DEUTSCHMANN AUTOMATION UNIGATE CL - Powerlink User manual

Instruction manual
Universal Fieldbus Gateway
UNIGATE®
UNIGATE CL - Powerlink
V3653E
Deutschmann Automation GmbH & Co. KG Carl-Zeiss-Str. 8 D-65520 Bad Camberg
Tel:[phone] Hotline: [phone] Fax: [phone]
Internet: http://www.deutschmann.de

17.6.10 UNIGATE fieldbus gateway UNIGATE CL - Powerlink V. 1.8 3
Deutschmann Automation GmbH & Co. KG
1 Information on CE marking of the module. . . . . . . . . . . . . . . . 8
1.1 EU Directive EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Scope of application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Note installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Installation of the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5 Working on switch cabinets . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Information for the machine manufacturers. . . . . . . . . . . . . . . 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 EU Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 UNIGATE CL software flow-chart . . . . . . . . . . . . . . . . . . . . . 11
3.2 UNIGATE application diagram . . . . . . . . . . . . . . . . . . . . . . 12
4 Operation modes of the Gateway. . . . . . . . . . . . . . . . . . . . 13
4.1 Configuration mode (config mode) . . . . . . . . . . . . . . . . . . . . 13
4.2 Test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.3 Data exchange mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 RS-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.1 RS-interfaces at the UNIGATE CL . . . . . . . . . . . . . . . . . . . . 14
5.2 Buffer sizes at the UNIGATE CL . . . . . . . . . . . . . . . . . . . . . 14
5.3 Framing Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6 SSI-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
6.1 Initiation of the SSI-interface . . . . . . . . . . . . . . . . . . . . . . . 15
6.2 Hardware-wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7 The Debug-interface. . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7.1 Overview of the Debug-interface . . . . . . . . . . . . . . . . . . . . . 17
7.2 Starting in the Debug-mode . . . . . . . . . . . . . . . . . . . . . . . . 17
7.3 Communication parameter for the Debug-interface . . . . . . . . . . . . 17
7.4 Possibilities with the Debug-interface . . . . . . . . . . . . . . . . . . . 17
7.5 Commands of the Debug-interface . . . . . . . . . . . . . . . . . . . . 17
8 Mode of operation of the system . . . . . . . . . . . . . . . . . . . . 18
8.1 General explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.3 Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.4 Possible data lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
8.5 Startup phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9 Generating a Script . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.1 What is a Script? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.2 Memory efficiency of the programs . . . . . . . . . . . . . . . . . . . . 22
9.3 What can you do with a Script device? . . . . . . . . . . . . . . . . . . 22
9.4 Independence of buses . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.5 Further settings at the Gateway . . . . . . . . . . . . . . . . . . . . . . 22
9.6 The use of the Protocol Developer . . . . . . . . . . . . . . . . . . . . 23
10 FTP-Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
10.1 Script-update via FTP . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
10.2 System configuration update via FTP . . . . . . . . . . . . . . . . . . . 24

Deutschmann Automation GmbH & Co. KG
4 UNIGATE fieldbus gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
11 WEB-Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
12 Hardware ports, switches and LEDs . . . . . . . . . . . . . . . . . . 26
12.1 Device labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
12.2 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
12.2.1 Connector to the external device (RS-interface) . . . . . . . . . . . . . . . . .26
12.2.2 Connector supply voltage and DEBUG-interface. . . . . . . . . . . . . . . . .27
12.2.3 Powerlink-connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
12.2.4 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
12.3 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
12.3.1 LED "Pwr" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
12.3.2 LED "Link / Activity 1". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
12.3.3 LED "Link / Activity 2". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
12.3.4 LED "State / Error" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
12.3.5 LED "Power" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
12.3.6 LED "State". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
12.3.7 LEDs (Error No. / Select ID) . . . . . . . . . . . . . . . . . . . . . . . . . . .28
12.4 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
12.4.1 Termination Rx 422 + Tx 422 (serial interface). . . . . . . . . . . . . . . . . .28
12.4.2 Rotary coding switches S4 + S5 (serial interface) . . . . . . . . . . . . . . . .29
12.4.3 Rotary coding switch High and Low (Powerlink Node ID) . . . . . . . . . . . .29
12.5 The Debug cable for UNIGATE SC . . . . . . . . . . . . . . . . . . . . 29
13 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
13.1 Error handling at UNIGATE CL . . . . . . . . . . . . . . . . . . . . . . 30
14 Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . 31
14.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . . . 31
14.1.1 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
14.1.2 Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
14.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
14.2.1 Connection systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
14.2.1.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
14.2.1.2 Equipotential bonding connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
14.2.2 Ethernet Powerlink communication interface. . . . . . . . . . . . . . . . . . .32
14.2.3 Line routing, shield and measures to combat interference voltage. . . . . . . .32
14.2.4 General information on line routing. . . . . . . . . . . . . . . . . . . . . . . .32
14.2.4.1 Shielding of lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
15 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
15.1 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
15.1.1 Interface data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
16 Commissioning guide . . . . . . . . . . . . . . . . . . . . . . . . . . 36
16.1 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
16.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
16.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
16.4 Dimensional drawing UNIGATE CL - Powerlink . . . . . . . . . . . . . 36
16.5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
16.6 Powerlink connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
16.7 Connection to the process device . . . . . . . . . . . . . . . . . . . . . 37

17.6.10 UNIGATE fieldbus gateway UNIGATE CL - Powerlink V. 1.8 5
Deutschmann Automation GmbH & Co. KG
16.8 Shield connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
16.9 Connecting the supply voltage . . . . . . . . . . . . . . . . . . . . . . 37
16.10 Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
17 Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
17.1 Returning a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
17.2 Downloading PC software . . . . . . . . . . . . . . . . . . . . . . . . . 38
18 Annex. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
18.1 Hexadecimal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
19 Declaration of conformity. . . . . . . . . . . . . . . . . . . . . . . . 40
19.1 EC declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . 40

Deutschmann Automation GmbH & Co. KG
6 UNIGATE fieldbus gateway UNIGATE CL - Powerlink V. 1.8 17.6.10

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 7
Deutschmann Automation GmbH & Co. KG
Disclaimer of liability
We have checked the contents of the document for conformity with the hardware and software
described. Nevertheless, we are unable to preclude the possibility of deviations so that we are
unable to assume warranty for full compliance. The information given in the publication is,
however, reviewed regularly. Necessary amendments are incorporated in the following editions.
We would be pleased to receive any improvement proposals which you may have.
Copyright
Copyright (C) Deutschmann Automation GmbH & Co. KG 1997 – 2010. All rights reserved.
This document may not be passed on nor duplicated, nor may its contents be used or disclosed
unless expressly permitted. Violations of this clause will necessarily lead to compensation in
damages. All rights reserved, in particular rights of granting of patents or registration of
utility-model patents.
Art.-No.: V3653E

Information on CE marking of the module Deutschmann Automation GmbH & Co. KG
8 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
1 Information on CE marking of the module
1.1 EU Directive EMC
The following applies to the module described in this User Manual:
Products which bear the CE mark comply with the requirements of EU Directive „Electromagnetic
Compatibility“ and the harmonized European Standards (EN) listed therein.
The EU Declarations of Conformity are available at the following location for perusal by the
responsible authorities in accordance with the EU Directive, Article 10:
Deutschmann Automation GmbH & Co. KG, Carl-Zeiss-Straße 8, 65520 Bad Camberg, Ger-
many.
1.2 Scope of application
1.3 Note installation guidelines
The module complies with the requirements if you
1. comply with the installation guidelines described in the User Manual when installing and oper-
ating the module.
2. also follow the rules below on installation of the equipment and on working on switch cabinets.
1.4 Installation of the unit
Modules must be installed in electrical equipment rooms/areas or in enclosed housings (e.g.
switch boxes made of metal or plastic). Moreover, you must earth the unit and the switch box
(metal box) or at least the top-hat rail (plastic box) onto which the module has been snapped.
1.5 Working on switch cabinets
In order to protect the modules against static electrical discharge, the personnel must discharge
themselves electrostatically before opening switch cabinets or switch boxes.
The modules are designed for use in the industrial sector and comply with the following
requirements.
Scope of application Requirement applicable to
Emitted interference Interference immunity
Industry EN 55011, cl. A (2007) EN 61000-6-2 (2005)

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 9
Deutschmann Automation GmbH & Co. KG Information for the machine manufacturers
2 Information for the machine manufacturers
2.1 Introduction
The UNIGATE module does not constitute a machine as defined by the EU "Machinery“
Directive. Consequently, the module does not have a Declaration of Conformity in relation to the
EU Machinery Directive.
2.2 EU Machinery Directive
The EU Machinery Directive stipulates the requirements applicable to a machine. The term
"machine" is taken to mean a totality of connected parts or fixtures (see also EN 292-1, Para-
graph 3.1)
The module is a part of the electrical equipment of the machine and must thus be included by the
machine manufacturer in the Declaration of Conformity process.

Introduction Deutschmann Automation GmbH & Co. KG
10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
3 Introduction
The UNIGATE CL-Powerlink module serves to adapt a serial port to Powerlink CN (Controller
Nodes). The terminal unit’s protocol is converted in the UNIGATE via a Script.
The module CL-Powerlink essentially consists of the following hardware components:
•Electrically isolated Powerlink-interface
•32-bit processor "Hynet32s"
•RAM and FLASH
•Optionally electrically isolated on the RS-side
•Serial interface (RS232, RS485 and RS422) to the device connected externally

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 11
Deutschmann Automation GmbH & Co. KG Introduction
3.1 UNIGATE CL software flow-chart

Introduction Deutschmann Automation GmbH & Co. KG
12 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
3.2 UNIGATE application diagram
The following graph shows a typical connection scheme.

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 13
Deutschmann Automation GmbH & Co. KG Operation modes of the Gateway
4 Operation modes of the Gateway
4.1 Configuration mode (config mode)
The configuration mode serves to configure the Gateway. The following adjustments are possible
in this mode.
•Loading a Script (e. g. by means of the software WINGATE with "Write Script" under "File")
•Updating the firmware (e. g by means of the software "FDT" through the Ethernet (Power-
link)-interface)
•Configuration of the Gateway (by means of the software WINGATE)
The Gateway will be starting in this mode in case both switches S4 as well as S5 are set on posi-
tion "F" when switching on the Gateway. Right after switching on the Gateway in the configura-
tion mode it will be sending its starting message, that looks analog with the following message:
"RS-PL-CL (232/422/485) V0.1 [28] (c)dA Switch=0x00FF Script(16k)="Leer" Author="Deutsch-
mann Automation GmbH" Version="1.0" Date=21.08.2001 SN=47110001“.
In the configuration mode the Gateway always operates with the settings 9600 Bauds, no Parity,
8 Databits and 1 Stopbit, the RS-State LED will always be flashing red, the "Error No/Select ID"
LEDs are of no account for the user. All software revisions contain the configuration mode.
4.2 Test mode
Setting of the test mode
The test mode is set by bringing the switches S4 and S5 in position "E". All other switches will not
be taken into consideration for the setting of the test mode. Now the Gateway has to be restarted
with these settings (by a short disconnection from the power supply).
In the test mode the Gateway always operates with the settings 9600 baud, no parity, 8 databits
and 1 stopbit.
The test mode may be helpful to integrate the Gateway in the relevant environment, for instance
to test the parameters of the RS-interfaces.
Mode of operation of the test mode
After the restart in the test mode the Gateway will be sending the values 0-15 in hexadecimal
representation ("0".."F") in ASCII-coding on the serial side every second. Simultaneously the
same values are issued binary on the fieldbus-interface.
In this mode the State-LED on the RS-side will be flashing red, the "Error No/Select ID" LEDs will
be displaying the value in a binary way, that is issued that moment. Additionally each character
that is received at one of the interfaces will also be output at the same interface as a local echo.
On the fieldbus-side only the first byte will be used for the local echo, that means on receiving as
well as on transmitting only the first byte of the bus data is looked at, the other bus data do not
change compared to the last data.
4.3 Data exchange mode
The Gateway has to be in the data exchange mode, so that a data exchange between the
RS-side of the Gateway and the fieldbus is possible. As long as the Gateway is not in the config-
uration mode or the test mode, the data exchange mode is active. In the data exchange mode
the Gateway will execute the downloaded Script with the parameters, that have been preset
through WINGATE.

RS-interface Deutschmann Automation GmbH & Co. KG
14 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
5 RS-interface
5.1 RS-interfaces at the UNIGATE CL
The UNIGATE CL - Powerlink has the interfaces RS232, RS422 and RS485 available. The hard-
ware always features a DEBUG-interface, see chapter 7.
5.2 Buffer sizes at the UNIGATE CL
UNIGATE CL features at the serial side a buffer with the size of 1024 bytes for input data and
output data each.
The FIFO of the application interface (RS-interface) can be changed in any Gateway form Script
revision 26 on, that is capable for Script. For it please check in the Protocol Developer under
"Device Control" - "Hardware".
5.3 Framing Check
The length of the stop bit received by the Gateway is checked through the function "Framing
Check". Here the stop bit generated by the Gateway is always long enough, so that connected
participants can evaluate the stop bit.
Please be aware that the function "Framing Check" becomes effective only in case of 8 data bit
and the setting "No parity".
An error is detected and indicated by the Error LEDs in case the stop bit does not show the
length 1 bit during the activated check.
The possible setting for this parameter can be controlled by the Script (see online help from Pro-
tocol Developer). The presetting for the "Stop Bit Framing Check" is "enabled".

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 15
Deutschmann Automation GmbH & Co. KG SSI-interface
6 SSI-interface
The UNIGATE also supports the connection of applications or products, that communicate via
SSI.
6.1 Initiation of the SSI-interface
The required Script (example_SSI), the firmware- (Cust0023) and Protocol Developer-extension
(Cust_ssi.xml) are available free of charge from our website at www.deutschmann.de, as well as
the softwaretool Protocol Developer and the configuration software WINGATE.
•In the Protocol Developer (see chapter 7, The Debug-interface) the ConfigFile "Cust_ssi.xml"
has to be added. At Options -> Settings -> ConfigFiles.
•Load the Script "example_SSI.dss" into the Protocol Developer.
•The encoder type has to be defined in the Script itself under "Set number of bits" and "Set
typ" (default = 12-Bit-Single-Turn-Gray):
// Set number of bits (1..16 = Single Turn, 17..32 = Multi Turn)
moveconst (bAnzBit, 12); // i.e. 12 Bit single turn
// Set typ
// Values of bTyp:
// 0 = Reserved
// 1 = Output-value without change (i.e. binary encoder)
// 2 = Output-value changed from Gray to Binary (i.e. Gray encoder)
// >2 = Reserved
moveconst ( wTyp, 2); // i.e. 12 Bit Gray
•Load the Script into the device. Open WINGATE and activate the device in the configuation
mode (see chapter 4.1, Configuration mode (config mode)) - an actuation message appears,
that looks in line with the following (example CL-PB):
Special Firmware (23) not loaded
RS-PBV1-CL (232/422/485) V7.31[30] (c)dA Switch=0x02FF Script(8k)="SSI" Aut-
hor="Deutschmann Automation" Version="V 1.0" Date=20.03.2008 SN=47110002 ID=2
Konfigmode...
The note "Special Firmware (23) not loaded" means that the firmware-extension is not yet
loaded. The extension is loaded through Extras -> Firmware Script Extension. Select the file
"Cust0023 (Cmd 23 + 24 for SSI).hex" and choose "write extension".
•Re-start the device -> now only the device’s actual actuation message appears and not the
note any more.
•Bring the device into the data exchange mode (see chapter 4.3, Data exchange mode) ->
DONE!
6.2 Hardware-wiring
The clock wires of the SSI-interface are placed onto the Tx-wires of the RS422-interface and the
data wires onto the Rx-wires at the UNIGATE CL.

SSI-interface Deutschmann Automation GmbH & Co. KG
16 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
X1 (3pin + 4pin screw-plug-connector):
Pin no. Name Function at SSI
1 Rx 232 n. c.
2 Tx 232 n. c.
3 AP-GND n. c.
4 Rx 422+ SSI DAT+
5 Rx 422- SSI DAT-
6 Tx 422+ SSI CLK+
7 Tx 422- SSI CLK-

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17
Deutschmann Automation GmbH & Co. KG The Debug-interface
7 The Debug-interface
7.1 Overview of the Debug-interface
The UNIGATE® IC features a Debug-interface, that allows a step-by-step processing of a Script.
Normally this interface is only required for the development of a Script.
7.2 Starting in the Debug-mode
When applying power to the UNIGATE® (power up) the firmware will output the binary character
0 (0x00) after a self-test was carried out on this interface. If the UNIGATE® receives an
acknowledgement via this interface within 500 ms, it is in the Debug-mode. The
acknowledgement is the ASCII-character O (0x4F).
With the start in the Debug-mode the further execution of Script commands will be put to a stop.
7.3 Communication parameter for the Debug-interface
The Debug-interface is always operating with 9600 baud, no parity, 8 data bit, 1 stop bit. It is not
possible to change this parameter in the Protocol Developer. Please consider the fact that these
settings have to be in accordance with those of the PC-COM-interface and that the flow control
(protocol) has to be set on „none“ there.
7.4 Possibilities with the Debug-interface
Usually the Protocol Developer is connected to the Debug-interface. With it a step-by-step pro-
cessing of a Script, monitoring jumps and decisions and looking at memory areas is possible.
Moreover breakpoints can be set. It basically possesses all characteristics a software-develop-
ment tool is typically supposed to have. However, it is also possible to carry out a Scrip-update
via this interface.
From Script version [27] on you can also output data with the Script command
"SerialOutputToDebugInterface". Please also pay attention to the remark in the manual ’Protocol
Developer’.
7.5 Commands of the Debug-interface
The commands for the use of the Debug-interface are described in the instruction manual Proto-
col Developer.

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
18 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
8 Mode of operation of the system
8.1 General explanation
Communication can be split into seven layers, Layer 1 to Layer 7, in accordance with the
ISO/OSI model.
The Deutschmann Automation Gateways convert Layers 1 and 2 of the customized bus system
(RS485 / RS232 / RS422) to the corresponding Fieldbus system. Layers 3 and 4 are being
covered by the UDP/IP- and TCP/IP-protocol. The Layers 5 and 6 are empty. Layer 7 is
converted in accordance with Ethernet Powerlink V2.0 specification. This access is described in
chapter 8.3.
8.2 Interfaces
The Gateway features the RS232-, RS422- and RS485-interfaces.
8.3 Data exchange
All data is transferred by the Gateway in dependence of the downloaded Script.
Example Script:
// Reservieren eines Speicherbereichs für die Objekttabelle
var a_ObjectTableBuffer : buffer[32];
// 2 Objekte * 16 = 32 ; Anzahl Obj * 16 = reservierter Speicherbereich
InitObjectTable ( 2 , a_ObjectTableBuffer[0] ) ;
// erzeugen der Variablen für die einzelnen Obj
var a_Variable_2000 : buffer[6] ;
var a_Variable_2001 : buffer[6] ;
// erzeugen eines Obj
// CreateObject(index ,object_type,subindex,data_type,flags, MPtr_Buffer ) ;
CreateObject(0x2001, 0x7 , 0 , 0x6 , 0x08,a_Variable_2001[0]);
CreateObject(0x2000, 0x7 , 0 , 0x6 , 0x08,a_Variable_2000[0]);
// Anzahl der Objekte:
// Die maximale Anzahl der Objekte ergibt sich aus der maximal zur Verfügung
// stehenden größe des zu reservierenden Speicherbereichs.
// Der gesammte Speicherbereich für Scriptvariablen ist 8k (Stand Sept.2007).
// bei Bedarf kann ein Obj auf eine PDO gemappet werden
// Tx=0, Idx SubIdx Ofset BitLen
// Rx=1, Idx SubIdx Ofset BitLen
SetTxRxPDOMapping ( 0, 0x2001 , 0x0 , 0x0 , 0x8 ) ; // hier TxPDO
SetTxRxPDOMapping ( 1, 0x2000 , 0x0 , 0x0 , 0x8 ) ; // hier RxPDO
// Die maximale Anzahl von gemappten Objekten ist auf 255 für TxPDO
// und 255 für RxPDO begrenzt
// setzen eines Obj. mit einem Default-Wert
moveconst (a_Variable_2001[0], "01234");
moveconst (a_Variable_2000[0], "56789"); // "
//...
BusStart;
Wait ( Bus_Active ) ;

17.6.10 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 19
Deutschmann Automation GmbH & Co. KG Mode of operation of the system
//...
:main;
// zum Lesen der zyclischen RxPDO kann fogendes Kommando im Script benutzt werden
ReadBus ( aBusIn[0] , wBusInLen ) ; // Lese RxPDO
// folgende Befehle werden auch unterstützt:
// Get ( AvailableBusData , wBusInLen ) ;
// WaitBusDataChanged ( w_Timeout , w_NumberChar ) ;
// Die RxPDO wird von diesem CN (Slave) nur empfangen wenn der MN (Master)
// diesen CN in seiner Liste im Obj 0x1F81 aufgenommen hat und der MN
// ein PReq (Poll Request) schickt.
// Die TxPDO schickt das UNIGATE dann automatisch als PRes (Poll Response)
// zum MN, bzw. als Broadcast auf den Bus.
// ...
// Lese SDO
// Wird eine SDO an diesen CN geschickt, wird diese im Asynchronen Teil des
// Datenzyclus empfangen und in das entsprechende Objektverzeichnis geschrieben.
// Das Objektverzeichnis enthält immer den letzten empfangen Wert,
// es kann jederzeit von anderen Teilnehmern ausgelesen werden.
// Gleichzeitig wird jedes Obj in eine Queue geschrieben und zwischengespeichert
// Diese Queue kann mit folgendem Kommando ausgelesen werden,
// sind keine neuen SDO´s eingegangen liefert das Kommando den Returncode 0x03
// zurück
// Die Queue kann 255 SDO´s empfangen, wobei die jeweilige Datengröße
// auf 255 Byte begrenzt ist
ReadNewEPLObjectData ( w_Index , b_Subindex , a_Data[0] , b_DataLen ) ;
Get ( ErrorCode , bRetCode ) ;
if bRetCode equal b3 then :Loop1;
//...
// Schreibe SDO
// Der Inhalt eines Obj kann mit folgendem Kommando aktualisiert werden
// Besteht gleichzeitig auch für das Obj mit dieser Variablen
// (hier "a_Variable_2001") ein PDO mapping wird der Wert auch in die
// TxPDO gemappet (kopiert)
WriteObject ( a_Variable_2001[0] , a_ReceiveData[0] , b1 ) ;
jump :main;
//...
// Keine Unterstützung von Kreuzverkehr
// Kreuzverkehr: direktes senden und empfangen von einem bestimmten Teilnehmer
//------------------------------------------------------------------------------
// Mit folgenden Scriptbefehlen können Obj. vordefiniert werden:
// Manufact Device Type Obj. 0x1000
// Set ( DeviceType , 0x1234 ) ;
// SetByVar ( DeviceType , ltemp ) ;
Get ( DeviceType , ltemp ) ; // default: 12

Mode of operation of the system Deutschmann Automation GmbH & Co. KG
20 UNIGATE Fieldbus Gateway UNIGATE CL - Powerlink V. 1.8 17.6.10
// _______ ______________________ _____________________
// | Byte: | MSB | | LSB | |
// |_______|______________________|_____________________|
// | |Additional Information|Device Profile Number|
// |_______|______________________|_____________________|
// DeviceType is composed of a 16-bit field which describes the device
// profile that is used and a second 16-bit field which gives additional
// information about optional functionality of the device.
// The Additional Information parameter is device profile specific.
// Its specification does not fall within the scope of this document,
// it is defined in the appropriate device profile.
// The value 0000h indicates a device that does not follow a standardised
// device profile.
// For multiple device modules the Additional Information parameter contains
// FFFFh and the device profile number referenced by object 1000h is the
// device profile of the first device in the Object Dictionary.
// All other devices of a multiple device module identify their profiles
// at objects
//-----------------------------
// Manufact Dev Name Obj. 0x1008
var variable:buffer[15];
moveconst ( variable[0], "UNIGATE Ethernet Powerlink CL"#0x00); // Max-Len=32
SetByVar ( DeviceName , variable[0] ) ;
// default CL: "RS-EP-CL"
// default IC: "IC-EP-SC"
//-----------------------------
// Identity Object 0x1018
// Sub Idx 1 Vendor Id
// Set ( VendorID, 0x9876);
// SetByVar ( VendorID, wtemp);
Get ( VendorID , wtemp ) ; // default: 0x0000019D = "dA"
// Laut EPSG kann eine vorhandene CANopen Vendor Id für Ethernet Powerlink
// übernommen werden
// Sub Idx 2 Product Code
// Set ( ProductCode , 0x2468 ) ; // default: 0x00
// SetByVar ( ProductCode , wtemp ) ;
Get ( ProductCode , wtemp ) ;
// Der Herstellerspezifische Produktcode identifiziert eine spezielle Geräte
// Version
// Sub Idx 3 Revision number
// Set ( DeviceRevision , 0x1357 ) ;
// SetByVar ( DeviceRevision , wtemp ) ;
Get ( DeviceRevision , wtemp ) ;
// Beim Auslesen dieses Obj wird der Wert in einen Longwert geändert
// aus 0x4121 => 0x00410021
// Sub Idx 4 Serial number
Get ( SerialNumber , ltemp ) ; // Read only (see lable on housing)
//---------------------------------