Jetter NANO-C Technical manual

Edition 1.00 March 2003 / Printed in Germany
NANO-C
Version Update
from V3.00 to V3.01

Version Update – March 2003 NANO-C, V3.00 to V3.01
2 Jetter AG
Edition 1.00
Jetter AG reserves the right to make alterations to its products in the interest of technical
progress. These alterations need not be documented in every single case.
This manual and the information contained herein have been compiled with due diligence.
However, Jetter AG assumes no liability for printing or other errors or damages arising
from such errors.
The brand names and product names used in this document are trademarks or registered
trademarks of the respective title owner.

NANO-C, V3.00 to V3.01 Version Update – March 2003
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Table of Contents
1Introduction 4
2Expansions 5
2.1 Display Instructions 5
2.2 Register for Milliseconds 6
2.3 System Bus 6
2.3.1 Further modules 6
2.3.2 Function and power-level terminals at the JX-SIO 10
2.3.3 Special flags for the system bus 11
2.3.4 Access to JX-SIO analog values 11
2.4 Monitoring the activities of interfaces 12
2.4.1 Register for monitoring the activities of interfaces 13
2.4.2 Special flag for monitoring the activities of interfaces 15
3Eliminated Software Bugs 16
3.1 User Interfaces 16
3.1.1 Behaviour during start-up 16
3.1.2 JX-SIO inputs and outputs 16
3.2 Display Instructions 16
3.3 Network Operation 16
3.4 Application Program RAM-> Flash 16
3.5 System Bus 16
3.5.1 Erroneous behaviour of the analog outputs in Smart I/O modules 16

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1 Introduction
Overview of Version Updates
Version Function expanded corrected
V3.01 Display Instructions
Cursor Position
PP
Special Registers
Time of creating the application program
Timer for Milliseconds
P
System Bus
Festo CPX and SMC valve terminal have been
integrated
Function- and Power Level Terminals JX-SIO
PP
LCD-, PC- and JETWay-Interface
Monitoring PP
User Interfaces
No "Data Error“ After Power-On P
Networking via JETWay PP
V3.00 System bus PP
Special registers P
Display instructions P
Special functions P
Application program management P
Floating Point Registers P
By updating the operating version to V 3.01, the NANO-C is provided with a number of
new functions.
Important!
During the operating system update, the power supply of the NANO-C must not be
interrupted.

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2 Expansions
2.1 Display Instructions
If display instructions are to be used in order to output texts and register values via PRIM
interface or a JX2-SER1 expansion module, the cursor position must be considered. In
front of each display instruction, voids, dependent on the cursor position, will be output
now.
For using display instructions, the following issues must be considered:
· The text that is to be output, must always begin at cursor position 1.
· If the value of the cursor position is greater than 1, voids will be output as ASCII
code 20hex up to the start of the text.
· For diverting the display instructions onto the Prim interface, device "9" must be
selected.
· For diverting the display instructions onto the JX2-SER1 expansion module,
device "11" must be selected. The module number of the expansion module will
be output in register 2838.
Beispiel 1: Output on a JX2-SER1 Expansion Module
On a JX2-SER1 module, texts and register contents are output in different ways.
// ASCII-sequence in HEX on a JX2-SER1
DISPLAY_TEXT (11, 1, "Hello") // 48 61 6C 6C 6F
DISPLAY_TEXT (11, 3, "Hello") // 20 20 48 61 6C 6C 6F
REG_LOAD (1400, 1234) // Register for output
REG_LOAD (2810, 0) // Quantity of post-comma-places
// (default)
REG_LOAD (2812, 8) // Field width (default)
REG_LOAD (2816, 0) // Sign suppression (default)
// ASCII-sequence in HEX on a JX2-SER1
DISPLAY_REG (11, 1, 1400) // 20 20 20 20 31 32 33 34
DISPLAY_REG (11, 3, 1400) // 20 20 20 20 20 20 31 32 33 34

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2.2 Register for Milliseconds
Register 2037: Timer for Milliseconds
Function Description
Read present value of the timer for milliseconds
Value after reset: 0
Write Illegal
Value range 0 – 65535
The NANO-C will increment the millisecond timer by one every millisecond. It will start
automatically after switching on the NANO-C. Stopping the timer is not possible.
2.3 System Bus
2.3.1 Further modules
Besides modules produced by Jetter AG, modules produced by other manufacturers can
also be connected to the system bus of the NANO-C. In general, these modules are
handled like a JX-SIO module.
The following modules are supported by a NANO-C of the software version 3.01:
Further modules at the system bus
Manufacturer Product Designation
Bürkert GmbH & Co. KG Valve terminal type 8640
/Bürkert_BI_100_user information
Festo AG & Co. CPV10-GE-CO2-8
CPV14-GE-CO2-8
CPV18-GE-CO2-8
CPX-FB14
/Festo_BI_100_user information
SMC Pneumatik GmbH SI-unit EX120 - SCA1
SI-unit EX121 - SCA1
SI-unit EX122 - SCA1
/SMC_BI_100_user information
The modules produced by other manufacturers are recognized and commissioned
automatically. Another commissioning software will not be needed. For connecting these
modules, please consider the operating instructions of the respective manufacturers.
In addition, user information has been provided by Jetter AG, in which the operation of
these modules being connected to the Jetter system bus is described.

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2.3.1.1 Register- and IO-Numbers
The inputs and outputs of further system bus modules can be accessed with the help of
the I/O instructions of the JetSym language. The registers of these modules can also be
accessed with the help of these register instructions.
The individual I/Os and registers are distinguished by their numbering.
I/O- and Register Areas
Area Description
IN 7000 ... IN 7999 digital inputs of further modules
OUT 7000 ... OUT 7999 digital outputs of further modules
Reg 5000 ... Reg 5999 I/O register overlay of digital and analog inputs
Reg 6000 ... Reg 6999 I/O register overlay of digital and analog outputs
Reg 7000 ... Reg 7999 Registers for configuring and diagnose
Coding of I/O numbers
7 x z z
I/O number (1 … 64)
I/O-Module number - 70 (0 ... 9)
Coding of the registers for I/O register overlay and for analog inputs
5x z z
Register number (0 ... 99)
I/O-Module number -70 (0 ... 9)
Coding of the registers for I/O register overlay and for analog outputs
6x z z
Register number (0 ... 99)
I/O-Module number -70 (0 ... 9)

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Coding of the registers for configuring and diagnose
7x z z
Register number (0 ... 99)
I/O-Module number -70 (0 ... 9)
2.3.1.2 Module Array
All further modules that have been recognized, will be stored in the module array by an
unambiguous code. The module array can be accessed via registers 2015 and 2016.
Register 2015: Pointer unto Module Array
Function Description
Read selected module
Write select a certain module
Value range 0 through amount of I/O modules
Value after reset 0

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Register 2016: Module Array
Function Description
Read Module Array
2015 = 0 ->
2016 = amount of modules
2015 = 1 ->
2016 = Code of the first module
2015 = 2 ->
2016 = Code of the second module
Code:
JX2-I/O Modules
0 JX2-OD8
1 JX2-ID8
2 JX2-IO16
3 JX2-IA4
4 JX2-OA4
5 JX2-CNT1
6 JX2-PRN1
7 JX2-SER1
JX-SIO and further modules
64 JX-SIO
65 Festo CPV Direct
66 Festo Terminal CPX
67 Buerkert valve terminal type 8640 SMC SI-
unit EX12# - SCA1
JX2 slave modules
128 JX2-SV1
129 CAN-DIMA
130 JX2-SM2
131 JX2-SM1D
132 JX2-PID1
133 JX2-PROFI1
135 JetMove 200 Series
136 JX2-ProfiM
146 JetMove 600 series
Dummy-modules
252 JX-SIO dummy-module
253 JX2-Slave dummy-module
254 JX2-I/O dummy-module
255 Not identified
Write Illegal
Value range 0 - 255
Value after reset Quantity of expansion modules

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2.3.2 Function and power-level terminals at the
JX-SIO
Besides digital and analog I/O terminals, function and power-level terminals can also be
connected to the JX-SIO. Below, only the term "function terminal" will be used for both
function and power-level terminals.
The following function terminals are supported by the JX-SIO:
- IB IL 400 MLR 1-8A
- IB IL 400 ELR 1-3A
- IB IL 400 ELR R-3A
- INLINE CAM by Deutschmann Automation GmbH
JX-SIO Function Terminals: Register Survey
Register Number Description
7x04 Index of function terminals
7x05 Status of function terminals
7x06 Input data of function terminals
7x07 Output data of function terminals
The communication between CPU and function terminals has been described in detail in
the user information on Smart I/O modules.
JX-SIO
L1
L2
L3
N
123
4
Fig. 1 Smart I/O module with function terminal INLINE CAM and power-level
terminal IB IL 400 MLR 1-8A

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2.3.3 Special flags for the system bus
With the help of a special flag, the NANO-C indicates certain errors. This makes a
detailed error analysis possible. After start-up, the NANO-C will clear all special flags.
Survey of the special flags for the system bus
Special Flag Description
2048 Timeout at access to a JX2-I/O module
2049 Timeout at access to a JX2 slave-module
2050 Timeout at access to a JX2-I/O module
2065 Error signalising at output driver errors has been activated.
2067 Fatal system bus error
2068 Errors have accumulated at the system bus interface
2270 Timeout at access to a JX-SIO which is not active
2272 Access to an unknown JX-SIO-register
2273 Access to a register which is not supported by this JX-SIO,
e.g. configuration of an analog input, although there is no
analog input terminal
2274 Timeout at JX-SIO monitoring
2275 JX-SIO has carried out an internal reset, which means it is
not ready for operation
2276 Overflow at a read access to a 32-bit register
2.3.4 Access to JX-SIO analog values
Up to now, registers 5x60 through 5x71, as well as registers 6x60 through 6x71 have
been written, respectively read, while a REGISTER instruction was being processed.
In order to achieve an increase in performance, the NANO-C reads all analog inputs in the
background, when all tasks have been processed. If special flag 2059 has been set, the
analog inputs are even read after each task switch.
All changed analog outputs are written to the JX-SIO at the end of a task.

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2.4 Monitoring the activities of interfaces
With the help of two special flags per interface, the activities of any connected
communication partner that is communicating with the NANO-C via LCD, PC or JETWay
interface, can be monitored through the application program. This way it can be checked,
whether, for example, there is still a connection to an operating and display module.
Note
Monitoring the interface activity by PRIM via special flag is not possible for user-
programmable interfaces.
The first special flag will be set by the operating system, when a valid telegram has been
received. A monitoring time can be set in a register; it will be started simultaneously with
receiving the telegram. Any further telegram will re-start the monitoring time.
Another special flag can be set by the user. If no valid telegrams are received any more,
both special flags will be reset when the monitoring time has elapsed. As the second
special flag has not been set by the operating system, the user can check whether the
connection had been interrupted for a short time. In this case, the NANO-C would, after
an interruption, reset the first special flag only for a short instance and after this set it
again immediately.
The monitoring time can be defined via register by the user for each interface individually.
By setting the monitoring time to zero, activity monitoring will be switched off.
For activity monitoring, cyclic data exchange on the interface must be active.
If operator panels, such as LCD9, LCD 34, LCD 19, … are used, the monitoring time
should not be set to less than 200 ms. If values smaller than 200 ms are set, errors might
be reported in multi-display mode or in big-sized user interfaces in spite of active
communication.
In process monitoring systems – such as VIADUKT or JETLink, as well as in JetSym –
the interrogation time can either be set or else communication can be stopped altogether.
This must be considered for activity monitoring.
Frames
Flag 2092
Flag 2093
Timeout
Register2957
Application Program:
WHEN FLAG 2092
THEN FLAG 2093
Fig. 2 Monitoring of the LCD interface

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2.4.1 Register for monitoring the activities of
interfaces
Register 2956: Monitoring time of the PC interface
Function Description
Read present monitoring time in milliseconds
Write new monitoring time in milliseconds
Note
Monitoring the interface activity is always deactivated for
user-programmable (PRIM) interfaces.
Value range 0 .. 65535
Value after reset 0 (no monitoring)
Register 2957: Monitoring time of the LCD interface
Function Description
Read present monitoring time in milliseconds
Write new monitoring time in milliseconds
Note
Monitoring the interface activity is always deactivated for
user-programmable (PRIM) interfaces.
Value range 0 .. 65535
Value after reset 0 (no monitoring)
Register 2958: Monitoring time of the JETWay
interface
Function Description
Read present monitoring time in milliseconds
Write new monitoring time in milliseconds
Note
Monitoring the interface activity is always deactivated for
user-programmable (PRIM) interfaces.
Value range 0 .. 65535
Value after reset 0 (no monitoring)

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Register 10019: Amount of errors on the PC interface
Function Description
Read present amount of errors on the PC interface
Note
The error-count is not supported, if PRIM interfaces are
used.
Write reset the error counter
Value range 0 – 65535
Value after reset 0
Register 10039: Amount of errors on the LCD
interface
Function Description
Read present amount of errors on the LCD interface
Note
The error-count is not supported, if PRIM interfaces are
used.
Write reset the error counter
Value range 0 – 65535
Value after reset 0
Each time a character has been received on the PC and the LCD interface, the NANO-C
checks, whether an error has occurred during transmission. The error counts will be
incremented by one, if the following errors have occurred:
Overrun Error The UART of the interface received characters, although the
receiving buffer had already been full.
Parity Error The parity of the received character was not correct.
Framing Error The received character had no valid stop bit.

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2.4.2 Special flag for monitoring the activities of
interfaces
Special flag 2090
through 2095:
Monitoring the activities of
interfaces
Special Flag Interface Description
2090 operating system flag
0 = no valid telegrams
1 = the interface is active
2091
PC interface
user flag
0 = no valid telegrams
to be set by the user
2092 operating system flag
0 = no valid telegrams
1 = the interface is active
2093
LCD interface
user flag
0 = no valid telegrams
to be set by the user
2094 operating system flag
0 = no valid telegrams
1 = the interface is active
2095
JETWay interface
user flag
0 = no valid telegrams
to be set by the user

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3 Eliminated Software Bugs
3.1 User Interfaces
3.1.1 Behaviour during start-up
Starting from operating system version 3.00 of the NANO-C, the text "data error" would
appear on a connected user interface at power-up. This was mainly dependent on the
duration of the power-on delay and did not influence the functioning of the user interface.
Starting from operating system version 3.01, the text "P-SPS timeout" will be shown on
the user interface, until the initialising phase of the NANO-C has been completed.
3.1.2 JX-SIO inputs and outputs
The digital inputs and outputs of the JX-SIO expansion modules with the I/O numbers
7001 through 7964 can now be read and written via user interface.
3.2 Display Instructions
When registers are mapped onto a JX2-SER1 or a JX"-PRN1 module with the help of
DISPLAY_REG, the amount of characters to be edited will be limited to the field width set
in register 2812 "Field width for the display of interregisters“.
Up to version 3.00, 10 characters would always be edited.
3.3 Network Operation
The NANO-C will only accept a token in a JETWay network, if it has been configured as a
master. The token will be passed on among the individual masters belonging to a
JETWay network.
3.4 Application Program RAM-> Flash
Now, the copying process of the application program from RAM into flash is interrupted by
the NANO-C; this way, further data can be exchanged via serial interfaces due to the
interruption.
Especially in the programming system JetSym, setting a long timeout time for the
interface will not be necessary.
3.5 System Bus
3.5.1 Erroneous behaviour of the analog outputs in
Smart I/O modules
For Smart I/O modules, erroneous behaviour of the analog outputs can be configured.
The Smart I/O modules will recognize an interruption of the system bus connection to the
NANO-C and will then output the configured values at the analog outputs.
Up to version 3.00, the configuring data would not be transmitted correctly; at the analog
outputs value 0000hex would always be output.