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Chapter 4 – Network Programming for
Ethernet/IP™
Description
Data is communicated over Ethernet using two types of messaging:
•
I/O Messaging (Position & Velocity)
•
Explicit Messages (Parameters & Configuration)
I/O Messaging is used for time critical data such as position & velocity
status. Explicit messages are used for configuration data such as
Positions scaling, resolution and count direction. The Network LDT
module will conform to the Encoder device profile which is device
type 22h.
4.1 I/O data Transfer
The Network LDT is classified as an Input only device. The following
Assembly object instances are supported: (See Chapter 3 for compete
listing off all Instances & Attributes).
#
1
Position
2
Position, Warning and Alarm Flags
3
Position and Velocity
100
Position, Velocity and Status
110
Configuration
180
Diagnostic
199
Input Only Heartbeat
Instance Only Heartbeat Assembly (Instance 199)
This assembly instance is used for the heartbeat connection point for
Input Only connections. The data size is 0.
4.2 Explicit Messages:
Configuration data is transferred to the Network LDT through explicit
messages. The Network LDT uses the Position Sensing Class 0x23
(hex). These values are listed in the following tables.
4.2.1
Assembly Object (Class ID 04h)
The following Assembly object instances are supported.
#
Instance
1
Position
2
Position, Warning
and Alarm Flags
3
Position and Velocity
100
Position, Velocity
and Status
101
Position, Velocity
and Extended Status
110
Configuration
180
Diagnostic
199
Input Only Heartbeat
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Instance
Data
Set_Attribute_
Access
Single Support
R
No
R
No
R
No
R
No
R
No
RW
Yes
R
No
N/A
N/A
4.2.1.1 Position Assembly (Instance 1)
Buffer Offset
Length
Byte
Bit
0
0
4 bytes
Position
Total size: 4 bytes
4.2.1.2 Position, Warning and Alarm Flags Assembly
(Instance 2)
Buffer Offset
Length
Byte
Bit
0
0
4 bytes
Position
4
0
1 bit
Alarm Flag
1
1 bit
Warning Flag
2
6 bits
Reserved (set to 0)
Total size: 5 bytes
4.2.1.3 Position and Velocity Assembly (Instance 3)
Buffer Offset
Length
Byte
Bit
0
0
4 bytes
Position
4
0
4 bytes
Velocity
Total size: 8 bytes
4.2.1.4 Position,
Velocity
(Instance 100)
Buffer Offset
Length
Byte
Bit
0
0
4 bytes
Position
4
0
4 bytes
Velocity
0
1 bit
Lost Magnet
Signal
1
1 bit
Signal in DEAD
Zone
2
1 bit
Signal in NULL
Zone
3
1 bit
Extra Signals
8
4
1 bit
Position Above
Upper Limit
5
1 bit
Position Below
Lower Limit
6
1 bit
Velocity Above
Upper Limit
7
1 bit
Velocity Below
Lower Limit
Total size: 9 bytes
Mapped Attribute
Data
Cls
Inst
23h
1
Mapped Attribute
Data
Cls
Inst
23h
1
23h
1
23h
1
Mapped Attribute
Data
Cls
Inst
23h
1
23h
1
and
Status
Assembly
Mapped Attribute
Data
Cls
Inst
Attr
23h
1
10
23h
1
24
23h
1
44
23h
1
44
23h
1
44
23h
1
44
23h
1
21
23h
1
21
23h
1
47
23h
1
47
FACTORY AUTOMATION
Attr
10
Attr
10
46
49
Attr
10
24
Bit
12
13
14
15
1
2
7
6
®
13
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