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ICP DAS USA I-7242D User Manual

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DeviceNet / Modbus RTU Gateway
Warranty
All products manufactured by ICP DAS are warranted
against defective materials for a period of one year from
the date of delivery to the original purchaser.
Warning
ICP DAS assumes no liability for damages consequent
to the use of this product. ICP DAS reserves the right to
change this manual at any time without notice. The
information furnished by ICP DAS is believed to be
accurate and reliable. However, no responsibility is
assumed by ICP DAS for its use, or for any infringements
of patents or other rights of third parties resulting from its
use.
Copyright
Copyright 2005 by ICP DAS Co., LTD. All rights are
reserved worldwide.
Trademark
The names used for identification only may be
registered trademarks of their respective companies.
I-7242D DeviceNet/Modbus RTU Gateway User's Manual, July 2006, Version 1.1
I-7242D
User's Manual
I-7242D user manual
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   Summary of Contents for ICP DAS USA I-7242D

  • Page 1 Copyright Copyright 2005 by ICP DAS Co., LTD. All rights are reserved worldwide. Trademark The names used for identification only may be registered trademarks of their respective companies. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 1/124...
  • Page 2: Table Of Contents

    List of the I-7242D’s DeviceNet Object............34 Identity Object (Class : 0x01 ) ..............35 Message Router Object ( Class : 0x02 )............36 DeviceNet Object ( Class : 0x03 ) ...............37 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 2/124...
  • Page 3 “Read Input Status” Command (0x02) ............108 “Read Holding Registers” Command (0x03) ..........109 “Read Input Registers” Command (0x04) ..........109 “Force Multiple Coils” Command (0x0F) ..........110 “Preset Multiple Registers” Command (0x10) ..........111 Exception Responses .................112 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 3/124...
  • Page 4 I-7242D user manual Application with PISO-CAN 200/400-T............113 Application 1....................117 Application 2....................120 Appendix A: Dimension and Mounting ..............123 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 4/124...
  • Page 5: Introduction

    Master/Slave connection model can be supported in the same network. Therefore, DeviceNet is able to facilitate all application I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 5/124...
  • Page 6 250 K 125 K The I-7242D is one of CAN bus products in ICP DAS and stands as a DeviceNet slave/Modbus RTU master Gateway device. It allows a master located on a DeviceNet network to enter a dialogue with slave devices on the Modbus RTU network.
  • Page 7: Devicenet Applications

    ● Sponge production plant ● LCD manufacturing plant ● Sponge production plant ● Rolling steel door production ● Overhead storage bin production ● Bottling line ● Pocket-bread bakery ● Tight manufacturing I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 7/124...
  • Page 8: Hardware Features

    Connect to Modbus RTU devices Display Five 7-segmemt displays to show the information of operation mode, Node ID, CAN baud rate, RS-485 baud rate and device error code in sequence loop ways. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 8/124...
  • Page 9: Devicenet Features

    Support DeviceNet Polling, Bit-Strobe and COS/Cyclic I/O connection path setting Show Modbus RTU devices configuration Show DeviceNet application and assembly objects configuration Dynamic produce EDS file Please refer to Appendix A to know how to mount I-7242D I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 9/124...
  • Page 10: Hardware Specification

    Clear Alarm RS-485 Port (Connect to Modbus RS-485 Port devices) (Reserved for RS-232 Port future use) (connect to PC) INIT * pin Figure 2-1 Hardware Structure of the I-7242D I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 10/124...
  • Page 11: Wire Connection

    (Ω) (Type) (mΩ/m) 0.25(23AWG)~ 0~40 124 (0.1%) 0.34mm (22AWG) 0.34(22AWG)~ 40~300 < 60 127 (0.1%) 0.6mm (20AWG) 0.5~0.6mm 300~600 < 40 150~300 (20AWG) 0.75~0.8mm 600~1K < 20 150~300 (18AWG) I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 11/124...
  • Page 12 500 K 250 K 125 K In order to provide an easy CAN bus wiring, the I-7242D supplies one CAN port with two CAN bus connector interfaces. Each connecter built on the I-7242D looks like as figure 2-3 and table 2-3.
  • Page 13 2-5. And about the J3 jumper setting, please refer the table 2-4. Figure2-5 XC100 I/O expansion board LAYOUT Table 2-4 J3 Jumper Selection Apply the termination Don’t apply the termination resistor(120Ω) resistor 1 2 3 1 2 3 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 13/124...
  • Page 14: Digital Input/output Wire Connection

    2.2.2 Digital input/output wire connection The DO and DI in the I-7242D are used for Modbus communication alarm. If the number of Modbus communication error exceeds 100, the DO value will be set as 1. And the DO status is OFF. Users can apply this to have a clear warning.
  • Page 15 OFF state. Users can use the DO as the alarm of Modbus communication. The wire connection of digital output is as figure 2-7. Digital output level Open collector to 30V Max. Output current: 100mA Figure 2-7 Digital Output Wire Connection I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 15/124...
  • Page 16: Power Led

    I-7242D user manual Power LED After connecting the I-7242D with the electronic power (the range of input voltage is 10~30VDC). The Power LED will be turn on. If the Power LED is off after giving the proper voltage, please check the power and load of power supply firstly.
  • Page 17: Devicenet Indicator Led

    I-7242D user manual DeviceNet Indicator LED The I-7242D includes three single-color LED displays to indicate the status of module, network and I/O device. They are MS LED (it is red), NS LED (it is green), and IO LED (it is red). The Indicators assist maintenance personnel in quickly identifying a problem unit.
  • Page 18: Io Led

    IO LED This LED provides the information of inputs or outputs access status. When Master get/set input/output data of Modbus devices via the I-7242D, the LED would be flashed. Table 2-8 shows the conditions for IO status. Therefore, when the device IO-function is working, the IO-LED should be flashed.
  • Page 19: Five 7-segment Led Displays

    Step 1. These LED displays show the string “-DEV-” in the first step. Step 2. Then, they change to the next form, described as follows. : Show the operation state of the I-7242D. If it works normally, the LED display shows the character ‘n’. If not, the LED display shows the error character.
  • Page 20 I-7242D user manual : The RS-485 baud rate of Modbus RTU in I-7242D is indicated on this LED display. The mapping table between LED number and RS-485 baud rate is displayed in table 2-11. Table 2-11 7-Segment LED Number Baud rate (bps)
  • Page 21 115.2 Kbps. Step3. It means that there is one message lost from I-7242D to Modbus device which device address is 0x01. The number format is hex. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 21/124...
  • Page 22: Modbus Devices Support

    8. However, I-7242D also supports special Modbus commands by the specific “User-defined Modbus Command” object (Class ID: 0x65). The Modbus functions supported in the I-7242D are as Table 2-14. Table 2-14 Modbus functions supported in the I-7242D...
  • Page 23: Devicenet System

    Predefined Master/Slave Connection Set through the DeviceNet network. After establishing the explicit connections, the connection is then used to move information from one node to the other. Once IO connections I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 23/124...
  • Page 24 Note: The Master is the device that gathers and distributes I/O data for the process controller. Slaves are the devices from which the Master gathers I/O data and to which the Master distributes I/O data. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 24/124...
  • Page 25 Master’s I/O Poll Command/Change of State/Cyclic Message 1 1 0 Destination MAC ID Group 2 Only Unconnected Explicit Request Messages (reserved) 1 1 1 Destination MAC ID Duplicate MAC ID Check Messages I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 25/124...
  • Page 26 Attributes (data), Services (methods or procedures) and behaviors of the components within a DeviceNet product. The figure 3-2 depicts the object model for I-7242D (Group 2 Only Server). The next section would explain these objects. The detail information about Predefined Master/Slave Connection Set is described in the next section.
  • Page 27: Predefined Master/slave Connection Messages

    Explicit Request massage. Within a Slave Explicit Request and Response messages are received/transmitted by a single Connection Object. The architecture is as figure 3-3. Figure 3-3 Architecture of Explicit message I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 27/124...
  • Page 28: I/o Poll Command/response Messages

    Poll Command is received. Within a Slave the two messages are received/transmitted by a single Connection Object. The architecture is as figure 3-5. Figure 3-5 Architecture of IO poll message I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 28/124...
  • Page 29: I/o Bit-strobe Command/response Messages

    Bit-Strobe Command has been received. Within a Slave the two messages are received/ transmitted by a single Connection Object. The architecture is as figure 3-5. Figure 3-5 Architecture of IO bit strobe message I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 29/124...
  • Page 30: I/o Change Of State/cyclic Messages

    Acknowledge Message are received/transmitted by a second Connection Object. The architecture is as figure 3-6 and figure 3-7. Figure 3-6 Architecture of IO COS message Figure 3-7 Architecture of IO Cyclic message I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 30/124...
  • Page 31: Eds File

    It provides DeviceNet Slave information and supports the graph interface for users to make up the EDS file of their own system. For more detail information on this topic, please refer to the next session. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 31/124...
  • Page 32: Devicenet Profile Area

    4 DeviceNet Profile Area This chapter is for users who want to understand more detailed information related to the I-7242D device when using the DeviceNet protocol. This section documents the detailed functions for each object class that is implemented in...
  • Page 33: Devicenet Statement Of Compliance

    Software (Default is 125k bits/s) Predefined Master/Slave Connection Group 2 Only Server Connection supported 1 “Explicit Connection” 1 “Polled Command/Response” Connection 1 ”Bit Strobed Command/Response” Connection 1 ”Cnange-of-State/Cyclic” Connection I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 33/124...
  • Page 34: List Of The I-7242d's Devicenet Object

    4 (2) I/O connections or Message router Acknowledge handler object 43 (0x2B) User-Defined Modbus Device 100 (0x64) 10 (max) Message Router User-Defined Modbus Command 101 (0x65) 3 (max) Message Router I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 34/124...
  • Page 35: Identity Object (class : 0x01 )

    UDINT (variable) 0x07 Product name Short_String “ICPDAS-I7242D” 0x0A Heartbeat Interval USINT Get/Set 0-65535 Instance Service Service Code Service Name Need 0x0E Get_Attribute_Single Required 0x10 Set_Attribute_Single Required 0x05 Reset Required I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 35/124...
  • Page 36: Message Router Object ( Class : 0x02 )

    Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Class Service Service Code Service Name Need 0x0E Get_Attribute_Single Required Attributes of instance 0x01 This instance has no attributes. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 36/124...
  • Page 37: Devicenet Object ( Class : 0x03 )

    The DeviceNet Object is used to provide the configuration and status of a physical attachment on the DeviceNet network. It is described in chapter 5-5 of volume I of the DeviceNet specifications. The I-7242D is a “Group two Only Server” type subscriber (see chapter 7-9 of volume I of the DeviceNet specifications).
  • Page 38: Assembly Object ( Class : 0x04 )

    This allows them to be accessed using a single message. With the I-7242D, this class has up to four instances (instance ID=0x64 to 0x67) and each one can be used to bind input data or output data.
  • Page 39: Connection Object ( Class : 0x05 )

    This section presents the externally visible characteristics of the connection objects associated with the Predefined Master/Slave Connection Set within slave devices. With the I-7242D, the “Connection” object has up to four instances (Instance ID 0x01 to 0x04). Each of these instances represents one of the two ends of a virtual connection established between two nodes on the DeviceNet network.
  • Page 40 Initial comm. characteristics BYTE Get/Set 0x02 0x07 Produced connection size UINT Get/Set (size of the input data) 0x08 Consumed connection size UINT Get/Set 0x08 0x09 Expected packet rate UINT Get/Set 0x00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 40/124...
  • Page 41 Produced connection size UINT Get/Set (size of the input data) 0x08 Consumed connection size UINT Get/Set 0x00 0x09 Expected packet rate UINT Get/Set 0x00 0x0C Watchdog timeout action USINT Get/Set 0x00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 41/124...
  • Page 42 0x00 0x10 Consumed connection path EPATH Get/Set (empty path) 0x11 Production inhibit time UINT Get/Set 0x00 Instance Service Service Code Service Name Need 0x0E Get_Attribute_Single Required 0x10 Set_Attribute_Single Optional I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 42/124...
  • Page 43: Acknowledge Handler Object ( Class 0x2b )

    BYTE BYTE, (UINT, (data with ack 0x07 Data with ack path list USINT, path list) USINT[…])[…] Instance Service Service Code Service Name Need 0x0E Get_Attribute_Single Required 0x10 Set_Attribute_Single Required I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 43/124...
  • Page 44: User-defined Modbus Device Object ( Class : 0x64 )

    User-defined Modbus Device Object ( Class : 0x64 ) The “User-defined Modbus Device” object has maximum 10 instances and is specific to the I-7242D. Its attributes contain the application data, which is to be transmitted to the Modbus slaves via Modbus queries. The DeviceNet accesses the application data by invoking read and write functions.
  • Page 45: User-defined Modbus Command Object ( Class : 0x65 )

    User-defined Modbus Command Object ( Class : 0x65 ) The “User Defined Modbus Command” Object has maximum three instances and is specific to the I-7242D. Its attributes contain the application data, which can be defined by the special Modbus commands and can be transmitted to the Modbus slaves via Modbus queries.
  • Page 46: The Components Of Assembly Object

    The Assembly Object binds the attributes of multiple objects, which allows data transfer to or from each object to be sent or received over a single connection. The I-7242D provides many assembly objects for users. The I/O type of Modbus devices is decided for the number of assembly objects. Every I/O devices represents an application object instance.
  • Page 47: Examples Of Assembly Object In I-7242d

    I-7242D user manual Examples of Assembly Object in I-7242D There are many I/O examples related to the I-7242D in this section. These examples should help users more understand the usage of I-7242D. Example 1: (one DO device, one DI device, one AO device, one AI device) In this example, apply four Modbus devices in the system.
  • Page 48 I-7242D user manual Besides, the utility tool also shows the assembly object information as figure 5-4. Figure 5-4 Information about Assembly instances The I-7242D would arrange the application objects as table 5-1. Table 5-1 Application object instances in the I-7242D Application Device...
  • Page 49 Example 2: (two DO devices, two AO devices, two AI devices) In this example, apply six Modbus devices in the system (see Figure 5-5). The I-7242D would arrange these assembly and application instance Figure 5-5 and table 5-3. Figure 5-5 Communication parameters of Modbus devices...
  • Page 50 Example 3: (two DO devices, two DI devices) In the example, apply four Modbus devices in the system (see Figure 5-6). The I-7242D would arrange these assembly and application instances as Figure 5-6 and table 5-5. Figure 5-6 Communication parameters of Modbus devices...
  • Page 51 I-7242D user manual Example 4: (three AI devices) In the example, apply three Modbus devices in the system (see Figure 5-7). The I-7242D would arrange these assembly and application objects as Table 5-7 and 5-8. Figure 5-7 Communication parameters of Modbus devices...
  • Page 52: Configuration & Getting Started

    DNS_MRU Utility in order to configure the I-7242D. Then it will establish the EDS file automatically. After configuring the I-7242D and creating the specific EDS files, apply file your DeviceNet application. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 52/124...
  • Page 53: The Dns_mru Utility Overview

    Before users apply the I-7242D into the DeviceNet application, they must understand the relationship between these DeviceNet application and assembly objects in the I-7242D. ICP DAS provides the DNS_MRU Utility to configure the communication parameters, I/O connection path and the EDS file for the I-7242D device.
  • Page 54: Install & Uninstall The Dns_mru Utility

    Step 2: Execute the setup.exe file to install DNS_MRU Utility. Step 3: A “Welcome” window pops up to prompt user to begin the installation. See figure 6-2. Figure 6-2. Welcome dialog I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 54/124...
  • Page 55 Step 5: Click “Next” button and a “Ready to Install the Program” window will pop up to prompt user that the wizard is ready to begin the installation See figure 6-4. Figure 6-4. “Ready to Install the Program” dialog I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 55/124...
  • Page 56 Step 7: After finishing the installation of the DNS_MRU Utility, users can find DNS_MRU Utility as shown in the figure 6-6. Figure 6-6. You can find “DNS_MRU Utility“ at “Start” in the task bar I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 56/124...
  • Page 57 Step 1: Click “Start” in the task bar, then click Settings/Control Panel as shown in figure 6-7. Figure 6-7. Select settings Step 2: Click the “Add/Remove Programs” button icon to open the dialog. See figure 6-8. Figure 6-8 “Add/Remove Programs” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 57/124...
  • Page 58 Figure 6-9. Click “Add/Remove Programs” Step 4: Select the “Remove” option button, and press the “Next” button to remove DNS_MRU Utility. See figure 6-10. Figure 6-10 “Modify, repair, or remove the program” dialog I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 58/124...
  • Page 59 Figure 6-11. Click the button “Yes” to remove the software Step 6: Removing DNS_MRU Utility. Figure 6-12. “Removing DNS_MRU Utility” dialog Step 7: Finally, click the “Finish” button to finish the uninstall process. Figure 6-13. “Maintenance Complete” dialog. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 59/124...
  • Page 60: Steps Of The Dns_mru Utility

    I-7242D to your PC. The communication parameters of Modbus RTU devices are setting in offline connection mode. After setting up the I-7242D, it will start to communicate with the Modbus RTU devices that you set. The architecture is depicted in the following figure 6-14.
  • Page 61 I-7242D user manual Step 2: Turn on the I-7242D. And then execute the DNS_MRU.exe file. The start-up figure would be displayed as figure 6-16. Figure 6-16. “Start-Up” After the start-up figure, the frame would be displayed as figure 6-17. Figure 6-17. “General Setting”...
  • Page 62 I-7242D’s EEPROM. Step 4: After read the parameters stored in I-7242D, these parameters will be verified that they are correct or not. If any error has been detected, the warning message will be pop-up as figure 6-18.
  • Page 63 Figure 6-20. “CAN Parameter Setting & Viewer” Step 7: Press the “RS-485” button, , to display the Com2 configuration information on the I-7242D. Press the “Setting” button to set the needed RS-485 communication information in the dialog box as figure 6-21.
  • Page 64 Then, these windows would pop-up as figure 6-23, figure 6-24 and figure 6-25. Figure 6-22. “Application instances Setting” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 64/124...
  • Page 65 I-7242D user manual Figure 6-23. “Modbus Devices Information” Figure 6-24. “Application Object Information” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 65/124...
  • Page 66 “Next” button, , and start to build the specific EDS file for the I-7242D. If the I/O connection path stored in EEPROM of I-7242D is not correct. Or you modify the parameters of Modbus devices. Then the warring dialog would be pop-up as figure 6-26.
  • Page 67 EDS file by using a dialog box like figure 6-27. Figure 6-27. “DeviceNet EDS file Setting” Step 11: Setting the EDS file information and describe it as figure 6-28. Figure 6-28. “Description of EDS file” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 67/124...
  • Page 68 I-7242D as figure 6-29. Figure 6-29. “Produced/Consumed I/O Connection Path” Step 13: Click the “Finish” button to complete the I-7242D configuration and the DNS_MRU Utility will create the EDS file for users as figure 6-30. Figure 6-30. “Finish and Create EDS File.”...
  • Page 69 I-7242D user manual You can find the EDS file for the specific I-7242D. The file name is MBDNS_1.eds. “1” represents the Node ID that you set. Therefore, Users can apply the EDS file in the DeviceNet application as figure 6-31.
  • Page 70: Devicenet Communication Set

    I/O devices. The CAN Identifier Fields associated with the Predefined Master/Slave Connection Set for the I-7242D are given in the table 7-1. This table defines the Identifiers that are to be used with all the connection based messaging involved in the Predefined Master/Slave Connection Set for the I-7242D.
  • Page 71 None Reply data too large None Not enough data None Attribute not supported None Too much data None Object does not exist None FRAGMENTATION EQ None Invalid parameter None I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 71/124...
  • Page 72 I/O connection object. Another is by using an explicit message to set/get the IO attribute of application object. 4. Release the use of the Predefined Master/Slave Connection Set. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 72/124...
  • Page 73: Examples On The Devicenet Communication Set

    _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 001001 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 73/124...
  • Page 74: How To Apply The Poll Connection

    _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 001001 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 74/124...
  • Page 75 ID=10 001001 101. Data= FF FF _ Group 1 Message | _ Message ID =F _ Source MAC ID=0x09 _ Poll Response Data ID= 0 1111 001001. Data= FF DF I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 75/124...
  • Page 76: The Bit-strobe Connection Example

    _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 001001 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 76/124...
  • Page 77 ID=10 001001 000. Data= FF FF FF FF FF FF FF FF _ Group 1 Message | _ Message ID =E _ Source MAC ID=0x09 _ Bit-Strobe Response Data ID= 0 1110 001001. Data= FF DF I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 77/124...
  • Page 78: Change Of State/cyclic Connection Example (acknowledged)

    Master’s Change of State or Cyclic Acknowledge Message Source MAC ID Slave’s Explicit/ Unconnected Response Messages Destination MAC ID Group 2 Only Unconnected Explicit Request Messages Destination MAC ID Master’s Explicit Request Messages I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 78/124...
  • Page 79 _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 001001 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 79/124...
  • Page 80 _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service= Set Attribute Response | _Response Attribute Data=0x0E10 ID=10 001001 011. Data= 0A 90 10 0E I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 80/124...
  • Page 81 ID= 0 1101 001001. Data= FF DF Master responses Acknowledge message _ Group 2 Message _ Destination MAC ID=0x09 _ Message ID =2 _No response data ID=10 001001 010. Data= No data I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 81/124...
  • Page 82: Change Of State/cyclic Connection Example (unacknowledged)

    _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 001001 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 82/124...
  • Page 83 ID= 0 1101 001001. Data= FF DF _ Group 1 Message | _ Message ID =D _ Source MAC ID=0x09 _ Cyclic Output Data of 2 bytes ID= 0 1101 001001. Data= FF DF I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 83/124...
  • Page 84: Change Mac Id Example

    I-7242D sends “Duplicate MAC ID Check Message” at power on or reset mode. There could be the same ID of device in the network. Therefore, the I-7242D supports the ability of on-line change the MAC ID of CAN. Please refer to the following example.
  • Page 85 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service= Set Attribute Response ID=10 000011 011. Data= 0A 90 3. After changing the MAC ID, slave (I-7242D) will send out the shutdown message and reset. Master (MAC ID =0x0A) Slave (MAC ID =0x09)
  • Page 86 I-7242D user manual 4. After resetting, the slave (I-7242D) will send duplicate MAC ID check message twice. Master (MAC ID =0x0A) Slave (MAC ID =0x09) _ Group 2 Message _ Source MAC ID=0x09 _ Message ID =7 _ Physical Port Number=0...
  • Page 87: Change Can Baud Rate On-line Example

    7.2.7 Change CAN Baud Rate on-line example I-7242D supports the function to change CAN baud rate on-line. But after finishing change baud rate, the new baud rate would be not effective immediately. Must to request reset service to reset the I-7242D.
  • Page 88 _ Service= Set Attribute Response ID=10 000011 011. Data= 0A 90 Note: After finishing the change of the MAC ID on-line, the I-7242D will send a shutdown message and reset. However if users want to change the baud rate of I-7242D, they must send the reset service to reset the I-7242D. Then the new baud rate of the I-7242D will become effective.
  • Page 89: Reset Service

    I-7242D user manual 7.2.8 Reset Service This service can reset the I-7242D. If users change the baud rate of I-7242D, they must send reset service to reset I-7242D. Therefore the new baud rate of the I-7242D will become effective. Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A 1.
  • Page 90 _ Service code= 0x4E, Device Shutdwon message __ Class ID=1 _ Instance ID=1 | _|__ __|__ _____ Shutdown Code ID=10 001001 011. Data= 0A CE 01 00 01 00 04 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 90/124...
  • Page 91: Device Heartbeat

    I-7242D user manual 7.2.9 Device Heartbeat This message broadcasts the current state of the I-7242D. This message is transmitted by a group 2 only server as an Unconnected Response Message (Message Group 2, Message ID 3). Note: Slave (I-7242D): Node ID=0x09, Master: Node ID=0x0A 1.
  • Page 92 ID=10 001001 011. Data=0A CD 01 00 03 00 00 00 If users want to cancel the heartbeat message, they must set the heartbeat interval attribute value of the Identity object instance to zero. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 92/124...
  • Page 93: Offline Connection Set

    000 - 3ff Communication Faulted Response Message Communication Faulted Request Message In this example, the I-7242D is set to an off-line state, because it has a duplicated fault. We can then apply the offline connection set to change its baud rate.
  • Page 94 | __|_ ________ Serial Number ID=11111 101101. Data=07 4D 23 03 01 00 00 00 3. After finishing the change of the MAC ID, I-7242D will send the duplicated message to the DeviceNet network. Slave (MAC ID =0x07) _ Group 2 Message...
  • Page 95: Fragmentation Example

    _ Destination MAC ID=0x09 _ Message ID =0 _ Fragment Type= Final Fragment, Fragment Count=1 ----------------------- final portion of the I/O data ID=10 001001 101. Data= 81 08 09 0A I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 95/124...
  • Page 96 _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 000011 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 96/124...
  • Page 97 _ Group 2 Message _ Source MAC ID=0x09 _ Message ID =3 _ Frag=1. Destination MAC ID= 0x0A _ Fragment Type= Acknowledge, Fragment Count=1 | _Ack State=Success ID=10 001001 011. Data=8A I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 97/124...
  • Page 98 _ Group 2 Message _ Source MAC ID=0x09 _ Message ID =3 _ Frag=1. Destination MAC ID= 0x0A _ Fragment Type= Acknowledge, Fragment Count=2 | _Ack State=Success ID=10 001001 011. Data=8A I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 98/124...
  • Page 99: User-defined Modbus Commands Example

    0x03 attribute value as the response Modbus command length. Step 2: Then set the 0x04 attribute value as a non-zero value. Thus the I-7242D will send out the message according to 0x01 attribute to Modbus devices. Step 3: The I-7242D will receive the response message from Modbus devices and store the response message in 0x02 attribute.
  • Page 100 _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service=Allocate_Master/Slave_Connection_Set Response | _Connection Message Body Format = DeviceNet (8/8) ID=10 000011 110. Data= 0A CB 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 100/124...
  • Page 101 _ Group 2 Message _ Source MAC ID=0x09 _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service= Set Attribute Response ID=10 000011 011. Data= 0A 90 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 101/124...
  • Page 102 _ Group 2 Message _ Source MAC ID=0x09 _ Message ID =3 _ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A _ Service= Set Attribute Response ID=10 000011 011. Data= 0A 90 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 102/124...
  • Page 103 _ Service= Set Attribute Response ID=10 000011 011. Data= 0A 90 After setting the 0x04 attribute with a non-zero value, this user-defined message will be sent to the Modbus device. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 103/124...
  • Page 104 _ Source MAC ID=0x09 _ Message ID =3 _ Frag=1. Transaction ID=0. Destination MAC ID= 0x0A _ Fragment Type= Acknowledge, Fragment Count=1 ID=10 000011 011. Data= 8A 81 17 00 I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 104/124...
  • Page 105 After using the Master’s Explicit Message to get 0x02 attribute, the slave would return the Modbus response message. Then users can get the specific Modbus response message that Modbus device returned. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 105/124...
  • Page 106: Modbus Commands

    8 Modbus Commands Only the Modbus commands shown in the table 8-1 are supported by the I-7242D. The structure of the query and response frames for each of these commands is then described in the following section. Table 8-1 Support commands of I-7242D...
  • Page 107 Modbus Devices Address Device no. Device I/O Type Function no. Byte count No. of bytes read Modbus Value of 1 word (MSB/LSB) response Data …………………………. … Value of last word (MSB/LSB) I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 107/124...
  • Page 108: Read Coil Status" Command (0x01)

    Data (Inputs: H-L order)(L) Byte swap=”Swap 1 byte” (or “No swapping”) Response Data length=Value of the “Byte Count” field ….. Data location=Address in the gateway’s “DI” memory Data (Inputs: H-L order)(H) I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 108/124...
  • Page 109: Read Holding Registers" Command (0x03)

    Byte swap=”Swap 2 bytes” (or “No swapping”) Response Data length=Value of the “Byte Count” field ….. Data location=Address in the gateway’s “AI” memory Data (last register/MSB) Data (last register/LSB) I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 109/124...
  • Page 110: Force Multiple Coils" Command (0x0f)

    Data location=Address in the gateway’s “DO” memory Force Data (Coils: H-L)(H) Coil Address (MSB) Address of 1 output coil Coil Address (LSB) Response Quantity of Coils (MSB) Number of output coils Quantity of Coils (LSB) I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 110/124...
  • Page 111: Preset Multiple Registers" Command (0x10)

    Data (last register/MSB) Data (last register/LSB) Starting Address (Hi) Address of 1 output register Starting Address (Lo) Response No. of Registers (Hi) Number of output registers No. of Registers (Lo) I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 111/124...
  • Page 112: Exception Responses

    0x0D and 0x0E. The slave attempted to read extended memory, but detected a parity error Memory Parity 0x08 This exception only affects standard commands 0x14 in the memory. Error and 0x15. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 112/124...
  • Page 113: Application With Piso-can 200/400-t

    DeviceNet protocol. The library will implement the DeviceNet protocol automatically. In these demo programs, the master device is the PISO-CAN200/400-T of ICP DAS and the I-7242D is a slave device in the DeviceNet network. These demo programs implemented...
  • Page 114 Defined by 0x14 DO Data Get/Set device num. Defined by 0x15 AO Data Get/Set device num. Defined by 0x16 DI Data device num. Defined by 0x17 AI Data device num. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 114/124...
  • Page 115 Step 1: Setup the I-7242D and these Modbus devices parameters by using the DNS_MRU Utility. Here, the MAC ID and CAN baud rate of I-7242D is set as 3 and 125Kbps. The COM port parameters is set as 9600,N,8,1. The Modbus devices parameters and DeviceNet I/O connections are set as figure 9-3 and 9-4 and 9-5.
  • Page 116 Figure 9-5 DeviceNet I/O connections Step 2: Connect the CAN port of PISO-CAN card with the I-7242D. And then connect Com2 port of the I-7242D with these Modbus RTU devices. I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1...
  • Page 117: Application 1

    The demo1 program shows users how to set/get the attribute value in the I-7242D. The I/O data of the Modbus devices also can be driven in the same way. The frame of demo1 program is shown as figure 9-2. Please do the following steps to apply the I-7242D in DeviceNet network.
  • Page 118 Press the “SetAttribute” button to set the needed data to attribute 20 of Instance 1 of class 100. The result is shown as figure 9-4, . Figure 9-3 “SetAttribute” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 118/124...
  • Page 119 I-7242D user manual If users want to stop communication with I-7242D, they can click the “StopDevice” button or “CloseBoard(0)” button. See figure 9-5 and figure 9-6. Figure 9-5 “StopDevice” Figure 9-6 “CloseBoard(0)” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1...
  • Page 120: Application 2

    Bit-strobe and Cyclic/COS connections. Users can apply this demo in a real DeviceNet network to the system. The frame of program is shown as figure 9-6. Please do the following steps to apply the I-7242D in DeviceNet network. Figure 9-6 The frame of Demo2 program Step 1: Start to run the demo program.
  • Page 121 Step 3: When completing the above steps, the polling, Bit-strobe and Cyclic/COS connections can be used to communicate with I-7242D. The result is shown as figure 9-7. Therefore, the DO LED displays in the M-7060 will change, if the “write Output data” filed is given by different value as figure 9-7.
  • Page 122 I-7242D user manual If users want to stop communication with I-7242D, they can click the “Stop Device” button or “CloseBoard” button. See figure 9-8 and figure 9-9 Figure 9-8 “Stop Device” Figure 9-9 “CloseBoard” I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1...
  • Page 123: Appendix A: Dimension And Mounting

    I-7242D user manual Appendix A: Dimension and Mounting 29.50 O4.5X4 56.00 2-SCREW 25.00 33.00 40.50 Back View 72.00 Side View Top View 56.00 58.50 72.00 From View I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 123/124...
  • Page 124 I-7242D user manual I-7242D DeviceNet/Modbus RTU Gateway User’s Manual, July 2006, Version 1.1 124/124...

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