

1 adapter resides at this address 0 no adapter resides at this address

Contains one of these values:

1 adapter type, size, and address are valid 0 adapter type, size, and/or address not

valid; adapter is improperly configured

Contains one of these values (hex):

00 1/4 rack addressing 01 1/2 rack addressing 10 3/4 rack addressing 11 full rack addressing

Figure 5.3)

654321012 11 10 9 8 714 1315

group faulted bit 7

line status bit 6-4

in fault dependent group bit 3

fault dependent group number bits 2-0

Contains one of these values:

1 fault exists in the fault dependent group

associated with the adapter

0 no fault exists in the fault dependent

group associated with the adapter

Contains one of these values (hex):

000 adapter is off line any other adapter is on line value

Contains one of these values:

1 adapter is in the fault dependent group

identified by the fault dependent group number (bits 2-0)

0 adapter is not in a fault dependent group The value (0-7 binary) identifies the fault

dependent group to which this adapter belongs.

511

Chapter

Operating in SVCompatible Mode

Format item: Description:

rack number bits 4-2

starting I/O group number bits 1-0

Figure 5.5

for one entry in the scan list

Format

65432107

The value (0-7 binary) identifies the rack number.

One of the following values identifies the starting I/O group:

00 group 0 01 group 2 10 group 4 11 group 6

coding

sequence

Your code for the AUTOCONFIGURE command should include these tasks:

1. get the semaphore

2. set up the control status area

3. send the command interrupt

4. wait for the result

(either poll for confirmation status or wait for an interrupt)

5. check the result

6. clear the semaphore

512

SCAN

command

LIST

byte 1

Chapter

Operating in SVCompatible Mode

description

SCAN LIST replaces the current scan list. The scanner must be in Program mode. You can issue a SCAN LIST command without first issuing an AUTOCONFIGURE command.

channel A control/status

channel A general data

Byte offset

(Hex)

102

104

106

-11B

11C

11E

120

-15F

Name

not used

scan list as many as 64 bytes

103

105

11D

11F

confirmation

command

semaphore

scan list

length

00H returned means the command was successful. Any other value indicates an error.

11H is both sent and returned.

Bit 7 = semaphore

number of entries (0-64) in the scan list

1 byte per adapter (you can enter the same adapter multiple times)

see Figure 6.5

parameters

160

-FBF

The VME master processor writes 11 (hex) to the command byte. Then

not used

the VME master processor writes these parameters to the selected channel’s general data area:

Byte offset:

11F

120 scan list This list is a maximum of 64 bytes long (1 byte per adapter),

Parameter: Description:

scan list length The scan list length indicates the number of entries (0-64) in

the scan list. The scan list length is an 8bit quantity that the scanner writes to the length of data byte in the control/status area. You can enter a scan list length of 0.

but it can contain only 16 distinct physical adapter addresses. The list contains one bytesized entry for each adapter you want to place in the list. An adapter can appear in the list multiple times. See Figure 5.6 and Figure 5.7.

513

Chapter

Operating in SVCompatible Mode

Figure 5.6 Example scan list

Byte

offset

120

122

124

126

rack 0, staring group 2 rack 1, starting group 2

rack 2, staring group 2 rack 3, starting group 0

rack 4, staring group 0 rack 5 starting group 2

rack 6, staring group 0 rack 7, starting group 4

●

up to as many as 64 bytes

●

Figure 5.7

for one entry in the scan list

Format

65432107

Byte offset

121

123

125

127

514

Format item: Description:

rack size bits 7-6

rack number bits 4-2

starting I/O group number bits 1-0

Write one of these values:

00 1/4 rack 01 1/2 rack 10 3/4 rack 11 full rack

These bits function differently than with the AUTOCONFIGURE command. With this command, you must specify the rack size you want - which could be larger than the actual rack size to allow for future expansion. The AUTOCONFIGURE command determines the actual rack size and writes the appropriate value.

Write the value (0-7 binary) of the rack number to be scanned.

Write one of these values:

00 group 0 01 group 2 10 group 4 11 group 6

Chapter

Operating in SVCompatible Mode

coding

sequence

Your code for the SCAN LIST command should include these tasks:

1. get the semaphore

2. set up the control status area

3. copy the scan list to the general data area

4. send the command interrupt

5. wait for the result

(either poll for confirmation status or wait for an interrupt)

6. clear the semaphore

515

Chapter

Operating in SVCompatible Mode

FAULT DEPENDENT GROUP

command

byte 12

description

FAULT DEPENDENT GROUP associates a set of adapters such that if one adapter in the group faults, all the other adapters in the group fault, going to their fail-safe mode of operation. The scanner must be in Program mode to issue this command. You can specify as many as 8 fault groups.

channel A control/status

channel A general data

Byte offset

(Hex)

102

104

106

-11B

11C

11E

120

-13F

140

Name

not used

faultdependentgroup blocks 32 bytes

not used

103

confirmation

105

command

11D

semaphore

00H returned means the command was successful. Any other value indicates an error.

12H is both sent and returned.

Bit 7 = semaphore

1 byte per starting group (4 bytes per adapter)

see Figure 5.8 and Figure 5.9

516

Byte offset:

120

-FBF

parameters

The VME master processor writes 12 (hex) to the command byte. Then the VME master processor writes these parameters to the selected channel’s general data area:

Parameter: Description:

fault dependent group block There are 4 configurable bits for each starting group entry.

An adapter must be in the current scan list to be assigned to a faultdependent group. If you specify an adapter that is not in the scan list, the scanner writes an illegal configuration error (16H) to the confirmation status byte. See Figure 5.8 and Figure 5.9.

Chapter

Operating in SVCompatible Mode

Figure 5.8 Format of the fault dependent group block

Byte

offset

120

122

124

126

128

12A

13C

13E

starting group 0

starting group 4

starting group 0

starting group 4

starting group 0

starting group 4

●

starting group 0

starting group 4 starting group 6

Each block represents 1 byte. There is 1 byte for each starting group for each adapter. Only those bytes representing starting groups of existing racks should contain the data described in Figure 5.9. Zero all entries for which adapters do not exist.

starting group 2

starting group 6

starting group 2

starting group 6

starting group 2

starting group 6

●

starting group 2

Byte offset

121

123

125

127

129

12B

13D

13F

rack 0

rack 1

rack 2

rack 7

517

Chapter

Operating in SVCompatible Mode

Format item: Description:

in fault dependent group bit 3

fault dependent group number bits 2-0

Figure 5.9

for one entry in the fault dependent group block

Format

65432107

Write one of these values:

1 adapter is in the fault dependent group identified by the

fault dependent group number (bits 2-0)

0 adapter is not in a fault dependent group

Write a value (0-7 binary) to identify the fault dependent group to which this adapter belongs.

coding

sequence

Your code for the FAULT DEPENDENT GROUP command should include these tasks:

1. get the semaphore

2. set up the control status area

3. copy the fault dependent group data to the general data area

4. send the command interrupt

5. wait for the result

(either poll for confirmation status or wait for an interrupt)

6. clear the semaphore

518

SET

MODE

command

byte 20

description

Chapter

Operating in SVCompatible Mode

SET MODE changes the operating mode of the scanner.

channel A general data

channel A control/status

Mode 01 = Program 02 = Test 04 = Run

Byte offset

(Hex)

102

104

106

-111B

11C

11E

120

122

Name

not used

120

not used

103

confirmation

105

command

11D

semaphore

not usedmode

00H returned means the command was successful. Any other value indicates an error.

20H is both sent and returned.

Bit 7 = semaphore

Byte offset:

120

-FBF

parameters

The VME master processor writes 20 (hex) to the command byte. Then the VME master processor writes this parameter to the selected channel’s general data area:

Parameter: Description:

mode Write one of these values (hex):

01 Program mode 02 Test mode 04 Run mode

Values 00, 03, and 05-FF are reserved. If you write a reserved value to this field, the scanner writes an illegal confirmation error (16H) in the confirmation status byte.

519

Chapter

Operating in SVCompatible Mode

coding

sequence

Your code for the SET MODE command should include these tasks:

1. get the semaphore

2. set up the control status area

3. copy the mode value to the general data area

4. send the command interrupt

5. wait for the result

(either poll for confirmation status or wait for an interrupt)

6. check the confirmation status

7. clear the semaphore

520

LINK

command

ATUS

byte 21

description

Chapter

Operating in SVCompatible Mode

LINK STATUS determines the current status of the adapters on the selected channel’s I/O link. LINK STATUS doesn’t affect the scanner. The VME master processor can issue LINK STATUS any time.

channel A control/status

channel A general data

Byte offset

(Hex)

102

104

106

-11B

11C

11E

120

-15F

Name

not used

adapter status words 32 words

103

confirmation

105

11D

11F

command

semaphore

scan list

length

00H returned means the command was successful. Any other value indicates an error.

21H is both sent and returned.

Bit 7 = semaphore

number of entries in the scan list READ ONLY

16 bits per starting group (4 words per adapter)

see Figure 5.3 and Figure 5.4 READ ONLY

160

180

-17F

-FBF

scan list as many as 64 bytes

not used

1 byte per adapter in the scan list

see Figure 5.5 READ ONLY

521

Chapter

Operating in SVCompatible Mode

parameters

The VME master processor writes 21 (hex) to the command byte. There are no input parameters from the VME master processor. The scanner writes these parameters to the selected channel’s general data area:

Byte

Offset

11F scan list length

120 I/O adapter status word block

160 scan list

Byte

offset

120

Parameter Description

READ ONLY

Figure 5.10

of the I/O adapter status word block and scan list

Format

rack 0, starting group 0

The scan list length indicates the number of entries in the scan list. The scan list length is an 8bit quantity that the scanner writes to the length of data byte in the control/status area. You can enter a scan list length of 0.

This word block contains four 16bit entries (4 words) for each adapter - 16 bits for each starting group per adapter (maximum of 8 groups of entries). See Figure 5.10 and Figure 5.11.

This list is a maximum of 64 bytes long. The list contains one bytesized entry for each adapter in the scan list, but it contains only 16 distinct physical adapter addresses. An adapter can appear in the list multiple times. See Figure 5.12 on page 524.

Byte offset

121

122

124

126

128

12A

15C

15E

rack 0, staring group 2 rack 1, starting group 2

160

rack 2, staring group 2 rack 3, starting group 0

162

rack 4, staring group 0 rack 5 starting group 2

164

rack 6, staring group 0 rack 7, starting group 4

166

rack 0, starting group 2

rack 0, starting group 4

rack 0, starting group 6

rack 1, starting group 0

rack 1, starting group 2

●

rack 7, starting group 4

rack 7, starting group 6

123

125

127

129

12B

●

15D

15F

161

163

165

167

channel A adapter status words

Each block represents 1 word. Only those words representing starting groups of existing racks should contain the data described in Figure 5.11.

channel A example scan list

Each block represents 1 byte. See Figure 5.12.

522

●

up to as many as 64 bytes

●

Chapter

Operating in SVCompatible Mode

Figure 5.11

of one entry in the I/O adapter status word block

Format (as shown in

Format item: Description: Format item: Description:

in scan list bit 12

adapter attached bit 11

valid configuration bit 10

adapter size bits 9-8

Contains one of these values:

1 adapter is in the current scan list 0 adapter not in current scan list

Contains one of these values:

1 adapter resides at this address 0 no adapter resides at this address

Contains one of these values:

1 adapter type, size, and address are valid 0 adapter type, size, and/or address not

valid; adapter is improperly configured

Contains one of these values (hex):

00 1/4 rack addressing 01 1/2 rack addressing 10 3/4 rack addressing 11 full rack addressing

Figure 5.3)

654321012 11 10 9 8 714 1315

group faulted bit 7

line status bit 6-4

in fault dependent group bit 3

fault dependent group number bits 2-0

Contains one of these values:

1 fault exists in the fault dependent group

associated with the adapter

0 no fault exists in the fault dependent

group associated with the adapter

Contains one of these values (hex):

000 adapter is off line any other adapter is on line value

Contains one of these values:

1 adapter is in the fault dependent group

identified by the fault dependent group number (bits 2-0)

0 adapter is not in a fault dependent group The value (0-7 binary) identifies the fault

dependent group to which this adapter belongs.

523

Chapter

Operating in SVCompatible Mode

Format item: Description:

rack number bits 4-2

starting I/O group number bits 1-0

Figure 5.12

for one entry in the scan list

Format

65432107

The value (0-7 binary) identifies the rack number.

One of the following values identifies the starting I/O group:

00 group 0 01 group 2 10 group 4 11 group 6

coding

sequence

Your code for the LINK STATUS command should include these tasks:

1. get the semaphore

2. set up the control status area

3. send the command interrupt

4. wait for the result

(either poll for confirmation status or wait for an interrupt)

5. check the result

6. clear the semaphore

524

BT READ

command

byte 01

description

Chapter

Operating in SVCompatible Mode

BT READ transfers a block of data from the specified I/O module into the scanner.

Upon issuing a block-transfer request, the scanner writes 0x2F in the confirmation status byte to indicate that the scanner accepted the request and put it into its queue. When the scanner actually completes the block-transfer, the scanner sets the semaphore and then it updates this data in the following order:

1. address

2. block transfer tag

3. length of data

4. confirmation status

5. block transfer read data

6. command complete interrupt (if enabled)

channel A control/status

channel A general data

Byte offset

(Hex)

102

104

106

108

10A

-11B

11C

11E

120

-(length-1)

Name

not used

BT read data returned as many as 64 words

103

confirmation

105

107

109

11D

11F

command

address

BT tag

semaphore

length of

data

00H = transfer was successful 2FH = block transfer put in queue OK any other value indicates an error

01H is both sent and returned.

address of I/O module

00-41 = unique number transfer

Bit 7 = semaphore

0-64 = number of words to read from the I/O module

(length)

-FBF

not used

525

Chapter

Operating in SVCompatible Mode

parameters

The VME master processor writes 01 (hex) to the command byte. Then the VME master processor writes these parameters to the selected channel’s control status area:

Byte offset:

107 module address The module address is the address of the I/O module from which

109 blocktransfer tag number The blocktransfer tag number is an 8bit integer that uniquely

11F length of data The length of data byte is an 8bit value that specifies the number

120 BT data The BT data is the set of data words (0-64) read from the target

Parameter: Description:

to read the block data. It contains the rack (0-15), group (0-7), and slot (0 or 1) numbers of the I/O module. See Figure 5.13.

identifies each blocktransfer. The scanner writes a value 0-41 to the blocktransfer request tag number in the control/status area.

Values greater than 41 are reserved. If you write a reserved value to this field, the scanner writes an illegal confirmation error (16) in the confirmation status byte.

This tag is returned with the status when the block transfer is complete so the VME master processor can match the block transfer status with the request.

of 16bit words (0-64 decimal) to be read from the target I/O module.

Use the value 0 to let the I/O module determine how many words the scanner can read. When the blocktransfer completes, the 0 is replaced by the actual number of words read.

Values greater than 64 are reserved. If you write a reserved value to this field, the scanner writes an illegal confirmation error (16) in the confirmation status byte.

I/O module. The BT data block ends at offset (length of data - 1).

526

coding

sequence

Figure 5.13 Structure

of the address byte

6543210

0 = terminals 00-07 1 = terminals 10-17

Your code for the BT READ command should include these tasks:

1.get the semaphore

2.set up the control status area

3.send the command interrupt

4.wait for the result

(either poll for confirmation status or wait for an interrupt)

5.clear the semaphore

WRITE

command

byte 02

description

Chapter

Operating in SVCompatible Mode

BT WRITE transfers a block of data from the scanner to the specified I/O module.

1. address

2. block transfer tag

3. length of data

4. confirmation status

5. block transfer read data

6. command complete interrupt (if enabled)

channel A control/status

channel A general data

Byte offset

(Hex)

102

104

106

108

10A

-11B

11C

11E

120

-(length-1)

Name

not used

BT write data as many as 64 words

103

confirmation

105

107

109

11D

11F

command

address

BT tag

semaphore

length of

data

00H = transfer was successful 2FH = block transfer put in queue OK any other value indicates an error

02H is both sent and returned.

address of I/O module

0-41 = unique number transfer

Bit 7 = semaphore

0-64 = number of words to write to the I/O module

parameters

(length)

not used

-FBF

The VME master processor writes 02 (hex) to the command byte. Then the VME master processor writes these parameters to the selected channel’s control status area:

527

Chapter

Operating in SVCompatible Mode

Byte offset:

107

109 blocktransfer tag number The blocktransfer tag number is an 8bit integer that uniquely

11F length of data The length of data byte is an 8bit value that specifies the number

120 BT data The BT data is the set of data words (0-64) sent to the target I/O

Parameter: Description:

module address The module address is the address of the I/O modules that is to

receive the block data.

The module address is the address of the I/O module that is to receive the block data. It contains the rack (0-15), group (0-7), and slot (0 or 1) numbers of the I/O module. See Figure 5.14.

identifies each blocktransfer. The scanner writes a value 0-41 to the blocktransfer request tag number in the control/status area.

Values greater than 41 are reserved. If you write a reserved value to this field, the scanner writes an illegal confirmation error (16) in the confirmation status byte.

This tag is returned with the status when the block transfer is complete so the VME master processor can match the block transfer status with the request.

of 16bit words (0-64 decimal) to be written to the target I/O module.

Use the value 0 to let the I/O module determine how many words the scanner can write. When the blocktransfer completes, the 0 is replaced by the actual number of words written.

Values greater than 64 are reserved. If you write a reserved value to this field, the scanner writes an illegal confirmation error (16) in the confirmation status byte.

module. The BT data block ends at offset (length of data - 1).

528

coding

sequence

Figure 5.14 Structure

of the address byte

6543210

0 = terminals 00-07 1 = terminals 10-17

Your code for the BT WRITE command should included these tasks:

1.get the semaphore

2.set up the control status area

3.send the command interrupt

4.wait for the result

(either poll for confirmation status or wait for an interrupt)

5.clear the semaphore

RESET

Chapter

Operating in SVCompatible Mode

description

RESET causes the scanner to reset itself. The VME master processor can issue RESET any time. When the scanner stops running due to another VME module asserting SYSFAIL, you can use RESET to reset the scanner, which causes the scanner to re-initialize itself.

RESET looks for the appropriate values in the last 2 words of the selected channel’s general data area. If the values are there, the scanner resets itself, performs its power-on self-test, and enters the SLEEP state. The application program has to wake up the scanner and then send a SETUP command to configure the scanner (see chapter 8 for an example). This applies to either channel.

During the RESET, the scanner stops scanning the remote I/O and all three LEDs on the scanner light. RESET is different than a power cycle to the scanner in that with RESET, the scanner doesn’t assert SYSFAIL during the self tests and the scanner doesn’t clear the I/O image tables. The scanner leaves the I/O image tables in their last state. The scanner then enters the SLEEP state.

Byte offset

(Hex)

120

Name

not used

channel A general data

-FBB

FBC 0080 (hex)

FBE

FC0

reset code word

scanner interrupt and VME ID area (64 bytes)

-FFF

A0A0 (hex)

529

Chapter

Operating in SVCompatible Mode

parameters

There are no parameters for the RESET command. Before the scanner executes the RESET command, the VME master processor writes these parameters to the last 2 words of the selected channels’ general data area:

Byte offset:

FBC secondtolast word in the selected

FBE last word in the selected channel's

coding

Parameter: Description:

channel's general data area

general data area

sequence

Your code for the RESET command needs to write the above words to byte offsets FBC and FBE.

Write the value 0080 (hex) to this word.

Write the value A0A0 (hex) to this word.

530

Chapter

Operating in SVSuperset Mode

Using This Chapter

The SV-superset mode provides these features in addition to those supported by the SV-compatible mode:

each channel supports as many as 16 logical racks per channel

(32 physical adapters); the SV-compatible mode supports as many as 8 logical racks per channel (16 physical adapters)

the global data area is 224 bytes long

you can configure the scanner to interrupt the VME master processor

when the scanner detects a change in a specified range of input image table; the scanner also provides the offset for the first changed data

the scanner supports continuous block transfers and each channel has a

table for continuous block-transfer read data and a table for continuous block-transfer write data

use the SETUP command to select a communication rate of 57.6, 115.2,

or 230.4 kbps

This chapter describes the SV-superset mode.

If you want to read about: go to page:

addressing global RAM

command summary 67

61

Addressing Global RAM

Both the VME master processor and the scanner can read and write to the scanner’s VME global RAM. The global RAM structure depends on the VME operating mode of the scanner. Figure 6.1 shows the general structure for the SV-superset operating mode. Page 6-3 shows the specifics of the structure for channel A.

Important: The scanner must be configured for A24 address space if you use the SV-superset mode. For more information about configuring address space, see chapter 2.

61

Chapter

Operating in SVSuperset Mode

byte offset

(hex)

0000

0100

0200

0220

0300

0C00

1FC0

Figure 6.1 General

Channel A Channel B

output image table

128 words

input image table

128 words

control/status area

16 words

general data area

112 words

continuous BT write

16 entries (72 words each)

continuous BT read

32 entries (72 words each)

interrupt/VME ID area

32 words

structure of global RAM for SV

superset mode

(6008SV2R scanner only)

byte offset

(hex)

2000

2100

2200

2220

2300

2C00

3FC0

output image table

128 words

input image table

128 words

control/status area

16 words

general data area

112 words

continuous BT write

16 entries (72 words each)

continuous BT read

32 entries (72 words each)

interrupt/VME ID area

32 words

62

The physical address is the base address plus the byte offset. Important: Add 2000 (hex) to channel A addresses to get the

corresponding addresses for channel B.

global

RAM structure for SV

Channel A

superset mode

Chapter

Operating in SVSuperset Mode

Rack 15, Output Goup 6 Rack 15, Output Group 7 Rack 0, Input Group 0 Rack 0, Input Group 1 Rack 0, Input Group 2 Rack 0, Input Group 3 Rack 0, Input Group 4 Rack 0, Input Group 5 Rack 0, Input Group 6 Rack 0, Input Group 7 Rack 1, Input Group 0 Rack 1, Input Group 1

byte offset (hex)

0000FF

output image table

128 words

1001FF

input image table

128 words

continued

General Data Area

Continuous Block Transfer Write Table

Continuous Block Transfer Read Table

1E00-1FBB not used

byte offset (hex)

general data area

2202FF

continuous block transfer

300BFF

(sixteen 72word entries)

C001DFF

continuous block transfer

72word entries)

112 words

write area

1152 words

read area

2304 words

(thirty-two

Rack 15, Input Group 6 Rack 15, Input Group 7

operating status

confirmation

not used

Input Image Table Monitor

Index Word

20E-21B not used

not used

command

BT interrupt

semaphore

length of data

address

BT tag

continued

Reset Words

contains 1 ASCII character/word

V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.2.R. or V.M.E.I.D.A.-.B.6.0.0.8.-.S.V

20021F

control/status

16 words

.1.R. .A. .A.

Table 6.A describes the components of global RAM.

.A. .A.

1FBC1FBF

1FC01FFF

scanner interrupt and

VME ID area

32 words

63

Chapter

Operating in SVSuperset Mode

Table 6.A Descriptions

This area: stores the:

input and output image table

control/status area operating status byte reflects the current status of the scanner

input and output data for as many as 16 logical I/O racks with no more than 32 adapters.

confirmation status byte

command byte identifies the command the VME master processor wants the scanner to

address byte contains I/O rack, group, and slot parameters for block transfer commands

block transfer tag byte provided by the VME master processor to uniquely identify each oneshot block

block transfer interrupt byte

input image table monitor index word

semaphore byte provides for the integrity of command requests, command responses, and completed

of the global memory areas

lets the VME master processor poll the scanner's status without interrupting ongoing operations

see Figure 6.2 on page 65

contains the result of the executed command

A result of 00 (hex) indicates the command completed successfully. See chapter 9 for a list of error codes.

execute next

For more information, see

BT READ command on page 628 BT WRITE command on page 632 CONTINUOUS BT READ command on page 636 CONTINUOUS BT WRITE command on page 640

transfer request or continuous blocktransfer entry indicates the VME interrupt level and interrupt acknowledgement vector for when a

continuous block transfer periodically completes

For more information, see BT WRITE command on page 632 or BT READ command on page 636. Use the SETUP command to specify the interrupt level and interrupt vector.

when the input image table monitor is enabled, this word contains the index of the last entry that changed in the input image table

when the input image table monitor is disabled, this word is undefined

Use the SETUP command to enable or disable the input image table monitor.

oneshot block transfers

If bit 7 is set, a VME master processor is using the control/status and general data area or the scanner just completed a block transfer and set the semaphore so no other VME master processor will overwrite the data. If the semaphore is set because of a block transfer, the appropriate VME master will know to come and retrieve the data and reset the semaphore. If the semaphore bit is clear, the general data area is available for access by any VME master processor.

Important: A VME master processor doesn't use the semaphore when it accesses the I/O image table. The VME master processor can access the I/O image table anytime.

Important: Only 1 command can be issued at a time. A status confirmation or error must be received before a new command is issued.

64

Chapter

Operating in SVSuperset Mode

This area: stores the:

length of data byte specifies the amount of data associated with a command or response

Only the lower byte is used. Interpret the length of data based on the context of the requested command or received confirmation (i.e., number of words for block transfers and bytes for scanner management requests).

general data area contains input parameters and result data for scanner commands

continuous block transfer read and write table

scanner interrupt and VME ID interrupt from the VME master processor to the scanner

each table contains either write or read data for continuous block transfers

The write table has 16 72word buffers; the read table has 32 72word buffers. For more details, see the CONTINUOUS BT WRITE command on page 640 or the CONTINUOUS BT READ command on page 636.

V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.2.R. .x. .y

where .x. .y. are the series and revision levels of the scanner. For example: V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.2.R. .A. .A. for series A, revision A.

Writing to any byte in this area interrupts the scanner. The scanner then looks at the command byte to determine which command to execute.

All even bytes have the value 0xFF; all odd bytes without ASCII characters have the value 0x00.

or V.M.E.I.D.A.-.B.6.0.0.8.-.S.V.1.R. .x. .y.

Operating Status Byte

The operating status byte holds scanner status information for the VME master processor. The scanner updates this byte every time it completes either a block transfer or a command. The master processor can clear bits 4 and 7; the remaining bits are read only. The structure is as follows:

Figure 6.2 Structure

of the operating status byte

76543210

see the following table for descriptions of these bits

65

Chapter

Operating in SVSuperset Mode

These bits: Considerations:

bits 0-2

bit 3 If the debug mode bit is set by the scanner, the scanner cannot be shutdown by the

bit 4 The scanner sets bit 4 when it detects an unsolicited block transfer. An unsolicited block

bit 5 If bit 5 is set, the scanner has at least one block transfer request in its internal queue.

bit 6 If bit 6 is set, at least one adapter has faulted, lost power, or has been dropped from the

bit 7 If bit 7 is set, an adapter's operating status has changed. The scanner uses this bit to

These bits specify the programming mode of the scanner. These bits are mutually exclusive - the scanner can be in only one of these modes.

internal watchdog.

ATTENTION: Unwanted machine motion can result from disabling the VME master processor watchdog. Only use the debug mode when you are debugging the application program for the VME master processor.

transfer results if a VME master processor accidentally writes discrete information to an output image table byte that is mapped to an I/O slot requiring a block transfer.

When this bit is set, take action to correct this situation because it can seriously degrade scanner response time. The scanner can only set this bit; the VME master processor must clear it.

When the associated block transfer is completed and the queue is empty, the scanner will clear the bit.

I/O link. The VME master processor can issue the LINK STATUS command for fault details. When all the adapters in the scan list are cleared of faults or have been brought back on line, the scanner will clear this bit.

tell VME master processors of a change in status of one of the adapters on the I/O link. An example is that if an operator temporarily pulled the swing arm from an adapter, the scanner would lose communications with that adapter. Maybe the operator could quickly put it back and the status LED and the adapter fault bit (bit 6) would say everything is working properly, but the adapter fault change bit would be left set, indicating that an adapter was temporarily off line. A VME master processor can issue the LINK STATUS command to make sure the I/O link and all adapters are operating properly upon seeing this bit set. Only the scanner can set this bit. The VME master processor must clear it.

66

Chapter

Operating in SVSuperset Mode

Command

If you want to: Use this command: With this

set the baud rate, watchdog rate, VMEbus interrupt level, how the scanner responds to SYSFAIL, command complete interrupt, and the input image table interrupt

establish a default scan list and provide status of the I/O system to the VME master processor

establish your own scan list SCAN LIST 11 program 615

establish a fault dependent group structure FAULT DEPENDENT GROUP 12 program 618

change the operating mode of the scanner SET MODE 20 program

check adapter status and the scan list without affecting scanner operation

transfer a block of data from a specified I/O module to the scanner

transfer a block of data from the scanner to a specified I/O module

continuously transfer a block of data from a specified I/O module to the scanner

continuously transfer a block of data from the scanner to a specified I/O module

cause the scanner to reset itself RESET none program

Summary

The SV-superset mode of the scanner supports these commands:

command byte

(hex):

SETUP 13 program 68

AUTOCONFIGURE 10 program 611

LINK STATUS 21 program

BT READ 01 program

BT WRITE 02 program

CONTINUOUS BT READ 06 program 636

CONTINUOUS BT WRITE 07 program 640

The scanner must

be in this

programming

mode:

test run

See page:

621

623

628

632

644

Waking up the scanner

Chapter 8 provides additional programming examples.

67

Chapter

Operating in SVSuperset Mode

SETUP

command

byte 13

description

SETUP configures the scanner. The scanner must be in Program mode to execute this command. This is normally the first command sent to the scanner.

channel A general data

channel A control/status

01 = 57.6 kbps (default) 02 = 115.2 kbps 03 = 230.4 kbps FF = no change

01 = disable watchdog xx = enable watchdog

00-FF = status ID

00 = SYSFAIL enabled 01 = SYSFAIL disabled FF = no change

00-FF = status ID

00-high bound = low

Byte offset

(Hex)

0202

0204

0206

-021B

021C

021E

0220

0222

0224

0226

0228

022A

Name

0203

not used

confirmation

0205

command

not used

not used semaphore

021D

not used

disable

monitor

0221

watchdog

timeout

0223

complete

interrupt level

0225

complete

interrupt enable

0227

input image

interrupt level

0229

input image

monitor enable

022B

input image

high bound

0220

0222

0224

0226

0228

input image

022A

input image

baud rate

watchdog

complete

status ID

SYSFAIL

status ID

low bound

00H returned means the command was successful. Any other value indicates an error.

13H is both sent and returned.

Bit 7 = semaphore

00 500 ms (default) 0A-FE (value x 100) ms (1000-25400ms) FF no change

01-07 = interrupt level

00 interrupt enabled 01 interrupt disabled FF no change

01-07 = interrupt level

00 interrupt enabled 01 interrupt disabled FF no change

lowbound-7E = high

68

parameters

022C

not used

-02FF

The VME master processor writes 13 (hex) to the command byte. Then the VME master processor writes these parameters to the first 12 bytes of the selected channel’s general data area:

Byte

Parameter: Description: Byte

offset:

0220 I/O link

baud rate

0221 master

processor watchdog timeout

0222 master

processor watchdog disable

0223 command

complete interrupt level

0224 command

complete interrupt status ID

0225 command

complete interrupt enable

Write one of these values (hex):

01 57.6 kbps (default) 02 115.2 kbps 03 230.4 kbps FF no change

Values 00, 04-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Write one of these values (hex):

00 500 ms (default) 0A-FE (value x 100) ms (1000-25400ms) FF no change

Values 01-09 are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Write one of these values (hex):

01 disable watchdog timer 00, enable watchdog timer (default) 02-FF

Disable the watchdog timer when you want to run a master processor application in debug mode without incurring timeouts that disrupt the application. The default is debug disabled.

Write one of these values (hex):

01 level 1 05 level 5 02 level 2 06 level 6 03 level 3 07 level7 04 level 4 (default)

Values outside the range 01-07 are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

The VME master processor writes an 8bit value here that the scanner will pass to the VME interrupt handler during the VMEbus interrupt cycle. The default value is 40H.

Write one of these values (hex):

00 generate VMEbus interrupt

upon command completion (default)

01 do not generate VMEbus interrupt

upon command completion

FF no change

Values 02-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Chapter

Operating in SVSuperset Mode

Parameter: Description:

offset:

0226 SYSFAIL

monitor enable

0227 input image

table monitor interrupt level

0228 input image

table monitor interrupt status ID

0229 input image

table monitor enable

022A input image

table low bound

022B input image

table high bound

Write one of these values (hex):

00 SYSFAIL monitor enabled (default) 01 SYSFAIL monitor disabled FF no change

Values 02-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

Write one of these values (hex):

01 level 1 05 level 5 02 level 2 06 level 6 03 level 3 07 level7 04 level 4 (default)

Values outside the range 01-07 are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

The VME master processor writes an 8bit value here that the scanner will pass to the VME interrupt handler in response to an input image table monitor interrupt. The default value is 42H.

Write one of these values (hex):

00 input image table monitor enabled 01 input image table monitor disabled (default) FF no change

Values 02-FE are reserved. If you write a reserved value to this field, the scanner writes error 11H in the confirmation status byte.

The low bound sets one boundary for a contiguous segment of the input image table that the scanner monitors for a change. The default low bound is rack 0, group 0. Legal values are 00H to the high bound.

Values greater than the high bound result in error 11H in the confirmation status byte.

The high bound sets one boundary for a contiguous segment of the input image table that the scanner monitors for a change. The default high bound is rack 15, group 7. Legal values are from the low bound to 7EH.

Values between 80-FF (hex) and values less than the low bound result in error 11H in the confirmation status byte.

69

Chapter

Operating in SVSuperset Mode

coding

sequence

Your code for the SETUP command should include these tasks:

1. get the semaphore

2. set up the general data area

3. send the command interrupt

4. wait for the result

(either poll for confirmation status or wait for an interrupt)

5. clear the semaphore

610

AUTOCONFIGURE

command

byte 10

description

Chapter

Operating in SVSuperset Mode

channel A control/status

Byte offset

(Hex)

0202

0204

0206

-021B

021C

021E

0220

Name

not used

adapter status words 64 words

0203

0205

021D

021F

confirmation

command

semaphore

scan list

length

00H returned means the command was successful. Any other value indicates an error.

10H is both sent and returned.

Bit 7 = semaphore

number of entries in the scan list READ ONLY

16 bits per starting group (4 words per adapter)

see Figure 6.3 and Figure 6.4 READ ONLY

channel A general data

-029F

02A0

-02BF

02C0

-02FF

scan list as many as 32 bytes

not used

1 byte per adapter see Figure 6.5 READ ONLY

611

Chapter

Operating in SVSuperset Mode

parameters

Byte offset:

021F scan list length

0220 I/O adapter status word block

02A0 scan list

Byte

offset

0220

Parameter: Description:

READ ONLY

Figure 6.3

of the I/O adapter status word block and scan list

Format

rack 0, starting group 0

This word block contains four 16bit entries (4 words) for each adapter - 16 bits for each starting group per adapter (maximum of 16 groups of entries). See Figure 6.3 and Figure 6.4.

This list is a maximum of 32 bytes long (1 byte per adapter). The list contains one bytesized entry for each adapter found on the I/O link. See Figure 6.5 on page 614.

Byte offset

0221

0222

0224

0226

0228

022A

029C

029E

02A0

02A2

02A4

02A6

rack 0, starting group 2

rack 0, starting group 4

rack 0, starting group 6

rack 1, starting group 0

rack 1, starting group 2

●

rack 15, starting group 4

rack 15, starting group 6

rack 0, staring group 2 rack 1, starting group 2

rack 2, staring group 2 rack 3, starting group 0

rack 4, staring group 0 rack 5 starting group 2

rack 6, staring group 0 rack 7, starting group 4

●

0223

0225

0227

0229

022B

029D

029F

02A1

02A3

02A5

02A7

channel A adapter status words

Each block represents 1 word. Only those words representing starting groups of existing racks should contain the data described in Figure 6.4.

channel A example scan list

Each block represents 1 byte. See Figure 6.5.

612

●

up to as many as 32 bytes

●

Chapter

Operating in SVSuperset Mode

Figure 6.4

of one entry in the I/O adapter status word block

Format

654321012 11 10 9 8 714 1315

Format item: Description: Format item: Description:

in scan list bit 12

adapter attached bit 11

valid configuration bit 10

adapter size bits 9-8

Contains one of these values:

1 adapter is in the current scan list 0 adapter not in current scan list

Contains one of these values:

1 adapter resides at this address 0 no adapter resides at this address

Contains one of these values:

1 adapter type, size, and address are valid 0 adapter type, size, and/or address not

valid; adapter is improperly configured

Contains one of these values (hex):

00 1/4 rack addressing 01 1/2 rack addressing 10 3/4 rack addressing 11 full rack addressing

group faulted bit 7

line status bit 6-4

in fault dependent group bit 3

fault dependent group number bits 2-0

Contains one of these values:

1 fault exists in the fault dependent group

associated with the adapter

0 no fault exists in the fault dependent

group associated with the adapter

Contains one of these values (hex):

000 adapter is off line any other adapter is on line value

Contains one of these values:

1 adapter is in the fault dependent group

identified by the fault dependent group number (bits 2-0)

0 adapter is not in a fault dependent group The value (0-7 binary) identifies the fault

dependent group to which this adapter belongs.

613

Chapter

Operating in SVSuperset Mode

Format item: Description:

rack number bits 5-2

starting I/O group number bits 1-0

Figure 6.5

for one entry in the scan list

Format

65432107

The value (0-15 binary) identifies the rack number.

One of the following values identifies the starting I/O group:

00 group 0 01 group 2 10 group 4 11 group 6

coding

sequence

Your code for the AUTOCONFIGURE command should include these tasks:

1. get the semaphore

2. set up the control status area

3. send the command interrupt

4. wait for the result

(either poll for confirmation status or wait for an interrupt)

5. check the result

6. clear the semaphore

614

SCAN

command

LIST

byte 1

Chapter

Operating in SVSuperset Mode

description

SCAN LIST replaces the current scan list. The scanner must be in Program mode. You can issue a SCAN LIST command without first issuing an AUTOCONFIGURE command.

channel A control/status

channel A general data

Byte offset

(Hex)

0202

0204

0206

-021B

021C

021E

0220

-025F

Name

not used

scan list as many as 64 bytes

0203

0205

021D

021F

confirmation

command

semaphore

scan list

length

00H returned means the command was successful. Any other value indicates an error.

11H is both sent and returned.

Bit 7 = semaphore

number of entries (0-64) in the scan list

1 byte per adapter (you can enter the same adapter multiple times)

see Figure 6.5

parameters

0260

-02FF

The VME master processor writes 11 (hex) to the command byte. Then

not used

the VME master processor writes these parameters to the selected channel’s general data area:

Byte offset:

021F

0220 scan list This list is a maximum of 64 bytes long (1 byte per entry), but it

Parameter: Description:

scan list length The scan list length indicates the number of entries (0-64) in

the scan list. The scan list length is an 8bit quantity that the scanner writes to the length of data byte in the control/status area. You can enter a scan list length of 0.

can contain only 32 distinct physical adapter addresses. The list contains one bytesized entry for each adapter you want to place in the list. An adapter can appear in the list multiple times. See Figure 6.6 and Figure 6.7.

615

Chapter

Operating in SVSuperset Mode

Figure 6.6 Example scan list

Byte

offset

0220

0222

0224

0226

rack 0, staring group 2 rack 1, starting group 2

rack 2, staring group 2 rack 3, starting group 0

rack 4, staring group 0 rack 5 starting group 2

rack 6, staring group 0 rack 7, starting group 4

●

up to as many as 64 bytes

●

Figure 6.7

for one entry in the scan list

Format

65432107

Byte offset

0221

0223

0225

0227

616

Format item: Description:

rack size bits 7-6

rack number bits 5-2

starting I/O group number bits 1-0

Write one of these values:

00 1/4 rack 01 1/2 rack 10 3/4 rack 11 full rack

Write the value (0-15 binary) of the rack number to be scanned.

Write one of these values:

00 group 0 01 group 2 10 group 4 11 group 6

Chapter

Operating in SVSuperset Mode

coding

sequence

Your code for the SCAN LIST command should include these tasks:

1. get the semaphore

2. set up the control status area

3. copy the scan list to the general data area

4. send the command interrupt

5. wait for the result

(either poll for confirmation status or wait for an interrupt)

6. clear the semaphore

617

Chapter

Operating in SVSuperset Mode

FAULT DEPENDENT GROUP

command

byte 12

description

channel A control/status

channel A general data

Byte offset

(Hex)

0202

0204

0206

-021B

021C

021E

0220

-025F

0260

Name

0203

not used

faultdependentgroup blocks 64 bytes

not used

confirmation

0205

command

021D

semaphore

00H returned means the command was successful. Any other value indicates an error.

12H is both sent and returned.

Bit 7 = semaphore

1 byte per starting group (4 bytes per adapter)

see Figure 6.8 and Figure 6.9

618

Byte offset:

0220

-029F

parameters

The VME master processor writes 12 (hex) to the command byte. Then the VME master processor writes this parameter to the selected channel’s general data area:

Parameter: Description:

fault dependent group block There are 4 configurable bits for each starting group entry.

Chapter

Operating in SVSuperset Mode

Figure 6.8 Format of the fault dependent group block

Byte

offset

0220

0222

0224

0226

0228

022A

025C

025E

starting group 0

starting group 4

starting group 0

starting group 4

starting group 0

starting group 4

●

starting group 0

starting group 4 starting group 6

Each block represents 1 byte. There is 1 byte for each starting group for each adapter. Only those entries representing starting groups of existing racks should contain the data described in Figure 6.9. Zero all entries for which adapters do not exist.

starting group 2

starting group 6

starting group 2

starting group 6

starting group 2

starting group 6

●

starting group 2

Byte offset

0221

0223

0225

0227

0229

022B

025D

025F

rack 0

rack 1

rack 2

rack 15

619

Rockwell Automation 6008-SV2R User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

Preface