Acc 72P

^1 USER MANUAL
^2 Accessory 72P
^3 PCI Fieldbus Interface
^4 3Ax-603784-xUxx
^5 September 26, 2007
Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2007 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
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Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
EN Dispose in accordance with applicable regulations.

REVISION HISTORY
REV. DESCRIPTION DATE CHG APPVD
1 NEW MANUAL CREATION 09/26/07 CP M. COGUR

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Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
Applying the PMAC Gateway ..................................................................................................................................1
Fieldbus Connection Hints ...................................................................................................................................3
SyCon Configuration .................................................................................................................................................3
System Requirements ................................................................................................................................................3
Installation Procedure ................................................................................................................................................3
THEORY OF OPERATION ......................................................................................................................................4
JEXP Interface........................................................................................................................................................... 5
Memory Pointer Mailbox ..........................................................................................................................................5
Data Mailbox ............................................................................................................................................................. 6
Reading Incoming Data .............................................................................................................................................6
Reporting Input Status ...............................................................................................................................................6
HARDWARE ............................................................................................................................................................... 8
E-Points .....................................................................................................................................................................8
Setting the Base Address of the PMAC Gateway ..................................................................................................9
Setting the DPRAM Pointer Mailbox Address of the PMAC Gateway .................................................................9
Setting the DPRAM Data Mailbox Address of the PMAC Gateway .....................................................................9
DPRAM MEMORY MAP ........................................................................................................................................ 10
Process Data Handshake .................................................................................................................................... 10
Process Data Transfer Modes ............................................................................................................................ 11
PROFIBUS ................................................................................................................................................................. 13
Profibus Specifications ............................................................................................................................................ 13
Profibus Layout Diagram ........................................................................................................................................ 14
Profibus LEDs ......................................................................................................................................................... 15
Diagnostic LEDs ................................................................................................................................................. 15
Profibus Fieldbus Configuration ............................................................................................................................. 15
Profibus Master Settings ..................................................................................................................................... 15
Profibus Slave Settings ....................................................................................................................................... 16
Profibus Sycon Configuration ................................................................................................................................. 16
Profibus Master Settings ......................................................................................................................................... 17
Configuring the Slave for Profibus .......................................................................................................................... 18
Downloading the Slave Configuration for Profibus ................................................................................................ 19
Testing and Monitoring the PMAC Gateway for Profibus ...................................................................................... 19
DEVICENET ............................................................................................................................................................. 21
DeviceNet Specifications ........................................................................................................................................ 21
DeviceNet Layout Diagram..................................................................................................................................... 22
DeviceNet LEDs ..................................................................................................................................................... 23
Diagnostic LEDs ................................................................................................................................................. 23
DeviceNet Typical Interconnection ......................................................................................................................... 23
DeviceNet Fieldbus Configuration .......................................................................................................................... 24
DeviceNet Master Settings .................................................................................................................................. 24
DeviceNet Slave Settings .................................................................................................................................... 24
DeviceNet Sycon Configuration.............................................................................................................................. 24
DeviceNet Master Settings .................................................................................................................................. 25
DeviceNet Insert Slave ........................................................................................................................................ 25
DeviceNet Slave Configuration ............................................................................................................................... 25
Downloading the Configuration to PMAC Gateway............................................................................................... 26
DeviceNet Debugging ............................................................................................................................................. 26
DeviceNet Auto Network Scan ............................................................................................................................... 26
CANOPEN ................................................................................................................................................................. 28
Table of Contents i
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CANopen Specifications ......................................................................................................................................... 28

CANopen Layout Diagram ..................................................................................................................................... 29
CANopen LEDs ...................................................................................................................................................... 30
Diagnostic LEDs ................................................................................................................................................. 30
CANopen Typical Interconnection.......................................................................................................................... 31
CANopen Fieldbus Configuration ........................................................................................................................... 32
CANopen Master Settings ................................................................................................................................... 32
CANopen Slave Settings...................................................................................................................................... 32
CANopen SyCon Configuration.............................................................................................................................. 33
CANopen Master Settings ....................................................................................................................................... 33
CANopen Insert Slave ............................................................................................................................................. 34
Configuring the Slave for CANopen ....................................................................................................................... 34
Downloading the Configuration for CANopen ....................................................................................................... 34
CC-LINK .................................................................................................................................................................... 35
CC-Link Specifications ........................................................................................................................................... 35
CC-Link Layout Diagram ....................................................................................................................................... 36
CC-Link LEDs ........................................................................................................................................................ 37
Diagnostic LEDs ................................................................................................................................................. 37
CC-Link Typical Interconnection............................................................................................................................ 38
CC-Link Fieldbus Configuration ............................................................................................................................. 38
CC-Link Fieldbus Switch Settings .......................................................................................................................... 39
CC-Link Fieldbus Baud Rate Settings .................................................................................................................... 40
CC-Link Fieldbus Configuration ............................................................................................................................. 40
APPENDIX A — SYCON MANUAL ...................................................................................................................... 41
APPENDIX B — RECOMMENDED M VARIABLE DEFINITIONS AND EXAMPLE PLC ......................... 59
MDefs ...................................................................................................................................................................... 59
Define the Pointers to the Mail Boxes ................................................................................................................ 59
Address Pointer Offsets ...................................................................................................................................... 59
Define Memory Locations for the Input Bytes (Receive Process Data) .............................................................. 60
General Purpose Timers ..................................................................................................................................... 60
Report All Output Data to the Fieldbus Slave (Send Process Data) ........................................................................ 60
Time Delay .......................................................................................................................................................... 61
Read all Commanded Outputs from the Fieldbus Slave (Receive Process Data) .................................................... 61
Time Delay .......................................................................................................................................................... 61
Further Processing of the Received Process Data if Required ................................................................................ 61
APPENDIX C – SAMPLE TURBO PMAC PLC TO TRANSFER 16-BIT INTEGER DATA ......................... 62
M-Variables (16-bit) for Use in Programs .............................................................................................................. 62
APPENDIX D – HILSCHER HYPERLINKS ........................................................................................................ 65
ii Table of Contents
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INTRODUCTION
This manual provides the information needed to apply the PMAC Gateway (PCI Version). A UMAC
compatible version is available and is covered in a separate manual. The PMAC Gateway provides a
high-speed interface to PMAC via PMAC’s JEXP (Expansion Port) interface. A cable is provided with
the PMAC Gateway.
There are two connectors located on the front of the Fieldbus Gateway card. The male DB9 connector is
the Diagnostic Connector and provides a RS232 link for the SyCon software. The second connector is
the Fieldbus Connector and it provides a means to connect to the fieldbus link. The form factor of this
connection is dependent on which fieldbus protocol is being used. For Control & Communication Link
(CC-Link) option, the first connector is 10 pin IDC male header which provides a RS232 link for
communication with the Compro software. The second connector is the 5 pin Combicon male connector
which is connected to fieldbus link.
The PMAC Gateway PCI supports the following protocols:

 ProfiBus Master-Opt1 (Female DB9)
 ProfiBus Slave-Opt2 (Female DB9)
 DeviceNet Master-Opt3 (5-pin Terminal Block)
 DeviceNet Slave-Opt4 (5-pin Terminal Block)
 CANopen Master-Opt5 (Female DB9)
 CANopen Slave-Opt6 (Female DB9)
 CC-Link Adapter-Opt11 (5-pin Terminal Block)
The protocol is dependent upon which hardware and therefore option is selected. The hardware cannot be
programmed for an alternate protocol including master/slave.
PMAC Gateway gets its power from the PCI bus. The DeviceNet version requires an external 24Vdc
power supply for the fieldbus.
Applying the PMAC Gateway
There are ten steps in applying the PMAC Gateway:
1. Install the SyCon and PEWIN software on the PC.
2. With the power off, install PMAC Gateway in the PC slot next to PMAC and connect the 50-pin
ribbon cable to JEXP.
3. Connect the PC to the PMAC Gateway card via a straight DB9 serial cable.
4. Launch the SyCon setup utility from the PC.
5. Establish communications to the PMAC Gateway card.
6. Configure the fieldbus and download it to the card. (The default PMAC Gateway configuration can
be used for testing.)
7. Assign PMAC M-Variables to represent fieldbus data and to communicate with the PMAC Gateway
8. Write a PMAC PLC using PMAC M-Variables to report data to the device and transfer data from the
device to the network.
9. Manually test by setting byte values in PMAC, verifying that they get to the appropriate fieldbus
location. Also, check communication from the fieldbus to PMAC.
10. Implement the assigned M-Variables in PLCs or motion programs as required. (Appendix A provides
a reprinted version of the SyCon Manual. Appendix B and C provide examples for M-Variable
assignment and PLC implementation.)
Introduction 1
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SyCon is provided with the PMAC Gateway under license. PEWin32 is a Delta Tau product and
normally is purchased with the first PMAC.
2 Introduction
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Fieldbus Connection Hints

 Use approved cable.
 Use approved connectors.
 Make sure that terminating resistors are installed in the Master and the last Slave.
 Confirm the slave Node address to prevent conflicts.
 Provide 24Vdc to power the DeviceNet network.
 Provide DC power to each slave as specified by the device manufacturer.
 Document the configuration.
SyCon Configuration
SyCon is a universal fieldbus configuration tool developed by Hilscher Corporation that is used to
configure the PMAC Gateway. Delta Tau has licensed SyCon and it is provided as part of the PMAC
Gateway product. The Hilscher license agreement, which will be presented during the installation
process, still applies.
SyCon can configure fieldbus systems like ProfiBus, DeviceNet, and CANopen, along with Interbus,
SDS, etc. This is useful because then Sycon becomes a common tool that provides consistent user
interface for all protocols for both masters and slaves.
SyCon checks the dependencies between the devices, checks for configuration conflicts and warns of
possible errors. Some protocols support standardized files containing information about all features and
limitations of the slave device. SyCon uses these files for the configuration.
After the configuration, switch SyCon into a diagnostic mode. In diagnostic mode, watch all status
information of devices connected to the network. For example, the node list or slave diagnostic
information can be seen. If a slave is not operating correctly, it will be displayed in a different color,
normally red.
System Requirements
 PC with 486 Pentium processor or higher
 Windows 95 / 98 / NT / ME / XP / 2000
 Free disk space: minimum 10 MB
 RAM: minute 16 MB
 Graphic resolution: 800 x 600 pixel or greater
 Floppy disk 1.44M or CDRom
Installation Procedure
1. Insert the CD provided with PMAC Gateway into the CD drive.
2. Run SyCon.exe.
3. Follow the instructions as presented by the installation program.
4. Reboot the system after the installation process is complete.
5. Start Sycon.
6. Select a fieldbus.
7. Install the Master.
8. Install the Slave devices.
9. Test the Slave devices.
Introduction 3
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THEORY OF OPERATION
The PMAC Gateway PCI board is organized as a motherboard/daughter board system. The motherboard
contains the PCI interface, JEXP (Expansion) interface, diagnostics, and the fieldbus connections. The
daughter boards contain the intelligence and the interface electronics required for each fieldbus. There is
a different daughter board for each fieldbus.
A micro controller on the daughter board implements each fieldbus communications protocol. Fieldbus
data is transferred to/from the fieldbus and placed in a dual-ported RAM (memory) on the daughter board.
The structure of this DPRAM is given later in this manual and is common for all the fieldbuses supported.
There are two different DPRAMs used, a 2K-byte device and an 8K-byte device.
The PMAC side of the DPRAM is interfaced to the JEXP (Expansion) interface. PMAC programs access
the fieldbus data by reading or writing data to memory addresses corresponding to the location of the
PMAC Gateway PCI board’s DPRAM.
PMAC Gateway Version DPRAM Size
ProfiBus Master 2k bytes
ProfiBus Slave 2k bytes
ControlNet Adapter 2k bytes
CANopen Master 8k bytes
CANopen Slave 8k bytes
DeviceNet Master 8k bytes
DeviceNet Slave (COM-DNS) 2k bytes
CC-Link Slave (COM-C-CCS) 8k bytes
The understanding of the PMAC Gateway is best approached by considering the PMAC side and the
Fieldbus side separately. A detailed discussion of each follows. Figure 1 shows a simplified view of the
dual-ported RAM interface between the PMAC Gateway and the PMAC interface.
Figure 1: PMAC Gateway DPRAM Interface

Once the PMAC Gateway is configured, it is a two-step process to read or write data to or from the
fieldbus via a PMAC PLC:
1. Set the start address offset in PMAC Gateway’s DPRAM by writing a value into PMAC Gateway’s
memory pointer mailbox (example: m1000=512).
4 Theory of Operation
Accessory 72P
2. Read input data or write output data to the fieldbus through PMAC Gateway’s data mailbox memory
location. (Example: m1001=m950 to affect outputs or m900=m1001 to read inputs.)
JEXP Interface
On the PMAC side, the key to understanding how to use the PMAC Gateway is to understand the JEXP
interface. PMAC’s JEXP (Expansion) interface provides address, data and control signals from PMAC to
peripheral devices. This is a fast 24-bit data path to and from PMAC. One of the limitations of the
interface however is the amount of address space provided.
There are not enough address lines available on this interface to directly map all of the fieldbus data into
PMAC memory. In order to solve the address limitation, a mailbox approach was implemented. All
fieldbus data is communicated to PMAC via a simple 8-bit mailbox. At first glance, it may appear that
moving the fieldbus data through one simple 8-bit memory location creates an unacceptable bottleneck.
This is not the case. This interface is very fast. Fast interface hardware, coupled with PMAC’s fast DSP
and proper software techniques makes for fast operation. Moving 100 bytes of input data and 100 bytes
of output data between PMAC and the PMAC Gateway occurs in less than ½ millisecond with the
slowest PMAC.
From PMAC’s point of view, the PMAC Gateway occupies two memory (I/O) locations. These locations
consist of a Memory Pointer Mailbox and a Data Mailbox. The Memory Pointer Mailbox is where
PMAC sets the starting address in PMAC Gateway’s DPRAM. The Data Mailbox is where PMAC gets
the data stored at the memory location pointed to by the data in the Memory Pointer Mailbox.
Note:
These locations must be mapped as 24 bit M-Variables.
The PMAC Gateway contains circuitry that increments the memory pointer set in the Memory Pointer
Mailbox after a read or write of the Data Mailbox. PMAC only has to set the memory pointer at the
beginning of a data transfer sequence if the DPRAM bytes of interest are in contiguous memory locations.
Memory Pointer Mailbox
A Memory Pointer Mailbox is used to set the starting address at which to read or write fieldbus data.
Hardware on the PMAC Gateway increments these addresses after each read or write of data.
Figure 2 depicts the Memory Pointer Mailbox as M1000. If m1000=0 then the starting address of data
acquired through the Data Mailbox will be 0 offset in PMAC Gateway’s dual-ported RAM.
Figure 2: Setting PMAC Gateway’s DPRAM Start Address

The PMAC Gateway has in its dual-ported memory an area for send process data (slave inputs) and
receive process data (slave outputs). The data in these memory locations is transferred to/from PMAC via
a Data Mailbox register.
Theory of Operation 5
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Data Mailbox
Figures 3 and 4 depict the transfer of data from PMAC to the PMAC Gateway. Note the following things
about these figures:
1. The Data Mailbox (M1001) is defined as a 24-bit unsigned integer.
2. The data transferred between PMAC and the fieldbus are always eight bit integers. This is true
regardless of the eventual meaning of the data. PMAC Gateway supports many functions including
analog I/O, which is signed word oriented. In the case of word oriented I/O, the data is transferred in
two read or write cycles as LSB, MSB.
3. PMAC Gateway incorporates an auto-increment feature to speed up the process of transferring data to
or from PMAC and the fieldbus. The auto increment circuitry in PMAC Gateway bumps the memory
pointer by one location following a data transfer through the Data Mailbox. This is why at first
glance the PMAC programs (refer to figure 3 and 4) appear to be reading or writing to the same
memory location.
Reading Incoming Data
Receive process data is moved from the fieldbus to PMAC in the following manner. Typical meanings of
this data are: digital outputs controlled by PMAC, speed or position reference data from the host, mode
commands, etc.
Figure: 3 Moving Fieldbus Output Data to PMAC from PMAC Gateway
Reporting Input Status

Reporting data to the fieldbus from PMAC is accomplished in the following manner. The meaning of the
data is up to the user. Typical functions may be digital or analog input data obtained by PMAC needed
by the host. Position, velocity and status of motors may be another typical use.
Figure 4: Reporting PMAC Input Data to PMAC Gateway
6 Theory of Operation
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Hardware 7
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HARDWARE
E-Points
E-Point Default Alternate Description
E1 ON Connects PE to daughter board
E2-A ON Note 1 Selects CS04 – sets base address of PMAC Gateway
E2-B OFF Note 1 Selects CS06 – sets base address of PMAC Gateway
E2-C OFF Note 1 Selects CS10 – sets base address of PMAC Gateway
E2-D OFF Note 1 Selects CS12 – sets base address of PMAC Gateway
E2-E OFF Note 1 Selects CS14 – sets base address of PMAC Gateway
E2-F OFF Note 1 Selects CS16 – sets base address of PMAC Gateway
E3 1-2 Note 2 Enable Low Pass Filter on chip select line
E4 2-3 Note 3 Enable Low Pass Filter on chip select line
E5 1-2 2-3 Connects filter to daughter board
E6-A OFF N/A Counter enable line ON Only for testing
E6-B OFF N/A Counter enable line ON Only for testing
E7 OFF N/A Used only as tie point
E8 OFF N/A Wait line to PMAC
E9 2-3 1-2 1-2 Enables Reset by switch or PMAC, 2-3 Disabled
E10 2-3 1-2 1-2 Enables Reset by switch or PMAC, 2-3 Disabled
E11-A ON Note 1 Sets DPRAM Pointer address to Base+0
E11-B OFF Note 1 Sets DPRAM Pointer address to Base+1
E11-C OFF Note 1 Sets DPRAM Pointer address to Base+2
E11-D OFF Note 1 Sets DPRAM Pointer address to Base+3
E11-E OFF Note 1 Sets DPRAM Pointer address to Base+4
E11-F OFF Note 1 Sets DPRAM Pointer address to Base+5
E11-G OFF Note 1 Sets DPRAM Pointer address to Base+6
E11-H OFF Note 1 Sets DPRAM Pointer address to Base+7
E12 1-2 2-3 Sets DPRAM Pointer address to Y Memory
Sets DPRAM Pointer address to X or Y Memory
E13-A OFF N1 Sets DPRAM Data address to Base+0
E13-B ON Note 1 Sets DPRAM Data address to Base+1
E13-C OFF Note 1 Sets DPRAM Data address to Base+2
E13-D OFF Note 1 Sets DPRAM Data address to Base+3
E13-E OFF Note 1 Sets DPRAM Data address to Base+4
E13-F OFF Note 1 Sets DPRAM Data address to Base+5
E13-G OFF Note 1 Sets DPRAM Data address to Base+6
E13-H OFF Note 1 Sets DPRAM Data address to Base+7
E14 1-2 2-3 Sets DPRAM Data address to Y Memory
Sets DPRAM Data address to X or Y Memory
Note 1: Only one on at a time. See table for address.
Note 2: For modules purchased prior to 2002, should be changed to 2-3 for a Turbo PMAC (Remove
the filter circuit.)
Note 3: For modules purchased prior to 2002, should be changed to 1-2 for a Turbo PMAC (Remove
the filter circuit.)
8 Hardware
Accessory 72P
Setting the Base Address of the PMAC Gateway

E-Point Chip Select PMAC Addr PMAC2 Addr Turbo PMAC Addr
E2A CS04 Y:$FFD0 – Y:$FFD7 Y:$FFD0 – Y:$FFD7 X/Y:$078A00-$078AFF
E2B CS06 Y:$FFD8 – Y:$FFDF Y:$FFD8 – Y:$FFDF X/Y:$078B00-$078BFF
E2C CS10 Y:$FFE0 – Y:$FFE7 Y:$FFE0 – Y:$FFE7 X/Y:$078C00-$078CFF
E2D CS12 Y:$FFE8 – Y:$FFEF Y:$FFE8 – Y:$FFEF X/Y:$078D00-$078DFF
E2E CS14 Y:$FFF0 – Y:$FFF7 Y:$FFF0 – Y:$FFF7 X/Y:$078E00-$078EFF
E2F CS16 Y:$FFF8 – Y:$FFFF Y:$FFF8 – Y:$FFFF X/Y:$078F00-$078FFF
Setting the DPRAM Pointer Mailbox Address of the PMAC Gateway

E-Point Address Comments
E11-A Base Address + 0 Default
E11-B Base Address + 1 Only one on at a time
E11-C Base Address + 2 Only one on at a time
E11-D Base Address + 3 Only one on at a time
E11-E Base Address + 4 Only one on at a time
E11-F Base Address + 5 Only one on at a time
E11-G Base Address + 6 Only one on at a time
E11-H Base Address + 7 Only one on at a time
Setting the DPRAM Data Mailbox Address of the PMAC Gateway

E-Point Address Comments
E13-A Base Address + 0 Only one on at a time
E13-B Base Address + 1 Default
E13-C Base Address + 2 Only one on at a time
E13-D Base Address + 3 Only one on at a time
E13-E Base Address + 4 Only one on at a time
E13-F Base Address + 5 Only one on at a time
E13-G Base Address + 6 Only one on at a time
E13-H Base Address + 7 Only one on at a time
Example (using Default setting for PMAC1):
Non-Turbo M1000->Y:$FFD0,0,24,U DPRAM Memory Pointer Mailbox
M1001->Y:$FFD1,0,24,U Fieldbus Data Mailbox
Turbo M7000->Y:$078A00,0,24,U DPRAM Memory Pointer Mailbox
M7001->Y:$078A01,0,24,U Fieldbus Data Mailbox
Hardware 9
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DPRAM MEMORY MAP

Offset Offset Usage Number of Comments
(8K DPRAM) (2K DPRAM) Bytes
0000H-0DFFH 0000H-01FFH Outputs/Send Data 512 bytes (in 2K) Send Process Data
3584 bytes (in 8K)
0E00H-1BFFH 0200H-03FFH Inputs/Recvd Data 255 bytes Receive Process Data
1C00H-1D1FH 0400H-051FH N/A N/A N/A
1D20H-1D23H 0520H-0523H Date[4] 4 bytes PMAC Gateway
1D24H-1D27H 0524H-0527H DeviceNumber[4] 4 bytes Information
1D28H-1D2BH 0528H-052BH SerialNumber[4] 4 bytes
1D2CH-1D2FH 052CH-052FH Reserved[4] 4 bytes
1D30H-1D33H 0530H-0533H PcOsName0[4] 4 bytes PMAC Gateway
1D34H-1D37H 0534H-0537H PcOsName1[4] 4 bytes Information
1D38H-1D3BH 0538H-053BH PcOsName2[4] 4 bytes
1D3CH-1D3FH 053CH-053FH OemIdentifier[4] 4 bytes
1D40H-1FEFH 0540H-07EFH N/A N/A N/A
1FF0H 07F0H RcsVersion integer PMAC Gateway
1FF2H 07F2H RcsError byte Operating System
1FF3H 07F3H HostWatchDog byte Information
1FF4H 07F4H DevWatchDog byte
1FF5H 07F5H SegmentCount byte
1FF6H 07F6H DeviceAddress byte
1FF7H 07F7H DriverType byte
1FF8H 07F8H DpmSize Byte PMAC Gateway
1FF9H 07F9H DevType byte Information
1FFAH 07FAH DevModel byte
1FFBH-1FFDH 07FBH-07FDH DevIdentifier[3] 3 bytes
1FFEH 07FEH PMAC Gateway Byte CMD and
Flags Acknowledge PMAC
Gateway to PMAC
Handshake
1FFFH 07FFH PMAC Flags Byte CMD and
Acknowledge PMAC to
PMAC Gateway
Handshake
Process Data Handshake

Since there are two CPUs trying to access the data in the PMAC Gateway’s DPRAM (PMAC and the
Fieldbus), there must be a mechanism to handle the situation when both want access at the same time.
Hardware on the PMAC Gateway prevents collisions from causing problems.
When PMAC Gateway is set to Uncontrolled as it is by default, only the hardware mechanism for
DPRAM access is enabled. This guarantees Byte consistency only. This is the simplest method and in
most systems, works well. Since access by PMAC is very fast, usually there are no problems.
By setting this parameter to Buffered, PMAC Controlled, a mechanism is enabled that allows PMAC to
control the transfer of process data. PMAC can write all its data into the DPRAM of the PMAC Gateway
board and then cause it to be made available to the fieldbus, thus guaranteeing Word consistency.
By setting this parameter to Buffered, PMAC Gateway Controlled, a mechanism is enabled that allows
the PMAC Gateway to control the transfer of process data.
10 DPRAM Memory Map

Accessory 72P
Process Data Transfer Modes

Uncontrolled (Asynchronous)
PMAC and PMAC Gateway read and write the DPRAM asynchronously. Hardware on the PMAC
Gateway prevents DPRAM conflicts. If the total data transfer over the fieldbus for this node is more than
the fieldbus can transmit in one network cycle, then this data transfer mode guarantees only byte
consistency in the data which may be acceptable under many circumstances.
The Com bit in the Host Flags location is set as soon as the data exchange over the fieldbus occurs. For
each valid fieldbus cycle, the PMAC Gateway does an updating data exchange with the process data
buffers of the dual-ported memory, ignoring the states of the PdAck and PdCom bits in the Host Flags
and DevFlags.
DPRAM Memory Map 11

Accessory 72P
PMAC changes the send process data or read receive process data anytime, without using the PdAck and
PdCom bits synchronization mechanism. Therefore, this operating mode realizes the simplest method to
transfer the process data, but only byte consistency for interrelated data is guaranteed.
Buffered, Controlled by PMAC
each valid fieldbus cycle, the PMAC Gateway does an updating data exchange with two internal buffers.
By inverting the PdCom bit in DevFlags, the transfer from the dual-port memory data to the internal
buffers is activated by the program.
The PMAC Gateway communicates its access by adjusting the state of the bit PdAck to the state of the
PdCom bit. Therefore, the PdCom and PdAck bits become equal and the PMAC Gateway gets back its
access rights to the dual-port memory buffers.
In this operating mode, bus cycles and dual-ported memory data exchange are not coupled, so delay time
arises in the worst case up to two bus cycles because a running bus cycle must have finished before an
access to internal buffers can be started.
Buffered, Controlled by PMAC Gateway
each valid fieldbus bus cycle, the PMAC Gateway does an updating data exchange with two internal
buffers. If the PMAC Gateway has the access directly to the process data areas of the dual-ported
memory (i.e. the PdAck and PdCom bits are equal), an exchange between the internal buffers and the
dual-ported memory is executed. The end of the exchange is indicated to PMAC by inverting the PdAck
bit of the Host Flags. Therefore, the PdAck and PdCom bits become unequal and the program gets the
access on both data buffers.
If the program has finished its work on the process-data area, it has received access by inverting the
PdCom bit of the DevFlags. The states of the PdAck and PdCom bits are equal and the PMAC Gateway
gets back the access to the process data of the dual-ported memory.
12 DPRAM Memory Map

Accessory 72P
PROFIBUS
Profibus represents one of the best-known industrial Fieldbus protocols from Europe. Profibus can be
used in a very wide range of applications as a multi-application communications link for industrial
devices, as well as cell-level communication. Profibus is an established standard, first introduced in 1989.
The Profibus protocol was originally developed by the committee founded by the German government.
The resulting protocol was initially adopted as DIN standard 19245 and was then adopted as a European
Common Standard EC50170. Profibus connects to a wide variety of field devices including discrete and
analog I/O, drives, robots, MMI products, pneumatic valves, barcode readers, weigh scales, transducers,
and flow measuring equipment.
 Profibus utilizes a non-powered two-wire (RS485) network.
 It can transfer a maximum of 244 bytes data per node per cycle.
 Communication rates are selectable but overall end-to-end network distance varies as indicated below:
 12Mbps with a maximum distance of 100m
 93.75Kbps at maximum distance of 1200m without repeaters
Profibus Specifications
Size 3.875 X 8.265
Power Requirements +5vdc, 700ma (from PCI-bus)
Connector Types 50 Pin JEXP (Expansion Port) interface
9 Pin D-Male Diagnostic interface
9 Pin D-Profibus interface
Dual Port Memory Size 2048 Bytes (2K)
Communication Maximum Size 368 Bytes
Inputs 244 Bytes
Outputs 244Bytes
I/O Capacity 1k Bytes
Baud Rate(s) 9.6k up to 12 Mbaud
Max. Nodes 126
Diagnostic RS232C Port Yes
Program Storage Flash Memory
Watchdog Timer Yes
Operating Temperature 0-55Deg C
Profibus Chip Technology Master = ASPC2
Slave = SPC3
Lab Certified Yes
Profibus 13
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Profibus Layout Diagram
14 Profibus
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Profibus LEDs
Diagnostic LEDs
Diagnostic LEDs are provided to give visual indications of board status. The green LEDs are easy to
understand. If everything is okay, the two inner LEDs will be ON. Other states are discussed below. The
yellow LEDs are used to indicate more states than the green ones. Look for patterns as described below
to decipher the meaning.
Green LED D1-A
Not used on Profibus version
Green LED D1-D
Not used on Profibus version
d c b a
Green LED D1-C
D1 ON = Ready
OFF = Hardware Error or no power
D2
Flashing Cyclic = Bootstrap loader active
Flashing Non-Cyclic = System or hardware error
Green LED D1-B
ON = Communication Active
OFF = Communication Stopped
Flashing = Parameter Error (i.e. Mismatch)
Diagnostic Yellow LED D2-A
LEDs ON = Fieldbus Data Exchange Occurring
OFF = No Fieldbus Data Exchange Occurring
Yellow LED D2-B
ON = Communication Error
OFF = No Communication Error
Yellow LED D2-C
Not used on the Profibus Version
Yellow LED D2-D
Not used on the Profibus Version
Profibus Fieldbus Configuration
The fieldbus side of the PMAC Gateway conforms to the Profibus fieldbus standard. The characteristics
of the fieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC
Gateway using the Sycon Configuration software shipped with the PMAC Gateway. The PMAC
Gateway slave may be configured from the fieldbus master. The following table summarizes the
characteristics that can be configured.
Profibus Master Settings
Item Parameter Setting As Shipped
1 Bus speed 1200 K bit/S
2 Handshake mode No consistence, uncontrolled
3 Behavior after power up Automatic release of communication by the device
4 Watchdog time 1000 msec
5 Addressing mode Byte addresses
6 Storage format Big Endian
Profibus 15
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7 General Station address = 0
Profibus Slave Settings

1 Handshake Mode No consistence, uncontrolled
2 Configuration Mode By SyCon
4 Configuration Data Standard
6 DPV1 Parameter Class 2 buffer length = 0
7 General Station Address = 1
Activate device in actual configuration
Enable Watchdog Control
8 I/O Configuration 1
Length of input data 184 bytes
Length of output data 184 bytes
Number of modules 10
The fieldbus characteristics of the PMAC Gateway are defined in GSD files that come with the SyCon
software. The Profibus master is defined in HIL 7506.GSD and the Profibus slave is defined in
HIL_7501.GSD. The configuration/diagnostic port on PMAC Gateway provides a convenient method for
configuration and for monitoring the fieldbus side of the PMAC Gateway. The following provides an
example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gateway.
Profibus Sycon Configuration
To insert a new master into the configuration, select the Master icon in the menu toolbar and insert a new
master on the bus. Once loaded, the screen should be displayed on the PC.
16 Profibus
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Profibus Master Settings

To enter the master settings, select Settings – Master Settings or use the right mouse button at the DP
device. The Master settings contain parameters which define the behavior of the PMAC Gateway
DPRAM.
Set the baud rate that the PMAC Gateway should use by selecting the master and selecting Bus
Parameter under Settings. The baud rate is selected from the dialog box shown below:
Profibus 17
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Configuring the Slave for Profibus

Insert a slave onto the bus by using the Insert Slave icon in the toolbar menu. Select DP Slave Settings
from the dialog box. The dialog box below should display. It contains all the communications setting
options. The settings shown are the ones set at the time the PMAC Gateway was shipped, and should be
sufficient for most applications.
Repeating the process but selecting Slave Configuration will result in the screen shown below. The
primary purpose of this screen is to define the type of data being communicated to/from the master and
the PMAC Gateway. The table in the middle of the screen contains all the possible settings for inputs
(Send Process Data) and outputs (Receive Process Data). The lower table displays the current
configuration. 184 bytes of input and output were configured when the PMAC Gateway was tested at the
factory. This is sufficient for many applications. If more or less is needed, delete the current setup by
selecting the element to change and selecting Remove Module. Select the new configuration from the
middle table and select Append Module.
18 Profibus
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Downloading the Slave Configuration for Profibus

Once the configuration has been completed, it must be downloaded to the PMAC Gateway where it will
be saved in flash memory. Downloading also saves the configuration in the PMAC Gateway.
With the slave selected as the actual slave, select the Online-Download option in the menu. If
communication has not been established, a Driver Select window will appear. Choose CIF Serial Driver
and establish communication through the COM port.
Repeat the process for the master.
Testing and Monitoring the PMAC Gateway for Profibus

Once the hardware has been configured, test the system to ensure that the fieldbus is working properly
and that data sent by the fieldbus Master is received by PMAC and data sent by PMAC is received by the
Master. The diagnostic LEDs and the online menu in SyCon are useful tools to determine if the system is
working.
The online menu has many useful items. First, explore the I/O monitor function. Once the PMAC
Gateway is configured, manually change the Send Process Data and see if the master receives it and
monitors the Receive Process Data from the master.
Next, ensure that Send Process Data changed by a PMAC PLC makes it to the master. If writing,
downloading and executing a PMAC PLC program similar to the one in Appendix C, and the appropriate
bytes change in the PMAC Gateway and in the Master can be seen, the Send Process Data has been
checked.
Finally, change data in the Master that becomes Receive Process Data in the PMAC Gateway, and verify
that the appropriate M-Variables in PMAC are changed to correctly reflect the values sent by the master.
Profibus 19
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20 Profibus
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DEVICENET
DeviceNet is a low cost communications link that connects industrial devices to a network and eliminates
expensive hardwiring. It is based on a broadcast-oriented communications protocol called the Controller
Area Network (CAN). The CAN protocol was originally developed by Bosch for the European
automotive market for replacing expensive wiring harnesses with low cost network cable on automobiles.
The CAN interface and protocol has fast response and high reliability for applications such as controlling
anti-lock brakes and airbags.
 DeviceNet utilizes a powered four-wire network.
 It can transfer up to eight bytes of data per node per communication cycle.
 Communication rates are configurable as indicated below:
 125 Kbps with maximum distance of 500 meters
 Although multiple masters are possible, a DeviceNet network usually consists of one master and
many slaves.
DeviceNet Specifications
Size 3.875 X 8.265
Power Requirements +5Vdc, 500ma (from PCI-bus)
+24Vdc, 50ma (from external)
9-Pin D-Male Diagnostic interface
5 Position terminal
Dual Port Memory Size 2048 Bytes (2K)
Inputs 255 Bytes
Outputs 255 Bytes
I/O Capacity 1k Bytes
Baud Rate(s) 125K, 250K, 500K
Maximum Nodes 64
Watchdog Timer Yes
Chip Technology SJA1000
Lab Certified Yes
DeviceNet 21
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DeviceNet Layout Diagram
22 DeviceNet
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DeviceNet LEDs
Diagnostic LEDs
understand. If everything is okay, the two inner LEDs will be ON. Other states are discussed below.
Green LED D1-A Not used.
Green LED D1-B ON = DeviceNet Communication Active
OFF = DeviceNet Communication Stopped
Flashing = DeviceNet Parameter Error (i.e. Mismatch)
Green LED D1-C ON = Ready
d c b a Flashing Non-Cyclic = System or hardware error
D1
Green LED D1-D Not used
D2 Yellow LED D2-A ON = Normal no fault
OFF = Fault
Flash = Fault
Yellow LED D2-B ON = Critical link failure
OFF = Normal
Flash = Connection time out
Yellow LED D2-C ON = On line link OK
OFF = Device not powered – off line
Diagnostic Flash = Online not connected
LEDs
Yellow LED D2-D ON = not applicable
OFF = Normal
Flash = Configuration failure
DeviceNet Typical Interconnection
DeviceNet 23
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DeviceNet Fieldbus Configuration

The fieldbus side of the PMAC Gateway conforms to the DeviceNet fieldbus standard. The
characteristics of the fieldbus side of the PMAC Gateway are configurable from the configuration port on
the PMAC Gateway using the Sycon Configuration software shipped with the PMAC Gateway. The
PMAC Gateway slave may be configured from the fieldbus master. The following table summarizes the
characteristics that can be configured:
DeviceNet Master Settings
1 Bus Speed 500k bit/s
5 Addressing Mode Byte addresses
6 Storage Format Big Endian
7 General Mac ID = 0
DeviceNet Slave Settings
4 General Mac ID = 1
5 I/O Connection Poll
6 I/O Configuration Input_Data Type IB Ilen=255 Iaddr0
Output_Data Type QB Olen=255 Oaddr=0
The fieldbus characteristics of the PMAC Gateway are defined in EDS files that come with the SyCon
software. The DeviceNet master is defined in COMDNM.EDS and the DeviceNet slave is defined in
COMDNS.EDS. The configuration/diagnostic port on PMAC Gateway provides a convenient method for
configuration and for monitoring the fieldbus side of the PMAC Gateway. The following provides an
example of how to use Sycon and the diagnostic port to configure and monitor the PMAC Gateway.
DeviceNet Sycon Configuration
To insert a new master in the configuration, select the Master item in the Insert menu or click the icon in
the left corner of the screen. In the Insert Master window, add COM-DNM to the configuration.
24 DeviceNet
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DeviceNet Master Settings

Setup the PMAC Gateway with SyCon using the following settings:
 For DeviceNet Master, use the 8k DPRAM setting (see below).
 To enter the master settings, select the Settings - Master Settings menu or use the right mouse button
at a DP master device. There is also a Master Settings button in the Master Configuration window
available.
The Master settings contain parameters which defines the behavior of the PMAC Gateway DPRAM.
DeviceNet Insert Slave

To insert a new slave in the configuration, select the Slave item in the menu Insert. Click on the position
where to insert the new slave. When a dialog box appears, select COM-DNS.
In the left list box all slave devices which are presented in the EDS directory are listed. If there are too
many, set a filter to select only a special slave family or vendor. When one slave is selected, see
additional information about the slave in the list box below. With a double click or with the Add button,
the slave appears in the right list box. All devices in this box will be connected to the active master who
is displayed in the window. If selecting the slaves individually, give every device a name or a short
description in the Description field.
With the addition of every slave, the MAC ID is incremented, but this valve can be changed manually in
the MAC ID field.
DeviceNet Slave Configuration
The slave specific configuration is set in this window. Assign the modules and their data to addresses for
the process data image in the master device. Remember that these addresses correspond to the application
in the PC.
DeviceNet 25
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Assign the addresses of the module data in the process image for each module in the lower table. This is
set in the columns Type and Addr for input and output separately.
The I/O address can be entered manually or set automatically by SyCon using the Auto Addressing flag,
which must be set in the Master Settings window.
Caution:
If Watchdog Control is switched off, it is possible that the slave will not reset slave
outputs, even though the communication is broken.
Downloading the Configuration to PMAC Gateway

Use the Online - Download menu to download the configuration data to the device.
Before the download happens, SyCon will check the configuration. If any error message appears, the
configuration should be checked. Most errors are overlapping addresses which can be located by looking
at the Address Table. This can be avoided by keeping Auto Addressing enabled.
The configuration will be transmitted to the selected device and stored in static Flash memory, so that it is
available after the power is switched off and on in this device.
DeviceNet Debugging
After an actual master has been selected, start the debug mode. From this time, SyCon requests the status
of all slaves of the actual master. If there is an error on a slave, the bus line to this slave is drawn in red.
Otherwise, it is green. In addition, SyCon displays the Diagnostic message if the slave signals diagnostic
information. This information is displayed by clicking with the mouse at the corresponding device in
debug mode.
To activate the debug mode, select Online - Start Debug Mode. The Online - Device Diagnostic menu
activates the DP slave diagnostic. To end the Debug Mode, select Online - Stop Debug Mode.
DeviceNet Auto Network Scan
The current version of Sycon and PMAC Gateway firmware supports automatic network scan. Once the
Master is configured, choose Automatic Network Scan from the Online pull down menu. The Master
(PMAC Gateway) will poll the slave devices from the lowest MACID to the highest. Once the scan is
finished, it will display a list of devices that it found. To accept this configuration, select Automatic
Configuration from the dialog box. Typically, the chosen connection is polling so it should be changed
in the Chosen Configuration. Column before it is accepted.
26 DeviceNet
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Download the new configuration to the master to establish communication. Usually, this is the easiest
way to get a network up and running.
DeviceNet 27
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CANOPEN
CANopen is a network concept based on the serial bus system Controller Area Network (CAN) and the
CAN Application Layer (CAL). Developed originally for passenger cars, the CAN two-wire bus system is
already in use in over one million industrial control devices, sensors and actuators. Hallmarks of the
internationally standardized bus system (ISO 11898) are its simplicity, high transmission reliability and
extremely short reaction times. Many major semiconductor manufacturers sell CAN chips, and the fact
that millions of them are used in automobiles guarantees low chip prices and long-term availability.
CANopen permits both cyclic and event-controlled communication. This makes it possible to reduce the
busload to a minimum and achieve high communication performance at relatively low baud rates.
In CANopen, timing behavior can be adapted individually to the particular tasks of the stations involved.
This means it is not essential for the entire communication system to have higher performance if it is only
required by certain participants. In addition, an automation task may be divided up among several
CANopen participants to make optimum use of the power of control devices already in the network, and
this can be increased gradually by additional participants.
CANopen allows the creation of inexpensive de-centralized control systems, distributed input/output
systems, and networked sensor/actuator systems.
CANopen Specifications
Size 3.875 X 8.265
Power Requirements +5Vdc, 700ma (from PCI-bus)
9-Pin D-Male Diagnostic Interface
9-Pin D-CANopen Interface
Dual Port Memory Size 8192 bytes (8k)
Communication Maximum Size 64 bytes
Inputs 32 bytes
Outputs 32 bytes
I/O Capacity 7k bytes
Baud Rate(s) 10k up to 1 Mbaud
Maximum Nodes 125
Watchdog Timer Yes
Profibus Chip Technology SJA1000
Lab Certified Yes
28 CANopen
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CANopen Layout Diagram
CANopen 29
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CANopen LEDs
Diagnostic LEDs
understand. If everything is okay, the two inner LEDs will be ON. Other states are discussed below.
Green LED D1-A Not used.
Green LED D1-B ON = CANOpen Communication Active
OFF = CANOpen Communication Stopped
Flashing = CANOpen Parameter Error (i.e. Mismatch)
Green LED D1-C ON = Ready
d c b a OFF = Hardware Error or no power
D1
D2 Flashing Non-Cyclic = System or hardware error
Green LED D1-D Not used
Yellow LED D2-A OFF = Off line
Flashing Cyclic = Online link OK
Flashing Non-Cyclic = Online not connected
Yellow LED D2-B ON = Critical link failure
OFF = Normal
Flash = Connection time out
Diagnostic
LEDs Yellow LED D2-C Not used on the CANOpen version
Yellow LED D2-D Not used on the CANOpen version
30 CANopen
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CANopen Typical Interconnection
CANopen 31
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CANopen Fieldbus Configuration

The fieldbus side of the PMAC Gateway conforms to the CANopen fieldbus standard. The characteristics
of the fieldbus side of the PMAC Gateway are configurable from the configuration port on the PMAC
Gateway using the Sycon Configuration software shipped with the PMAC Gateway. The PMAC
Gateway slave may be configured from the fieldbus master. The following tables summarize the
characteristics that can be configured:
CANopen Master Settings
1 Bus Speed 1M bit/s
5 Addressing Mode Byte addresses
6 Storage Format Big Endian
CANopen Slave Settings

2 Configuration Mode By SyCon
4 Configuration Data Standard
6 DPV1 Parameter Class 2 buffer length = 0
7 General Node Address = 1
Automatic COB=1D allocation
8 I/O Configuration TxPDB1 Type IB Iaddr = 0 Ilen = 8
(Input Length =32) TxPDB2 Type IB Iaddr = 8 Ilen = 8
(Output Length=32) TxPDB3 Type IB Iaddr = 16 Ilen = 8
TxPDB4 Type IB Iaddr = 24 Ilen = 8
RxPD01 Type QB Iaddr = 0 Ilen = 8
The fieldbus characteristics of the PMAC Gateway are defined in EDS files that come with the SyCon
software. The CANopen slave is defined in COMCOS.EDS. The configuration/diagnostic port on
PMAC Gateway provides a convenient method for configuration and for monitoring the fieldbus side of
the PMAC Gateway. The following section provides an example of how to use Sycon and the diagnostic
port to configure and monitor the PMAC Gateway.
32 CANopen
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CANopen SyCon Configuration

To insert a new master in the configuration, select the Master item in the Insert menu or click on the
icon in the toolbar menu.
CANopen Master Settings

To enter the master settings, select Settings - Master Settings or use the right mouse button at the master
device. There is also a Master Settings button in the Master Configuration window available. The
Master settings contain parameters which defines the behavior of the PMAC Gateway DPRAM.
CANopen 33
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CANopen Insert Slave

To insert a new slave in the configuration, select the Slave item in the Insert menu. Click on the position
where the new slave should be inserted. When a dialog box appears, select one or more slaves.
In the left list box, all slave devices are listed which are presented in the EDS directory. If there are too
many, set a filter to select only a special slave family or vendor. When one slave is selected, see
additional information about the slave in the list box below. With a double click or with the Add button,
the slave appears in the right list box. All devices in this box will be connected to the active master who
is displayed in the window. If selecting the slaves individually, give every device a name or a short
description in the Description field.
With the addition of every slave, the Node address is incremented, but this value can be changed
manually in the Node ID field.
Configuring the Slave for CANopen
Select Slave Settings from Settings or by using the right mouse button. It contains all the
communications setting options. The settings are the ones set at the time the PMAC Gateway was
shipped and should be sufficient for most applications.
Repeating the process but selecting Slave Configuration will result in the screen shown below. The
primary purpose of this screen is to define the type of data being communicated to/from the master and
the PMAC Gateway. The table in the middle of the screen contains all the possible settings for inputs
(Send Process Data) and outputs (Receive Process Data). Change the current setup by selecting the
element to change and selecting either Delete new Receive PDO or Delete new Transmit PDO
depending on the parameter selected. Select the new configuration from the middle table and select Add
to configured PDOs.
Downloading the Configuration for CANopen

The download of the configuration data to the device can be started by selecting Online - Download.
Before the download happens, SyCon will check the configuration. If an error message appears, the
configuration should be checked. The configuration will be transmitted to the selected device and stored
in static Flash memory, so that it is available after the power is switched off and on in the device. Repeat
the download process for both devices to establish communications.
34 CANopen
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CC-LINK
CC-Link (Control & Communication Link) is a Fieldbus network that processes both cyclic I/O data and
acyclic parameter data at high speed. CC-Link was developed by Mitsubishi and today, it is managed by
the CC-Link Partner Association (CLPA). CC-Link is a very popular network in Asia. Worldwide, it is
used for time critical applications based on Mitsubishi Automation technology. CC-Link products are
certified by the CLPA, guaranteeing worldwide compatibility
CC-Link is a Fieldbus for high-speed communication between controllers and intelligent field devices
like I/Os, sensors and actuators. In networks with up to 65 stations, it provides reliable communication
without any need for repeaters. Supported by a broad spectrum of automation equipment from many
manufacturers, CC-Link provides communication facilities for integrated and efficient production or
process facilities via a single cable. CC-Link includes many advanced features such as stand-by master
function, detach and auto return Slave function as well as auto recovery from communication fault
functions.
CC-Link incorporates an RS-485 topology and runs on a 3-conductor twisted pair cable. It can
communicate to multiple devices on a single wire with a maximum length of 1.2 km at 156 kbaud without
a repeater. CC-Link can communicate at speeds of up to 10 Mbaud at shorter wire lengths.
CC-Link Specifications
Size 3.875 X 8.265
Power Requirements +5VDC, 500 mA (from PCI-bus)
9-pin DB Male Diagnostic interface (ComPro)
5 Position TB Connector
Dual Port Memory Size 8192 Bytes (8k)
Inputs 48 Bytes
Outputs 48 Bytes
I/O Capacity 1024 Bytes (1k)
Baud Rate 125 k, 625k, 2.5M, 5M, 10M
Maximum Stations 64
Diagnostic RS232 Port Yes
Watchdog Timer Yes
Operating Temperature 0-45 Degrees Celsius
Chip Technology EC1
Lab Certified Yes
CC-link 35
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CC-Link Layout Diagram
36 CC-link
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CC-Link LEDs
Diagnostic LEDs
Diagnostic LEDs are provided to give a visual indication of board status. The green LEDs are easy to
understand. All the states are discussed below.
Green LED D1-A ON = Ready
Green LED D1-B ON = CC-Link Communication Active
OFF = CC-Link Communication Stopped
Flashing = CC-Link Parameter Error (i.e. Mismatch)
Green LED D1-C Not used
Green LED D1-D ON = Ready
Yellow LED D2-A ON = Fieldbus Data Exchange Occurring
OFF = No Fieldbus Data Exchange Occurring
Yellow LED D2-B ON = On line link OK

Yellow LED D2-C ON = On line link OK

Yellow LED D2-D ON = On line link OK

CC-link 37
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CC-Link Typical Interconnection
Only use cable types approved for CC-Link networks. CC-Link specifies shielded three-core Twisted
Pair cables. It is recommended to use only one type of cable for an installation.
Please ensure that termination resistors are available at both ends of the cable. The value of the
termination resistor depends on the used type of cable and can be 100, 110, and 130 ohms.
(*) For more information, go to the CC-Link Booklet (Hardware) in Appendix D
CC-Link Fieldbus Configuration

The fieldbus side of the PMAC Gateway conforms to the CC-Link fieldbus standard. The characteristics
of the fieldbus side of the PMAC Gateway are hardware configurable. The daughter board, L0401813 by
Hilscher, plug into the C-X1 and C-X2 connectors on the PMAC Gateway mother board. The following
picture shows the whole view of the ACC72P with CC-Link Slave option11.
38 CC-link
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CC-Link Fieldbus Switch Settings

There are three switches on the CC-Link Fieldbus, daughter board which are shown in the following
picture.
The first and second switch set the CC-Link slave station address 10x and 1x respectively. The CC-Link
slave station address can be set the range of 1 to 64. The third switch sets the baud rate to operate at the
CC-link 39
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CC-Link network. It can be set the value of 0 to 4. The available baud rate settings are given in the next
discussion.
CC-Link Fieldbus Baud Rate Settings
The CC-Link Fieldbus can be operated with five different baud rate settings. The valid baud rates are:
CC-Link Fieldbus Configuration

The fieldbus side of the PMAC Gateway conforms to the CC-Link fieldbus standard. The characteristics
of the fieldbus side of the PMAC Gateway are hardware configurable. The daughter board, L0401813 by
Hilscher, plug into the C-X1 and C-X2 connectors on the PMAC Gateway mother board. The switch
settings and the baud rate settings are shown in the previous sections. CC-Link does not need a particular
software configuration to provide communication. The hardware starts communicating at power up. Once
the PMAC gateway card DPRAM registers is set up correctly, PMAC writes or reads data to/from the
Fieldbus via CC-Link. This set up is given in the Appendix C.
The fieldbus side of the PMAC Gateway can also be configured by using the ComPro Configuration
software shipped with the PMAC Gateway. Start the ComPro and load the configuration file CCS.DBM
or an existing DBM file for CC-Link Slave devices
(*) For more information, go to the CC-Link Slave Protocol Manual ( COMPRO configurator ) in
Appendix D
40 CC-link
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APPENDIX A — SYCON MANUAL

The Sycon2 (universal system configuration software) Operating Instructions from Synergetic™ are
reprinted here as Appendix A.
Operating instructions
SyCon 2
Universal System Configurator Software
Appendix A - SyCon Manual 41

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Overview
SyCon is a universal fieldbus configuration tool developed by Hilscher Corp., which we are
initially using to configure the PmacGate-Way. SyCon can configure the fieldbus systems like
ProfiBus, Interbus, SDS, DeviceNet, CANopen, etc. with a common tool that provides consistent
user interface for all protocols.
SyCon allows you to configure all master and slave devices using one tool. SyCon checks the
dependencies between the devices, checks for configuration conflicts and warns you of possible
errors. Some protocols support standardized files containing information about all features
and limitations of the slave device. SyCon uses these files for the configuration.
After the configuration, you can switch SyCon into a diagnostic mode. In diagnostic mode, you
can watch all status information of devices connected to the network. For example, you can
see the node list or slave diagnostic information. If a slave is not operating correctly it will be
displayed in a different color, normally red.
SyCon consists of a universal.exe - file and several specific protocol DLLs. Most customers
will use SyCon for only one bus system however SyCon can be expanded later by adding one or
more DLLs for other available protocols.
2.0 Installation System Requirements
PC with 486 Pentium processor or higher

Windows 95, Windows NT 3.51, Windows NT 4.0
Free disk space: minimum 10 MB
RAM: minute 16 MB
Graphic resolution: 800 x 600 pixel or greater
Floppy Disk 1.44M or CD Rom
You have to install:
1. The system configurator

2. The device driver
3. One of the fieldbus protocols (ProfiBus, SDS, DeviceNet, Interbus S,..)
3.0 Installation Procedure
1. Close down all application programs on your system.
2. Insert the installation disk 1 (or CD) of SyCon in your floppy or CD drive.
3. To install SyCon select the Software-install icon in the start-settings-control

panel menu or select the command Run from the start menu of Windows 95 or
Windows NT and type a:\setup.exe (a: is the letter of your floppy drive) and select
OK.
4. Follow the instructions of the installation program and answer each question with
OK or Next. The installation program will ask you for additional components
(fieldbus system and device driver) to install. Install all parts. Without installing a
fieldbus system SyCon is not able to run the configuration. The device driver is
necessary to access the PC interface card in your system. Of course you can install
these components by using their own setup programs later. Depending on the
selected components (fieldbus/device driver) insert the disk and the corresponding
setup program will be started automatically.
42 Appendix A - SyCon Manual

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4.0 Configuration of the Device Driver

The program Driver Setup program configures the DPM base address and the DPM size for
the device driver (DPM is dual-ported memory).
If you have a SMS-CIF30-DPM and you have not changed the jumpers of the board, you can
use the default value in the window Driver Setup Windows NT. Otherwise, this must be done
according the selected start address of the CIF board and the type of the CIF. If you have the
SMS-CIF30-DPM then the DPM size is 2 KByte. If the board is the SMS-CIF30-PB then you
have to select 8 KByte. If you have jumpered an interrupt on the board then you have to
select the Interrupt number. The default interrupt is 7. After you have changed the settings
you must reboot your PC to activate the parameters.

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5.0 Configuration ProfiBus DP with SyCon
SyCon helps you to configure your ProfiBus DP system quickly & easily.
Follow these steps:
1. First select the fieldbus system and create a new file. Select the File-New-
ProfiBus menu item. SyCon will start the configuration mode and opens
the window for the bus. Insert all the Masters that you will have on the
bus. If you do not find your Master in the list choose Unknown FMS
Master, Unknown DP Master, or Unknown Combi Master ProfiBus-DP
2. First you have to insert the DP slaves and assign them to their master.
The next step is to configure these DP slaves with the actual I/O modules,
and their parameter data. Be sure that you have selected the right
addressing mode.
3. Save your configuration. Select the board as actual device, which you
want to configure and download(s) to all the CIF devices. Connect the bus
cable, and test the communications using the I/O-Monitor for DP, and the
FMS Monitor for FMS.
4. Finally, print out the documentation of your ProfiBus system.
GSD Files
Each ProfiBus-DP manufacturer uses standard device description files to define the ProfiBus-
DP device on the network. These definitions are called GSD files. The set of device
description files (GSD file) build the device database.
All possible devices the configuration or GSD files must be in the GSD directory during the
startup of the SyCon software. If you need another GSD file during SyCon runtime you have to
copy this file with the File - Copy GSD menu item.
Note: You need GSD files only for ProfiBus-DP.
The GSD directory path is changeable. To modify it from the default to an another path use
the Settings – Path menu. All GSD files have to be present in this directory for SyCon to
recognize the device.

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Selecting a fieldbus system and creating a new file
At the beginning of a design, you must create a new configuration file, which is done in the File
– New menu item. You can select between the different fieldbus systems Select ProfiBus.
The name for the configuration can be assigned when you leave the system configurator or
using the File - Save AS menu.
Insert Master
To insert a new master in the configuration select the Master item in the menu Insert or click
the following icon:
The mouse cursor changes to the insert master cursor. Click on that position, where you want
to insert the new master. A dialog box appears where you have to select one or more masters.
You can select the master types:
ProfiBus Combi Master (ProfiBus-FMS and ProfiBus-DP)

ProfiBus-FMS Master
ProfiBus-DP Master

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Settings
Bus Parameter
The bus parameter is normally the baud rate of the fieldbus network, which is determined by
the master controller. Each fieldbus has a set of different baud rate options.
In a ProfiBus-DP system, the only parameter, which is required, is the baud rate. The baud
rate of the ProfiBus is common for all bus nodes. Changing the baud rate causes all other
parameters to be re-calculated. The System Configurator checks that all configured devices
based on the information in the GSD file support the baud rate.
If the System Configurator finds at least one device in the configuration that does not support
the selected baud rate an error message appears, because this information is missing in the
device description file. The user can check the actual parameter, if he opens the Actual Bus
Parameter window with the Edit button. Some of the parameters can be changed individually.
Please note if you make any changes in the bus parameters the parameter for the Optimize
field must be changed from by SyCon to by User.
Caution: Changing the bus parameter can stop the communications
The Highest Station Address is the highest bus address up to which the master will search for
another active master station to transfer the send permission. This value should not be set
below the master address.
The field Watchdog control / TTR allows the user to enter a factor to control the watchdog
time of the slaves. If this factor is chosen to large, it is possible that the slaves could set their
outputs to Zero .
With the Auto Clear flag it is possible to select a global error flag. The Master controls the
process data transfer for the slaves with a timer. If the data transfer is not successful during
one data control time interval with activated option Auto clear modus on, then the Master
leaves the user data transfer and switches the outputs of all assigned slaves to the fail-safe
state.

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Master Settings
To enter the master settings select the Settings - Master Settings menu or use the right
mouse button at a DP master device. There is also a Master Settings button in the Master
Configuration window available.
The Master settings contain parameters, which defines the behavior of the PMAC
GatewayDPRAM.
Startup behavior after system initialization
If Automatic release of the communication by the device is selected, the master starts with
the data transfer on the bus when initialization is finished. If Controlled release of the
communication by the application program is selected, the user has to start the data
transfer on the bus, by a defined release procedure.
User program monitoring
The watchdog time appointed how long the device will wait for a user trigger of the watchdog,
upon a watchdog all outputs are set. This procedure must be activated by the user application
software and is not started automatically.

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Addressing mode
The addressing mode of the process data is how to interpret the addresses of the process
image. There are the possibilities Byte addresses or Word addresses. For performance
reasons the PMAC Gatewayworks internally with word structures. Therefore if you have
configured the Byte address mode, the data for the slaves modules starts on even addresses.
Storage formats (word module)
The storage format fixes the format, how the data is placed and interpreted in the process
images. For data types, the Little Endian format and Big Endian format can be selected.
Handshake of the process data
Different modes of handshaking the process data can be selected for the master. The selection
of this mode is important for the correct data exchange between the application and the device.
Hardware parameter
With this parameter you select the size of the dual-ported memory of the hardware. The
parameter will enlarge or reduce the possible value ranges for the I/O offsets.
Addressing mode
The addresses in the configuration data of the devices determine the starting points of the
corresponding data in the process image.
Byte address The process image has a byte structure and every byte has its own address.
Word address The process image has a word structure and every word has its own address.
This has nothing to do with the physical data size of the dual-ported memory, which is always
byte oriented! The following table shows how the different data types in the process image in
byte or word address mode:
IEC Address Offset address Data in the Output in Little Endian format
in byte mode in word mode in the dual-ported Process - byte module
memory Image - module with two single bytes
(first 8 bytes) (example) - word module
0 0000 0000
1 0000 0000
Output QB2 / QB1
QB 2 QB 2 2 1110 0010 D7 D6 D5 D4 D3 D2 D1 D0
       
3 0000 0000
Output QB4 / QB2
QB 4 QB 4 4 1111 1000 D7 D6 D5 D4 D3 D2 D1 D0
       
5 0000 0111 D7 D6 D5 D4 D3 D2 D1 D0
       
QW 6 QW 3 6 1111 1111
7 0100 0100
Output QW6 / QW3 in Little Endian format (LSB - MSB)

D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
               
Output QW6 / QW3 in Big Endian format (MSB - LSB)
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
               

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Insert Slave
To insert a new slave in the configuration select the Slave item in the menu Insert. Click on
that position, where you want to insert the new slave. A dialog box appears where you have to
select one or more slaves.
In the left list box there are listed all slave devices which are presented in the GSD directory. If
there are too many you can set a filter to select only a special slave family or vendor. When one
slave is selected, you can see additional information about the slave in the list box below. With
a double click or with the Add button the slave appears in the right list box. All devices in this
box will be connected to the active master who is displayed in the window. If you select the
slaves individually, you can give every device a name or a short description in the description
field.
With the addition of every slave the station address is incremented, but this valve can be
changed manually in the Station address field.
Slave configuration
The slave specific configuration is done in this window. Here you have to assign the modules
and their data to addresses for the process data image in the master device. Remember that
these addresses correspond to your application in the PC.

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There are two types of slaves. A simple slave, which has a fixed data length, and a modular
slave, which has variable, date length and is configurable. This type of slave can be
understood as an assembly of one or more simple slaves with one bus address.
The upper table contains all available modules of the slave device. In the case of a simple slave
there is only one module, which is already copied, into the lower table automatically by SyCon.
If it is a modular slave, the user must do this with a double click on the module or selected
module or by clicking on the Append Module button. If a module has several inputs or
outputs, then it gets more lines in the configuration table. These additional lines will be
assigned with a higher index in the Idx column.
To configure the modules of the slave do the following steps:
If not already present, select all modules from the upper table and insert them in the lower
table. The sequence of the modules in the lower list is important and must correspond to the
real physical slave configuration.
Assign the addresses of the module data in the process image for each module in the lower
table. This is done in the columns Type and Addr for input and output separately.
The I/O address can be entered by the user or set automatically by SyCon using
the Auto Addressing flag, which must be set in the Master Settings window.
If the flag is active SyCon will place all I/O data offsets in physical order. This is done during
the download procedure and the assigned addresses can be checked in the Address Table.
If the addresses are entered manually the default address 0 in the field I Addr. O Addr must be
overwritten by the user. Depending on the Addressing mode in the DP Master Settings the
addresses are byte addresses or word addresses. This is described in the chapter Addressing
mode. The DP-Slaves use the Watchdog Control flag to detect communication errors of their
assigned DP master. If a DP slave recognizes an interrupted communication to his master
during a defined watchdog timer interval, when he was operational once, he resets himself and
sets his outputs into a safe zero state.
Caution: If Watchdog Control is switched off, it is

possible that the slave will not reset slave outputs, even though
the communication is broken.

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DP Slave Settings
The DP Slave settings contain parameters, which define the behavior of the PMAC interface. To
enter the DP slave settings select at first the slave than open the window with the menu
Settings - DP Slave Settings.
User program monitoring
The watchdog time appointed how long the device will wait for a user trigger of the watchdog,
until it resets all outputs to zero. This must be activated from the application.
Configuration mode
If the slave device should take the parameter out of the configuration which is downloaded
from SyCon then you must select for the Configuration mode the mode Configuration by
SyCon. If the configuration is written in the dual-ported memory from the application then you
must select Configuration by application.
Handshake of the process data
With these different modes, the handshake of the process data is selected for the master. The
selection of this mode is important for the correct data exchange between the application and
the device.

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Startup behavior after system initialization
If Automatic release of the communication by the device is selected, the slave is ready to
communicate with the master when started. If Controlled release of the communication by
the application program is selected, the user has to start the communication with the master.
Board Assignment
SyCon is able to configure all devices in a network. To run the online functions of such a
device you must define how SyCon can communicate with it. This is done in the menu item
Board Assignment. You have the choice between four boards, which are installed internally in
the PC and four devices, which are connected with the serial port to the PC.
SyCon looks in the registry of the device driver and displays all boards that are available
internally.
The externally connection can be checked with the buttons Check COM 1 to Com 4. SyCon
sends a request on that serial port and asked for the firmware. If there is a device connected
the firmware is displayed otherwise there will be a time-out error.
Now you can assign the configured devices to the boards and to the serial ports. If the
assignment for one device is done, it is no longer available in the select list for a further
assignment. Therefore if you want to change an assignment, you have to select No device
instead of a device, before you can get the device in the selection list for or other board or serial
port.
Viewing, Printing and Saving Your Configuration

View Device Table The list of devices is displayed with the menu item View - Device Table.
Address Table To display the list of salve addresses use the menu item View - Address
Table. Select the master as actual master to display its’ address table.
CRL Table (ProfiBus) Display the Communication Reference List.
OD Table (Profibus) The Object Directory is displayed with the menu item View
- OD Table.
Print After you have selected the actual printer with the menu item Print
Setup you can print out the configuration with the menu item Print. If
you want to have a preview of the print before printing you can use the
function Print Preview.
Save You can save the configuration with the menu item Save if the file
name is known otherwise you must use the function Save as with a
new file name.

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Downloading the Configuration to PmacGate-Way

The download of the configuration data to the device can be started with the menu Online -
Download.
At first you have to select the desired device, so that it is signed with a blue frame around it.
This is done with the function Actual Master in the window Master Configuration or with the
function Select as actual master in the menu which appears if you click with the right mouse
button on a master device.
Before the download happens, SyCon will check the configuration. If there appears any error
message, the configuration should be checked. Most errors are overlapping addresses, which
can be located by looking into the Address Table.
The configuration will be transmitted to the selected device and stored in static FLASH
memory, so that it is available after the power is switched off and on in this device.

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Debugging
Debug Mode and Device Diagnostic
After you have selected an actual master, you can start the debug mode. From this time,
SyCon requests the status of all slaves of the actual master. If there is an error on a slave the
bus line to this slave is drawn in red otherwise it is green. SyCon also display the Diag
message, if the slave signals diagnostic information. This information is displayed if you click
with the mouse at the corresponding device in debug mode.
To activate the debug mode select the menu Online - Start Debug Mode. The menu Online -
Device Diagnostic activates the DP slave diagnostic. To end the Debug Mode select the menu
Online - Stop Debug Mode.
Device Diagnostic Descriptions:
Master_Lock The slave has been parameterized by another master. DP master (class
1) sets this bit, when the address is unequal to 255 and unequal to the
own address.
Param_Fault This bit is set by the slave, when the last parameter telegram has an
error, for example wrong length, wrong Ident_Number, invalid
parameter.
Invalid_Slave_Resp This bit is set by the master, when the master has received an invalid
answer from the slave.
Not_Supported This bit is set by the slave, when a function is asked to be performed
but does the slave does not support.
Ext_Diag This bit is set by the slave. If the bit is set, then there is diagnostic
information in the slave-specific diagnostic area (EXT_DIAG_DATA).
Cfg_Fault This bit is set by the slave, when the configuration data is not unequal.
Station_Not_Rdy This bit is set by the slave, when the slave is not ready for data
exchange.
Station_Non_Existent This bit is set by the master, if this slave is not reachable on the bus. If
this bit is set, the diagnostic bits holds the state of the last diagnostic
information or the initial values.

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Diag.Deactivated This bit is set by the master, when the slave in the slave parameter set is
not marked as active and is take out of the cyclic processing.
Diag.Sync_Mode This bit is set by the slave, when he has received the sync-control
command.
Diag.Freeze_Mode This bit is set by the slave, when he has received the freeze-control
command.
Diag.WD_ON This bit is set by the slave, when its watchdog control is active.
Diag.Stat_Diag If the slave sets this bit, the master has to collect diagnostic information
as long as this bit is active. The slave sets this bit for example when
there are no valid user data. If the bit Diag.Prm_Req and the bit
Diag.Stat_Diag are set, the bit Diag.Prm_Req has the higher priority.
Diag_Prm_Req If the slave sets this bit, a new parameterization has to be performed.
This bit is set as long as no new parameterization has been performed.
This bit is set from the slave.
Ext_Diag_Overflow If this bit is set, there are more diagnostic information as in

EXT_DIAG_DATA given. The DP-slave set this bit for example if there are
more channel information as the slave can hold in its send buffer; or the
master set this bit, when the DP-slave send more diagnostic information,
as the master can hold in its diagnostic buffer.
Diag.Master_Add In this octet the address of the master is entered, which has done the
parameterization of the this slave. If the salve is not parameterized from
any master, the slave put the address 255 (FF) into this octet.
Ident Code The identifier of the manufacturer is reserved for every participant. This
identifier can be used for checks or can be used for an exact
identification.

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I/O Monitor
This is a simple tool, which allows displaying and entering at the first 32 bytes of the process
image.
FMS Monitor (Profibus FMS)
This tool allows starting a ProfiBus-FMS service based on the configured objects and
communication references. You must select on of the service Read or Write and the parameter
in the select list. If it is a write, the output data are entered in the Value field. The service is
activated with the button Send. At the left side of the window appears the confirmation.
Task States
Task states are online counters, values, parameters and states that can be displayed. Several
task states are available. The Online - Task State menu activates a list of available
structures. The listed structures can be displayed to show the values.

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Error numbers
The following table lists the error numbers of the converting functions.
Number Description
4000 No table existing
4001 Success in compromising
4002 Set not existing
4003 Last respectively first entry reached
4004 Not enough memory
4005 Directory table full
4006 Max number of entries reached
4007 No writing to this table possible, because the table is located in the FLASH
4008 Table name already exists
4009 File name does not exist
4010 Free RAM length from RCS_CNF.P86 is smaller than E_F_INDEX * 2
4011 Parameter next wrong
4012 Not enough free space to copy data set
4013 Set is deleted
4014 Value for Index is wrong
4015 Access not allowed
4016 Open_file used before init_file
4034 Length of converting stream is 0
4035 Non equal data set found
4036 Writing of set 0 is not allowed
4037 No entriy in this file
4038 Data set has length 0
4039 The function DbmInit has assigned a Zero pointer during RCS initialization
4040 Printer not ready
4041 The data base is used from another function
4042 New length of data base is smaller than used
4043 Unknown access mode
4044 Old data base has to be converted
4045 Error while converting. Function not known
4046 Unknown type in set 0 found
4047 No float function available
4048 Function not in RCS module
4049 Check failed
4050 Checksum ckeck failed
4051 More segments are existing in file, than in the structure FILE_INFO_T
4052 SegLen in structure FILE_INFO_T is smaller then the length in the file. Return of
function dbm_restore_data
4053 The header file holds an other information for a length than in the segment itself
4054 Not enough memory for allocation on the PC
4055 No index for file handle in structure FLASH_DIR of RCS found
4056
4057 File type 2 can not be printed because of too many definitions
4058 The definitions need too many lines to display them, than in the program available
4059 An unknown format for the parameter. Valid is U, H, or S

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Number Description
4060 Unknown parameter type
4061 The data base was transmitted into the FLASH
4062 Set 0 contains no structure definition
4063 Set 0 can not be deleted
4064 Error during execution of a ODBC data base access
4065 Initializing of DBM through RCS had no success
4066 Passed data length incorrect
4067 Sorting function not linked
4068 Error in function parameter
4069 Error from ODBC table
4070 No free handle available. Too many data base links are already opened
4071 Unknown data type found in the table
4072 Structure of table GLOBAL not correct or no such table existing
4073 No name of an ACCESS data base
4074 Download window can't be created
4075 Download not fully performable
4076 Parameter SourceType of table SourceTab not existing
4077 Parameter Translate of table CreateTab does not exists
4078 Parameter Sourcefile of table CreateTab does not exists
4079 Parameter Sourcetable of table CreateTab does not exists
4080 Parameter Desttable of table CreateTab does not exists
4081 Parameter Special of table CreateTab does not exists
4082 More than 32 tables shoul be created
4083 No entry in element szSourceFile
4084 ODBC connection initialization not possible. This could happen when in file
ODBCINST.INI in section [Microsoft Access Driver (*.mdb)] is no valid path to
ODBCJT16/32.DLL.
4085 Error in structure in the ACCESS data base that is in DBM format
4086 Error in structure in the ACCESS data base that is in DBM format
4087 No data in a ODBC table
4088 No entry
4089 ODBC set length not valid
4090 Not enough data sets in ODBC table
4091 Table CreateTab not found
4092 Error in structure of table CreateTab
4093 No entry in element szSourceTable
4094 No entry in element szDestTable
4095 Entry in iSourceType of table CreateTab is wrong
4096 Entry in iTranslate of table CreateTab is wrong
4097 Function SQLAllocStmt reports an error
4098 OdDBC source table not found
5001 Function PackLongToByteShort: Not enough space in pvD (Number of elements
greater than reserved memory)
5002 Function PackLongToByteShort: Not enough space in pvD. Detected during
converting of pvS
5003 Function StringToByte: Not enough space in pvD
5004 Function IntToByte: Not enough space in pvD
5005 Function LongToShort: Not enough space in pvD
5006 Function PackStringDumpToByteArray: Not enough space in pvD
5007 Function PackStringBumpToByteArray: A character was found, which is not
convertable into a HEX value
5008 Function PackStringDumpToByteArray: Number of character odd

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APPENDIX B — RECOMMENDED M VARIABLE DEFINITIONS

AND EXAMPLE PLC
This is an example of a simple system in which there are 16 bytes of input data and 16 bytes of output
data to communicate from PMAC to a Master fieldbus device.
 The inputs and outputs are mapped in contiguous locations within PMAC Gateway’s DPRAM.
 The I/O is updated asynchronously to PMAC. (Only byte consistency with PMAC)
 The I/O processing happens all within this PLC.
The example in this manual is for non-Turbo PMACs only. For a Turbo PMAC, the addresses, timers,
and M-Variables are different. The structure of the PLC is still the same. In addition, there are jumper
changes on the PMAC Gateway when using a Turbo PMAC (E3=2-3 E4=1-2). See Appendix C.
MDefs
In this example, it is assumed that a user buffer has been created in PMAC for the storage of the MDEFS
needed to implement the I/O processing between PMAC and the PMAC Gateway.
Note:
The address pointer and data mailbox registers must be defined as 24 bit integers.
The locations shown represent the default locations for a PMAC as set by jumpers
on PMACGateway. These variables can never be used directly as synchronous M-
Variables in a motion program or a PLC.
Define the Pointers to the Mail Boxes
First possible location for the PMAC Gateway (E2A ON – default jumper settings):
m1000->Y:$FFD0,0,24,U ; Address pointer
m1001->Y:$FFD1,0,24,U ; Data Mail box register
If the E2 jumper is set to another value other than default, these addresses must be changed.
Address Pointer Offsets
Outputs begin at offset 0 (decimal)
Inputs begin at offset 512 (decimal)
Define Memory Locations for the Output Bytes (Send Process Data)
m901->Y:$09C19,0,8,u ; OutputByte1 (Send Process Data)
m902->Y:$09C1A,0,8,u ; OutputByte2
m903->Y:$09C1B,0,8,u ; OutputByte3
m904->Y:$09C1C,0,8,u ; OutputByte4
m905->Y:$09C1D,0,8,u
m906->Y:$09C1E,0,8,u
m907->Y:$09C1F,0,8,u
m908->Y:$09C20,0,8,u
m909->Y:$09C21,0,8,u
m910->Y:$09C22,0,8,u
m911->Y:$09C23,0,8,u
m912->Y:$09C24,0,8,u
m913->Y:$09C25,0,8,u
m914->Y:$09C26,0,8,u
m915->Y:$09C27,0,8,u
Appendix B – Recommended M-Varible Definitions and Example PLC 59

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Define Memory Locations for the Input Bytes (Receive Process Data)
m933->Y:$09C39,0,8,u ; InputByte1 (Receive Process Data)
m934->Y:$09C3A,0,8,u ; InputByte2
m935->Y:$09C3B,0,8,u ; InputByte3
m936->Y:$09C3C,0,8,u ; InputByte4
m937->Y:$09C3D,0,8,u
m938->Y:$09C3E,0,8,u
m939->Y:$09C3F,0,8,u
m940->Y:$09C40,0,8,u
m941->Y:$09C41,0,8,u
m942->Y:$09C42,0,8,u
m943->Y:$09C43,0,8,u
m944->Y:$09C44,0,8,u
m945->Y:$09C45,0,8,u
m946->Y:$09C46,0,8,u
m947->Y:$09C47,0,8,u
General Purpose Timers
m1020->X:$0700,0,24,S ; Timer #1
m1021->Y:$0700,0,24,S ; Timer #2
m1022->X:$0701,0,24,S ; Timer #3
m1023->Y:$0701,0,24,S ; Timer #4
Example of timer function:
m1=1 turn on output #1
; m1020=125*8388608/I10 Set timer to 125 msec.
; While (m1020>0) Wait for timer to counts
; endwhile down to 0
; m=0 turn off output #1
;
;
;
CLOSE
;
OPEN PLC2 CLEAR
Report All Output Data to the Fieldbus Slave (Send Process Data)
This PLC updates the output data sent from a Master to a Slave and updates the input data received by a
Master from a Slave.
m1000=0 ; Set pointer to the start of the output area
m1001=m901 ; Report OutputByte1 to the slave (Send Process Data Byte1)
60 Appendix B – Recommended M-Varible Definitions and Example PLC

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Time Delay
m1020=10*8388608/I10
While(m1020>0)
Endwhile
Read all Commanded Outputs from the Fieldbus Slave (Receive
Process Data)
m1000=512 ; Set pointer to the start of the Input area
For Gateway devices that have 8KDPRAM m1000=3584 to point to the start of the Output area:
m933=m1001 ; Read InputByte1 from the slave (Receive Process Data Byte1)
Time Delay
m1020=10*8388608/I10
While(m1020>0)
Endwhile
Further Processing of the Received Process Data if Required

Further processing of the data received by the Master can be placed here (i.e. do something with the data
received).
;
;
Close
;
;
Appendix B – Recommended M-Varible Definitions and Example PLC 61

Appendix C – Sample Turbo Pmac PLC to Transfer 16-Bit Integer Data Accessory 72P
APPENDIX C – SAMPLE TURBO PMAC PLC TO TRANSFER

16-BIT INTEGER DATA
The variables defined to access the PMAC Gateway hardware are all 8-bit unsigned data types because
the hardware on the PMAC Gateway is byte oriented. In many cases, individual bits of the fieldbus data
representing discrete I/O may be dealt with, or bytes may be combined in order to represent data as 16-bit
integer or floating point values.
M-Variables (16-bit) for Use in Programs
The memory address used for the following M-Variables are valid only for a Turbo PMAC2 in which a
User Buffer has been created to allocate this memory. (Refer to the PMAC On-Line command section of
the Software Reference manual.)
Example:
M1000->Y:$078A00,0,24,U ;DPRAM Memory Pointer Mailbox
M1001->Y:$078A01,0,24,U ;Fieldbus Data Mailbox
Outputs

m902->Y:$09C01,0,8,u ; OutputByte2
m905->Y:$09C04,0,8,u
m906->Y:$09C05,0,8,u
m907->Y:$09C06,0,8,u
Inputs

m909->Y:$09C08,0,8,u ; InputByte2
m910->Y:$09C09,0,8,u ; InputByte3
m911->Y:$09C0A,0,8,u ; InputByte4
m912->Y:$09C0B,0,8,u
m913->Y:$09C0C,0,8,u
m914->Y:$09C0D,0,8,u
Open PLC2
Clear
I5111=100*8388607/I10
while(i5111>0)
endwhile
m1000=0 ; Set pointer to the start of the output area
M1001=M901 ; Send OutputByte1 to the slave (Send Process Data Byte1)
I5111=20*8388607/I10
while(i5111>0)
endwhile
m1000=512 ; Set pointer to the start of the Input area
62 Appendix C – Sample Turbo Pmac PLC to Transfer 16-Bit Integer Data

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CLOSE
Appendix C – Sample Turbo Pmac PLC to Transfer 16-Bit Integer Data 63

Appendix C – Sample Turbo Pmac PLC to Transfer 16-Bit Integer Data Accessory 72P
64 Appendix C – Sample Turbo Pmac PLC to Transfer 16-Bit Integer Data

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APPENDIX D – HILSCHER HYPERLINKS
System Configurator (Sycon) PROFIBUS:

http://www.hilscher.com/files_manuals/pb_oie9.pdf
System Configurator (Sycon) CANopen:

http://www.hilscher.com/files_manuals/co_oie8.pdf
System Configurator (Sycon) DeviceNet:

http://www.hilscher.com/files_manuals/dn_oie7.pdf
CC-Link Slave Protocol Manual (COMPRO configurator):

http://www.hilscher.com/files_manuals/ccs_pre.pdf
CC-Link Booklet (Hardware):

http://www.hilscher.com/files_manuals/CC-Link%20Booklet.pdf
Booklet DeviceNet (Hardware):

http://www.hilscher.com/files_manuals/DeviceNet%20Booklet.pdf
Profibus Booklet (Hardware):

http://www.22hilscher.com/files_manuals/PROFIBUS%20Booklet.pdf
CANOpen Booklet (Hardware):

http://www.hilscher.com/files_manuals/CANopen%20Booklet.pdf
Hilscher Manuals (For In-Depth Protocol Explanations and Memory Map – except
CC-Link):
ftp://support.deltatau.com/DT-USA/Delta%20Tau%20Fieldbus/MANUALS/manuals.pdf
Appendix D —Hilscher Hyperlinks 65

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^1 USER MANUAL

^3 PCI Fieldbus Interface

^5 September 26, 2007

Single Source Machine Control Power // Flexibility // Ease of Use

EN Dispose in accordance with applicable regulations.

1 NEW MANUAL CREATION 09/26/07 CP M. COGUR

CANopen Specifications ......................................................................................................................................... 28

The PMAC Gateway PCI supports the following protocols:

Fieldbus Connection Hints

Figure 1: PMAC Gateway DPRAM Interface

Figure 2: Setting PMAC Gateway’s DPRAM Start Address

Figure: 3 Moving Fieldbus Output Data to PMAC from PMAC Gateway

Reporting Input Status

Figure 4: Reporting PMAC Input Data to PMAC Gateway

Setting the Base Address of the PMAC Gateway

Setting the DPRAM Pointer Mailbox Address of the PMAC Gateway

Setting the DPRAM Data Mailbox Address of the PMAC Gateway

DPRAM MEMORY MAP

Process Data Handshake

10 DPRAM Memory Map

Process Data Transfer Modes

DPRAM Memory Map 11

12 DPRAM Memory Map

Profibus Layout Diagram

7 General Station address = 0

Profibus Slave Settings

Profibus Master Settings

Configuring the Slave for Profibus

Downloading the Slave Configuration for Profibus

Testing and Monitoring the PMAC Gateway for Profibus

DeviceNet Layout Diagram

DeviceNet Fieldbus Configuration

DeviceNet Master Settings

DeviceNet Insert Slave

Downloading the Configuration to PMAC Gateway

CANopen Layout Diagram

CANopen Typical Interconnection

CANopen Fieldbus Configuration

CANopen Slave Settings

CANopen SyCon Configuration

CANopen Master Settings

CANopen Insert Slave

Downloading the Configuration for CANopen

CC-Link Layout Diagram

Yellow LED D2-B ON = On line link OK

Yellow LED D2-C ON = On line link OK

Yellow LED D2-D ON = On line link OK

CC-Link Typical Interconnection

(*) For more information, go to the CC-Link Booklet (Hardware) in Appendix D

CC-Link Fieldbus Configuration

CC-Link Fieldbus Switch Settings

CC-Link Fieldbus Configuration

APPENDIX A — SYCON MANUAL

Universal System Configurator Software

Appendix A - SyCon Manual 41

2.0 Installation System Requirements

PC with 486 Pentium processor or higher

You have to install:

1. The system configurator