pluto 5% g *ü...`profinet ,x ni Ä 3 devicenet `ethernet/ip(eip),x ni Ä 4 canopen ,x ni Ä 5 ...

_v9A 2TLC172009M2009_A

PLUTO

PROFIBUS GATE-P1/P2 DeviceNet GATE-D1/D2 CANopen GATE-C1/C2 Ethernet GATE-E1/E2

2 2TLC172009M2009_A

1A 2006-04-20

2A 2006-10-12

K PROFIBUS ( / ...) CANopen (EDS DI ...) DeviceNet (EDS DI ...)

2B 2007-04-19

3A 2007-12-10 Ethernet GATE-E1

GATE-P1 GATE-E1

4A 2008-06-16 Modbus TCP (GATE-E1)

DeviceNet (GATE-D1)

4B 2008-08-07 ( )

5A 2009-09-11 Profinet

PLC

6A 2010-11-22 CANopen / GATE-x2

7A 2011-05-19 B42 AS-i

8A 2011-05-30 E1/E2 9A 2011-06-15 B42 AS-i

“No”

1 Pluto Pluto

2 www.profibus.com PROFIBUS PROFINET

3 www.odva.org DeviceNet EtherNet/IP(EIP)

4 www.can-cia.org CANopen

5 www.modbus.org Modbus TCP

3 2TLC172009M2009_A

1� ........................................................................................................................................................6�2� ........................................................................................................................................................7�2.1� ......................................................................................................................................................8�2.2� ......................................................................................................................................................8�2.3� ........................................................................................................................................8�2.4� ........................................................................................................................................8�2.5� K ...................................................................................................................................................8�3� Pluto .............................................................................................................................................10�3.1� ....................................................................................................................................................10�3.2� Pluto .....................................................................................................................10�3.3� Pluto ................................................................................................................................10�3.4� Pluto ....................................................................................................................................10�3.4.1� DIP ........................................................................................................................10�3.4.2� PLC ..............................................................................................................................11�4� / Pluto .....................................................................................................................12�4.1� Pluto ...........................................................................................................................................12�4.2� Pluto ........................................................................................................................12�4.3� Pluto ........................................................................................................................13�4.3.1� , GATE-E1/E2........................................................................................................................14�4.3.2� , GATE-D1/D2 GATE-C1/C2 ............................................................................................15�4.3.3� .......................................................................................................................................16�4.3.3.1� ................................................................................................................................16�4.3.3.2� ...........................................................................................................................................16�4.3.4� Pluto PLC .................................................................................................................................19�4.3.4.1� ..............................................................................................................................................19�4.3.4.2� .......................................................................................................................................19�4.3.4.3� Pluto .......................................................................................................................20�4.4� Pluto ............................................................................................................................22�4.4.1� ..................................................................................................................................................22�4.4.2� .......................................................................................................................................22�4.4.3� ..............................................................................................................................................22�4.5� Pluto - ................................................................................................22�4.5.1� Pluto ..............................................................................................................................23�4.5.2� Pluto .......................................................................................................................23�4.5.3� PLC .................................................................................................................24�4.5.3.1� “Ext_Sig” ...................................................................................................................................24�4.5.3.2� “Ext_Val” ...................................................................................................................................24�4.5.3.3� “ExtVarBlock” ............................................................................................................................24�5� PROFIBUS ..........................................................................................................................................26�5.1� ....................................................................................................................................................26�5.1.1� ..................................................................................................................................................26�5.2� PROFIBUS .............................................................................................................................27�5.3� .............................................................................................................................................27�5.4� GSD ............................................................................................................................................28�5.4.1� ..............................................................................................................................................29�5.4.2� - Pluto .............................................................................................................29�5.4.3� - / ......................................................................................................................30�5.4.3.1� ..............................................................................................................................................30�5.4.3.2� ..............................................................................................................................................30�5.4.3.3� ....................................................................................................................................31�5.4.3.4� Pluto ..................................................................................................................................32�5.4.3.5� .......................................................................................................................................34�5.4.4� ...........................................................................................................................................35�5.4.5� ............................................................................................................................. 36 6� DeviceNet ............................................................................................................................................37�

4 2TLC172009M2009_A

6.1� ....................................................................................................................................................37�6.2� MNS ........................................................................................................................................37�6.3� DIP .............................................................................................................................................37�6.3.1� ...........................................................................................................................................38�6.3.2� MAC ID ................................................................................................................................................38�6.3.3� ..............................................................................................................................................39�6.3.3.1� ............................................................................................................................39�6.4� ....................................................................................................................................................39�6.4.1� .......................................................................................................................................39�6.4.2� .......................................................................................................................................40�6.5� EDS ...................................................................................................................41�6.5.1� - Pluto ........................................................................................................42�6.5.1.1� ..............................................................................................................................................42�6.5.1.2� Pluto .....................................................................................................................................42�6.5.2� - Pluto ............................................................................................................43�6.5.3� ..............................................................................................................................................43�6.5.4� ...........................................................................................................................................44�7� CANopen .............................................................................................................................................45�7.1� ....................................................................................................................................................45�7.2� .........................................................................................................................................45�7.3� DIP .............................................................................................................................................45�7.3.1� ...........................................................................................................................................46�7.3.2� ..................................................................................................................................................46�7.3.3� Pluto ......................................................................................................................46�7.3.4� ..............................................................................................................................................47�7.3.4.1� ............................................................................................................................48�7.3.5� CAN ......................................................................................................................................49�7.4� EDS ............................................................................................................................................49�7.4.1� TPDO .......................................................................................................................................50�7.4.2� Pluto .............................................................................................................................51�7.4.3� ..............................................................................................................................................51�7.4.4� Pluto ..................................................................................................................................52�7.4.5� PDO .............................................................................................................................................52�7.4.6� - Pluto ............................................................................................................53�7.4.7� - Pluto ............................................................................................................53�7.4.8� ..............................................................................................................................................53�7.4.9� ...........................................................................................................................................53�7.4.10� TPDO...........................................................................................................................................54�7.4.11� ....................................................................................................................................54�8� CAN ......................................................................................................................................55�8.1� Pluto ........................................................................................................................................55�9� Ethernet .......................................................................................................................................57�9.1� ....................................................................................................................................................57�9.2� DIP .............................................................................................................................................57�9.3� Ethernet ...............................................................................................................................58�9.3.1� IP .........................................................................................................................................58�9.4� ....................................................................................................................................................59�9.4.1 .................................................................................................................................................... 59 9.4.2� Modbus TCP........................................................................................................................................59�9.4.3� EtherNet/IP (EIP) .................................................................................................................................60�9.4.4� PROFINET...........................................................................................................................................64�9.4.4.1� ..............................................................................................................................................64�9.4.4.2� ...........................................................................................................................................65�9.4.5� ASCII TCP .......................................................................................................................65�9.4.6� TCP ..............................................................................................................................66�9.5� .................................................................................................................................................67�

5 2TLC172009M2009_A

9.5.1� ...........................................................................................................................................67�9.5.2� ..............................................................................................................................................68�9.5.3� ..............................................................................................................................................68�9.5.4� ....................................................................................................................................68�9.6� .........................................................................................................................................69�10� ..............................................................................................................................................70�10.1� ....................................................................................................................................................70�10.2� .............................................................................................................................................70�11� ..............................................................................................................................................72�11.1� GATE-P1/P2.......................................................................................................................................72�11.2� GATE-D1/D2 ......................................................................................................................................73�11.3� GATE-C1/C2 ......................................................................................................................................74�11.4� GATE-E1/E2.......................................................................................................................................75�1� A:DeviceNet EDS ................................................................................................................76�1.1� ....................................................................................................................................................76�1.2� .............................................................................................................................................76�1.3� (01HEX - 1 ) ....................................................................................................................77�1.4� (02HEX - 0 )..........................................................................................................77�1.5� DeviceNet (03HEX - 1 ) ..........................................................................................................78�1.6� (04HEX 5 ) .............................................................................................................79�1.7� (05HEX – 3 - 8 )...............................................................................................................81�1.8� (02HEX - 1 )..........................................................................................................85�1.9� (64HEX - 32 ) ..................................................................................................................86�2� B:CANopen EDS .................................................................................................................90�2.1� .............................................................................................................................................90�2.2� CAN ID’s.............................................................................................................................................99�3� C EtherNet/IP ...........................................................................................................100�3.1� ..................................................................................................................................................100�3.2� (01HEX - 1 ) ..................................................................................................................101�3.3� (02HEX) ....................................................................................................................101�3.4� (04HEX 5 ) ...........................................................................................................102�3.5� (06HEX) ....................................................................................................................104�3.6� TCP (F5HEX - 1 ) .................................................................................................................105�3.7� Ethernet (F6HEX - 1 )....................................................................................................106�3.8� (64HEX - 32 ) ................................................................................................................107�3.8.1� 0x32....................................................................................................................................109�3.8.2� 0x33....................................................................................................................................110�3.8.3� 0x34....................................................................................................................................110�3.9� PCCC (67HEX - 1 ) ..............................................................................................................111�4� D: Modbus TCP .................................................................................................................127�4.1� Pluto .............................................................................................................................127�4.2� Pluto .................................................................................................................................129�4.3� ...........................................................................................................................................129�4.4� / ............................................................................................................................131�4.5� / ............................................................................................................................132�5� E PROFINET ..................................................................................................................134�5.1� .......................................................................................................................................134�5.2� ..................................................................................................................................................135�5.3� ...........................................................................................................................................145�

6 2TLC172009M2009_A

1

GATE-x1 GATE-x2 GATE-x2 GATE-x1 GATE-x2GATE-x1

Pluto

- GATE-P1/P2 Profibus-DP - GATE-D1/D2 DeviceNet - GATE-C1/C2 CANopen - GATE-E1/E2 Modbus TCP Ethernet EtherNet/IP (EIP) PROFINET GATE-D1/D2 GATE-C1/C2 CAN- ( ) CANCAN CAN- Pluto CAN CAN

7 2TLC172009M2009_A

2

DIP

Pluto

“K”

PC

PLUTO

DIP

24 V DC

8 2TLC172009M2009_A

2.1

35 mm DIN 2.2

24V DC

1 +24 V DC 2 0V

2.3 CAN PROFIBUS 24 VDC 2.4

2.5 K

K [.] [-] 400ms

400ms

Pluto / / / Pluto

DIP

SW2 - DIP 2 Pluto

SW1 - DIP 1

24 VDC

9 2TLC172009M2009_A

. PLUTO .. (CANopen DeviceNet PROFIBUS) .-. -… .--. PLUTO

10 2TLC172009M2009_A

3 PLUTO Pluto CAN CAN Pluto

PLC 1 3.1 Pluto

120�

1 CL Pluto CAN-L 2 SE Pluto CAN 3 CH Pluto CAN-H

3.2 PLUTO

Pluto 3.3 Pluto

“Pluto ” Pluto

LED – Pluto

/

Pluto

Pluto

40 /60 ( / )

Pluto

SYNC/POLL/OUTPUT ( )

3.4 Pluto 3.4.1 DIP

SW2 Pluto 4Pluto

: “ Pluto”

11 2TLC172009M2009_A

SW2:3 SW2:4 0 (OFF) 0 (OFF) 0 0 (OFF) 1 (ON) 1 1 (ON) 0 (OFF) 2 1 (ON) 1 (ON) 3

3.4.2 PLC

PLC PLC 16 DIP4

0 DIP DIP

DIP PLC

0 (OFF) DIP

1 0 2 1 3 2 4 3 5 4 6 5 7 6 8 7 9 8 10 9 11 10 12 11 13 12 14 13 15 14 16 15

: 7 Pluto OS

12 2TLC172009M2009_A

4 / Pluto

/ Pluto

(PROFIBUS DeviceNet CANopen Ethernet)Pluto Pluto

4.1 Pluto

4 2 Pluto Pluto

MSB LSB 0 Pluto 7 Pluto 6 Pluto 5 Pluto 4 Pluto 3 Pluto 2 Pluto 1 Pluto 0 1 Pluto 15 Pluto 14 Pluto 13 Pluto 12 Pluto 11 Pluto 10 Pluto 9 Pluto 8 2 Pluto 23 Pluto 22 Pluto 21 Pluto 20 Pluto 19 Pluto 18 Pluto 17 Pluto 16 3 Pluto 31 Pluto 30 Pluto 29 Pluto 28 Pluto 27 Pluto 26 Pluto 25 Pluto 24

4.2 Pluto

Pluto Pluto 32 Pluto32 Pluto 1024

Pluto Ix.0 – Ix.17 (16) Qx.0 – Qx.3 (4) GMx.0 – GMx.11 (12) (x = Pluto )

4 2 Pluto A20 Double Pluto

MSB LSB 0 Ix.7 Ix.6 Ix.5 Ix.4 Ix.3 Ix.2 Ix.1 Ix.0 1 Ix.17 Ix.16 Ix.15 Ix.14 Ix.13 Ix.12 Ix.11 Ix.10 2 GMx.3 GMx.2 GMx.1 GMx.0 Qx.3 Qx.2 Qx.1 Qx.0 3 GMx.11 GMx.10 GMx.9 GMx.8 GMx.7 GMx.6 GMx.5 GMx.4

x Pluto Pluto AS-i

MSB LSB 0 ASIx.7 ASIx.6 ASIx.5 ASIx.4 ASIx.3 ASIx.2 ASIx.1 Ix.0 1 ASIx.15 ASIx.14 ASIx.13 ASIx.12 ASIx.11 ASIx.10 ASIx.9 ASIx.8 2 GMx.3 GMx.2 GMx.1 GMx.0 Qx.3 Qx.2 Qx.1 Qx.0 3 GMx.11 GMx.10 GMx.9 GMx.8 GMx.7 GMx.6 GMx.5 GMx.4

x Pluto ASIx.y y

13 2TLC172009M2009_A

Pluto B42 AS-i MSB LSB

0 ASIx.7 ASIx.6 ASIx.5 ASIx.4 ASIx.3 ASIx.2 ASIx.1 Ix.0 1 ASIx.15 ASIx.14 ASIx.13 ASIx.12 ASIx.11 ASIx.10 ASIx.9 ASIx.8 2 GMx.3 GMx.2 GMx.1 GMx.0 Qx.3 Qx.2 Qx.1 Qx.0 3 GMx.11 GMx.10 GMx.9 GMx.8 GMx.7 GMx.6 GMx.5 GMx.4

x Pluto 4.3 Pluto

- PROFIBUS (GATE-P1/P2) 2.0 GSD 2.0 - DeviceNet (GATE-D1/D2), 2.0 EDS - CANopen (GATE-C1/C2) 2.0 - Ethernet (GATE-E1/E2) 1.2

Pluto Pluto

- Pluto - IO ( )

- 0 ( ) - PLC 1-99 - �100 ( ) - 111 Pluto IO ( GATE-D1/D2 GATE-C1/C2)

- IO 32

- PROFIBUS (GATE-P1/P2)

PROFIBUS 32 32Pluto 32

PlutoIO

- DeviceNet (GATE-D1/D2) CANopen (GATE-C1/C2)

DeviceNet CANopen PLC 32

Pluto Pluto Pluto IO IO Pluto

6.4.1

PLC /SDO

:DeviceNet

- Ethernet (GATE-E1/E2)

Ethernet Pluto Modbus TCP EtherNet/IP Ethernet PLC Pluto IO

14 2TLC172009M2009_A

: Pluto IO Pluto

4.3.1 , GATE-E1/E2 Ethernet “addc, adds, add and bw” 2

Pluto 10 IO 103“ToGateway_ASi_16_31_Safe” EEPROM

Pluto PLC “ToGateway_X” Pluto 10“ToGateway_ASi_16_31_Safe”

// Setup of Additional Data. e_gw> adds Additional Data Area [0] : 2 Data from Pluto [0] : 10 IO type : - 0 = Not used - 1-99 = User block - 100 = Error Code - 101 = B46 I20-I47 - 102 = ASi 16-31 Safe - 103 = ASi 1- 3 NonSafe In - 104 = ASi 4- 7 NonSafe In - 105 = ASi 8-11 NonSafe In - 106 = ASi 12-15 NonSafe In - 107 = ASi 16-19 NonSafe In - 108 = ASi 20-23 NonSafe In - 109 = ASi 24-27 NonSafe In - 110 = ASi 28-31 NonSafe In Select IO type [0] : 102 EEPROM write [3]. Configuration of additional data 2 done. e_gw> // Check input of Additional Data area 2 e_gw> add02 ADD 02.02 32767 e_gw> // Check current configuration. // A * before ‘10’ indicates active receive of data. e_gw> bw ... ----------------------------- PLC OUTPUT DATA : Enabled To PLUTO package 0-3 : - - - -, Timeout 0 ms ADDITIONAL DATA CONFIGURATION : Area Pluto IO-type 02 *10 ASIsafe ----------------------------- e_gw> // Clear all setting of Additional Data. e_gw> addc Clear Additional Data setting [Yes/No] ? YES EEPROM write [2]. Done! e_gw>

15 2TLC172009M2009_A

4.3.2 , GATE-D1/D2 GATE-C1/C2 DIP PROG Ethernet “cs” bw”

6.4.1

// Setup of Additional Data. dnet_gw> cs Input Assembly Instance : 0 : Status Only [100] 1 : Data Only [101] 2 : Status/Data [102] Select [1]: 1 Output Assembly Instance : 0 : No Data [112] 1 : To Pluto Data [113] Select [0]: 0 IO Configuration way : 0 : Expected Node Configuration [Only global data] 1 : Additional Data Configuration [Clear current configuration] 2 : Additional Data Configuration [Keep current configuration] Select [0]: 1 Area 00 data from PLUTO 00 24 Area 00 data IO type 000 111 Area 01 data from PLUTO 00 24 Area 01 data IO type 000 100 Area 02 data from PLUTO 00 5 Area 02 data IO type 000 111 Area 03 data from PLUTO 00 5 Area 03 data IO type 000 1 Area 04 data from PLUTO 00 ... Area 31 data from PLUTO 00 Area 31 data IO type 000 Enable To PLUTO package 0 [N] ? Enable To PLUTO package 1 [N] ? Enable To PLUTO package 2 [N] ? Enable To PLUTO package 3 [N] ? To PLUTO Timeout [0 ms] : To PLUTO update time [100 ms] : Save the new configuration [y/n] YES EEPROM write [28]. e_gw> // Check current configuration. // A * before ’24’ and ‘05’ indicates active receive of data. dnet_gw> bw ----------------------------- DeviceNet bus status. ----------------------------- Node number : 3 [0x3] Bus speed : 125 kbits Bus power : VALID Bus status : OFFLINE ----------------------------- Input assembly 1 = PLUTO Data Only [102] Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type 00 *24 GLOBAL | 01 24 ErrCode | 02 *05 GLOBAL | 03 05 USER:01 Output assembly 1 = To PLUTO Data [113] Enabled To PLUTO package 0-3 : - - - -, Timeout 0 ms, Update 100 ms. ----------------------------- dnet_gw>

16 2TLC172009M2009_A

4.3.3

Pluto PLC

: 1-99 No

4.3.3.1

“ToGateway_User_A” (ToGateway_UserNumber_x) MSB LSB

0 Reg_0.7 Reg_0.6 Reg_0.5 Reg_0.4 Reg_0.3 Reg_0.2 Reg_0.1 Reg_0.0 1 Reg_0.15 Reg_0.14 Reg_0.13 Reg_0.12 Reg_0.11 Reg_0.10 Reg_0.9 Reg_0.8 2 Reg_1.7 Reg_1.6 Reg_1.5 Reg_1.4 Reg_1.3 Reg_1.2 Reg_1.1 Reg_1.0 3 Reg_1.15 Reg_1.14 Reg_1.13 Reg_1.12 Reg_1.11 Reg_1.10 Reg_1.9 Reg_1.8

(x)

“ToGateway_User_B” (ToGateway_UserNumber_x) MSB LSB

0 Reg_0.7 Reg_0.6 Reg_0.5 Reg_0.4 Reg_0.3 Reg_0.2 Reg_0.1 Reg_0.0 1 Reg_0.15 Reg_0.14 Reg_0.13 Reg_0.12 Reg_0.11 Reg_0.10 Reg_0.9 Reg_0.8 2 Bit_7 Bit_6 Bit_5 Bit_4 Bit_3 Bit_2 Bit_1 Bit_0 3 Pluto

(x)

“ToGateway_User_C” (ToGateway_UserNumber_x) MSB LSB

0 Reg_0.7 Reg_0.6 Reg_0.5 Reg_0.4 Reg_0.3 Reg_0.2 Reg_0.1 Reg_0.0 1 Reg_0.15 Reg_0.14 Reg_0.13 Reg_0.12 Reg_0.11 Reg_0.10 Reg_0.9 Reg_0.8 2 Bit_7 Bit_6 Bit_5 Bit_4 Bit_3 Bit_2 Bit_1 Bit_0 3 Bit_15 Bit_14 Bit_13 Bit_12 Bit_11 Bit_10 Bit_9 Bit_8

(x) 4.3.3.2

“ToGateway_ErrorCode” (IO 100, 0x64) MSB LSB

0 - - - - - - - - 1 - - - - - - - - 2 - - - - - - - - 3 Pluto

“-”

“ToGateway_B46_I20_I47” (IO 101, 0x65) MSB LSB

0 Ix.27 Ix.26 Ix.25 Ix.24 Ix.23 Ix.22 Ix.21 Ix.20 1 Ix.37 Ix.36 Ix.35 Ix.34 Ix.33 Ix.32 Ix.31 Ix.30 2 Ix.47 Ix.46 Ix.45 Ix.44 Ix.43 Ix.42 Ix.41 Ix.40 3 Pluto

17 2TLC172009M2009_A

“ToGateway_ASi_16_31_Safe” (IO 102, 0x66) MSB LSB

0 Ix.13* Ix.12* Ix.11* Ix.10* Ix.3* Ix.2* Ix.1* - 1 ASIx.23 ASIx.22 ASIx.21 ASIx.20 ASIx.19 ASIx.18 ASIx.17 ASIx.16 2 ASIx.31 ASIx.30 ASIx.29 ASIx.28 ASIx.27 ASIx.26 ASIx.25 ASIx.24 3 Pluto

* B42 AS-i ASIx.y Pluto AS-i y(x Pluto ) “-”

“ToGateway_ASi_1_3_NonSafe_In” (IO 103, 0x67) MSB LSB

0 - - - - - - - - 1 Ax.1B.4 Ax.1B.3 Ax.1B.2 Ax.1B.1 Ax.1.4 Ax.1.3 Ax.1.2 Ax.1.1 2 Ax.2B.4 Ax.2B.3 Ax.2B.2 Ax.2B.1 Ax.2.4 Ax.2.3 Ax.2.2 Ax.2.1 3 Ax.3B.4 Ax.3B.3 Ax.3B.2 Ax.3B.1 Ax.3.4 Ax.3.3 Ax.3.2 Ax.3.1

ASIx.<slave>.<bit> Pluto x. “-”


0 Ax.4B.4 Ax.4B.3 Ax.4B.2 Ax.4B.1 Ax.4.4 Ax.4.3 Ax.4.2 Ax.4.1 1 Ax.5B.4 Ax.5B.3 Ax.5B.2 Ax.5B.1 Ax.5.4 Ax.5.3 Ax.5.2 Ax.5.1 2 Ax.6B.4 Ax.6B.3 Ax.6B.2 Ax.6B.1 Ax.6.4 Ax.6.3 Ax.6.2 Ax.6.1 3 Ax.7B.4 Ax.7B.3 Ax.7B.2 Ax.7B.1 Ax.7.4 Ax.7.3 Ax.7.2 Ax.7.1

ASIx.<slave>.<bit> Pluto x.




“ToGateway_ASi_12_15_NonSafe_In” (IO 106, 0x6A) MSB LSB



“ToGateway_ASi_16_19_NonSafe_In” (IO 107, 0x6B) MSB LSB



18 2TLC172009M2009_A

“ToGateway_ASi_20_23_NonSafe_In” (IO 108, 0x6C) MSB LSB



“ToGateway_ASi_24_27_NonSafe_In” (IO 109, 0x6D) MSB LSB



“ToGateway_ASi_28_31_NonSafe_In” (IO 110, 0x6E) MSB LSB



“GLOBAL DATA” (IO 111, 0x6F) MSB LSB

0 1 2 3

4.2

DeviceNet (GATE_D1/D2) CANopen (GATE-C1/C2) Pluto IO

“ ToGateway_B42_ASi_I20_I47” (IO 112, 0x70) Byte MSB LSB

0 Ix.27 Ix.26 Ix.25 Ix.24 Ix.23 Ix.22 Ix.21 Ix.20 1 Ix.37 Ix.36 Ix.35 Ix.34 Ix.33 Ix.32 Ix.31 Ix.30 2 Ix.47 Ix.46 Ix.45 Ix.44 Ix.43 Ix.42 Ix.41 Ix.40 3 Pluto

“ ToGateway_ASi_1_15_Safe” (IO 113, 0x71)

Byte MSB LSB 0 Ix.17 Ix.16 Ix.15 Ix.14 Ix.13 Ix.12 Ix.11 Ix.10 1 ASIx.7 ASIx.6 ASIx.5 ASIx.4 ASIx.3 ASIx.2 ASIx.1 0 2 ASIx.15 ASIx.14 ASIx.13 ASIx.12 ASIx.11 ASIx.10 ASIx.19 ASIx.8 3 Pluto

ASIx.y y Pluto As-i (x Pluto ) ‘-‘

19 2TLC172009M2009_A

4.3.4 Pluto PLC 4.3.4.1

“Additional data from Pluto” “Ext01_1.fps” (4.3.3.1 4.3.3.2)

4.3.4.2

“ToGateway_B46_I20_I47” Pluto B46-6

M I Q...

Pluto CAN

“Send” “Send” (1)

“Q” (1)

“Send” CAN 10ms

Pluto

: Pluto PLC 4

: 300 ms TON Pluto

250 ms ( )

AS-i 16-31

8 : Pluto “No”

20 2TLC172009M2009_A

4.3.4.3 Pluto CAN Pluto

1: Pluto B46-6 IO:s

“Send” 10Hz CAN 1/100ms

PLC “Send” Sent_1

21 2TLC172009M2009_A

Pluto AS-i 0 M0.0 50ms

CAN Pluto

22 2TLC172009M2009_A

4.4 Pluto

64 8 Pluto “Data to Pluto” 4 16 2

Pluto

(16 ) 0…15 (16 ) 0

0

(16 ) 1 (16 ) 0…15

(16 ) 0 1

(16 ) 1 (16 ) 0…15

(16 ) 0 2

(16 ) 1 (16 ) 0…15

(16 ) 0 3

(16 ) 1 4.4.1

PLC 0-4 Pluto0-1 Pluto CAN

4.4.2

100ms Pluto ( ) PLC 4-255 ms 100 ms

: Pluto

Pluto 4.4.3

PLC 0-60000 ms 0 “0”

: GATE-E1 0 � 1000 ms

4.5 PLUTO - PLUTO 4 Pluto4 4 PLUTO

(0-3) (0-3)

23 2TLC172009M2009_A

4.5.1 PLUTO

PLUTO, 2 ( CAN )

: 100ms, 4.4.2

4.5.2 Pluto PLUTO

Pluto 0…15 0

0

1 16…31 2

1

3 32…47 4

2

5 48…63 6

3

7

Pluto

24 2TLC172009M2009_A

4.5.3 PLC “External Communication” PLC

PLC M Q GM R “Ext01.fps”

4.5.3.1 “Ext_Sig”

Ext_Sig PLC

4.5.3.2 “Ext_Val”

Ext_Val PLC

4.5.3.3 “ExtVarBlock”

ExtVarBlock “ ” PLC “ ”

BlockNo = 0: 0…15 0..1 BlockNo = 1: 16…31 2.0.3 BlockNo = 2: 32…47 4.0.5 BlockNo = 3: 48…63 6.0.7

( 4.5.2)

4 ( 0 )

Ext01.fps

5 ( 2 )

25 2TLC172009M2009_A

“ ”0 (16 2 )

26 2TLC172009M2009_A

5 PROFIBUS PROFIBUS DP DP-V0

PROFIBUS REF 2 DPV0 DPV1 DPV2 5.1

PROFIBUS 9 D-sub

1 / 2 - - 3 RxD/TxD-P / – (B - ) 4 CNTR-P ( ), RTS 5 DGND ( ) 6 VP – (P5V) 7 - - 8 RxD/TxD-N / – (A - ) 9 - -

PROFIBUS

2 PROFIBUS () PROFIBUS

5.1.1 PROFIBUS : 9.6 kbit/s, 19.2 kbit/s 93.75 kbit/s 187.5 kbit/s 500 kbit/s 1.5 Mbit/s 3 Mbit/s 6 Mbit/s 12 Mbit/s

27 2TLC172009M2009_A

5.2 PROFIBUS PROFIBUS PROFIBUS

LED

/

PROFIBUS

PROFIBUS

, 5.3

5.3 PROFIBUS DIP “SW1” 00 – 99 BCD

SW1:5-8 SW1:1-4 “” PROFIBUS LED

SW1

10x SW1:1 SW1:2 SW1:3 SW1:4 1x SW1:5 SW1:6 SW1:7 SW1:8

0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 25 = 0010 0101 9 1 0 0 1

1 0 1 0 1 0 1 1 1 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1

28 2TLC172009M2009_A

5.4 GSD GSD

GSD

PLUTO Pluto Pluto 4.1 PLUTO 00 Pluto 0 Pluto PLUTO 01 Pluto 1 Pluto PLUTO 02 Pluto 2 Pluto PLUTO 03 Pluto 3 Pluto PLUTO 04 Pluto 4 Pluto PLUTO 05 Pluto 5 Pluto PLUTO 06 Pluto 6 Pluto PLUTO 07 Pluto 7 Pluto PLUTO 08 Pluto 8 Pluto PLUTO 09 Pluto 9 Pluto PLUTO 10 Pluto 10 Pluto PLUTO 11 Pluto 11 Pluto PLUTO 12 Pluto 12 Pluto PLUTO 13 Pluto 13 Pluto PLUTO 14 Pluto 14 Pluto PLUTO 15 Pluto 15 Pluto PLUTO 16 Pluto 16 Pluto PLUTO 17 Pluto 17 Pluto PLUTO 18 Pluto 18 Pluto PLUTO 19 Pluto 19 Pluto PLUTO 20 Pluto 20 Pluto PLUTO 21 Pluto 21 Pluto PLUTO 22 Pluto 22 Pluto PLUTO 23 Pluto 23 Pluto PLUTO 24 Pluto 24 Pluto PLUTO 25 Pluto 25 Pluto PLUTO 26 Pluto 26 Pluto PLUTO 27 Pluto 27 Pluto PLUTO 28 Pluto 28 Pluto PLUTO 29 Pluto 29 Pluto PLUTO 30 Pluto 30 Pluto PLUTO 31 Pluto 31 Pluto

4.2

PLUTO 0 Pluto 0 Pluto PLUTO 1 Pluto 1 Pluto PLUTO 2 Pluto 2 Pluto PLUTO 3 Pluto 3 Pluto

5.4.2

/ Pluto 5.4.2 00 Pluto Pluto 01 Pluto Pluto 02 Pluto Pluto 03 Pluto Pluto 04 Pluto Pluto 05 Pluto Pluto 06 Pluto Pluto 07 Pluto Pluto 08 Pluto Pluto

4.3

29 2TLC172009M2009_A

09 Pluto Pluto 10 Pluto Pluto 11 Pluto Pluto 12 Pluto Pluto 13 Pluto Pluto 14 Pluto Pluto 15 Pluto Pluto 16 Pluto Pluto 17 Pluto Pluto 18 Pluto Pluto 19 Pluto Pluto 20 Pluto Pluto 21 Pluto Pluto 22 Pluto Pluto 23 Pluto Pluto 24 Pluto Pluto 25 Pluto Pluto 26 Pluto Pluto 27 Pluto Pluto 28 Pluto Pluto 29 Pluto Pluto 30 Pluto Pluto 31 Pluto Pluto

GSD v2.00

PROFIBUS

5.4.1

4.4

4.4

3.4.2

5.4.2 – PLUTO

Pluto 4.4:

0 16 1 0 16 2 1 16

Pluto

30 2TLC172009M2009_A

5.4.3 - /

“ / ” Profibus Pluto Pluto MSM R SR... Pluto PlutoPluto

2 3 5.4.3.1

Pluto

0 Pluto 16 1 16

Pluto

Pluto 0 31 Pluto 0x00FF

15

15

1 / ( )

0

Pluto 2

(uint32)

15 14 0 0 0/1 0 1 0/1 1 0 uint16 1 1 uint32

5.4.3.2

0 Pluto 16

1 – 2 32

31 2TLC172009M2009_A

Pluto

15 11 10 9 8

0 x x x X 1 x x x X 0 0 0 0 1 , 0 0 0 1 0 , / 0 0 1 0 0 , / 0 1 0 0 0 OK,

(uint16)

2 0 1

(uint16) 2 5.4.3.3

:

1 2 Pluto 3 Pluto 15 4 Pluto 15 5 Pluto 15 6 Pluto 8-11 7 11 Pluto

32 2TLC172009M2009_A

5.4.3.4 PLUTO

Pluto Profibus PlutoPluto “ ” Pluto

Pluto A20 (A16 A20 B16 B20 S19 S20)

Pluto SR0..99 0..99 SR R0..R199 100..199 R + 100 *R200…R347 300..447 R + 100 Pluto Q10..Q17 0..7 Q – 10 SM0..SM199 16..215 SM + 16 M0..M807 216..1023 M + 216 * 3

Pluto Double (B46-6 S46-6) Pluto SR0..99 0..99 SR R0..R199 100..199 R + 100 *R200…R347 300..447 R + 100 Pluto Q10..Q17 0..7 Q – 10 Q20..Q27 8..15 Q – 12 SM0..SM199 16..215 SM + 16 M0..M775 216..991 M + 216 I20..I27 992..999 I + 972 I30..I37 1000..1007 I + 970 I40..I47 1008..1015 I + 968 Q4..Q5 1020..1021 Q + 1016 * 3

Pluto AS-i Pluto SR0..99 0..99 SR R0..R199 100..299 R + 100 *R200…R347 300..447 R + 100 Pluto Q10..Q13 0..3 Q – 10 I1..I3 9..11 I + 8 I10..13 12..15 I + 2 SM0..SM199 16..215 SM + 16 M0..M295 216..511 M + 216 ASI16..ASI31 512..527 ASI1.1..ASI31B.4 528..775 ASQ1.1..ASQ31B.4 776..1023 * 3

33 2TLC172009M2009_A

Pluto B42 AS-i Pluto SR0..99 0..99 SR R0..R347 100..447 R + 100 Pluto Q10..Q17 0..7 Q – 10 Q20..Q27 8..15 Q – 12 SM0..SM199 16..215 SM + 16 M0..M239 216..455 M + 216 I10..I17 456..463 I + 446 I20..I27 464..471 I + 444 I30..I37 472..479 I + 442 I40..I47 480..487 I + 440 Q4..Q5 488..493 Q + 484 ASI1..ASI31 497..527 ASI1.1..ASI31B.4 528..775 ASQ1.1..ASQ31B.4 776..1023

34 2TLC172009M2009_A

5.4.3.5

Pluto PlutoSR11

PROGRAM MAIN VAR (*output data value*) outPlutoId AT %Q*: UINT; (*output data, Pluto Unit Id [word 0]*) outPlutoAddress AT %Q*: UINT; (*output data, Local Data Address [word 1]*) (*input data value*) inPlutoId AT %I*: UINT; (*input data, Response Pluto Unit Id [word 0]*) inPlutoData_0 AT %I*: UINT; (*input data, Local Data Value [word 1]*) inPlutoData_1 AT %I*: UINT; (*input data, Local Data Value [word 2]*) (*state of the state machine*) State: UINT := 0; (*the requested PLUTO id number 0-31*) Pluto: UINT := 0; (*counter for counting the number of different response message*) respBad: UDINT := 0; respTimeout: UDINT := 0; respOK: UDINT := 0; (*data storage for the respons value if a OK response*) respLastValue_0: UINT := 0; respLastValue_1: UINT := 0; END_VAR

(*This state machine will retrive the Pluto error code stored in SR11 (address 11) from the PLUTO.*) (*Note this program doesn't have any error handling which shall be added for production use.*) CASE State OF 0: (*This is the start state of the state machine.*) (*This will set request data (Pluto number, memory address and memory type.*) (*Start the retrieval by setting the bit 15.*) outPlutoId := Pluto; (*set PLUTO id number*) outPlutoAddress := 16#8000+11; (*set value type and memory address*) outPlutoId := outPlutoId + 16#8000; (*set the bit 15 of PLUTO data*) State := 1; (*goto next state*) 1: (*This is next step where the program waits for an respone on bit 15, bit set*) IF inPlutoId >= 16#8000 THEN (*wait to get bit 15 set in the PLUTO id input response*) outPlutoId := Pluto; (*clear the bit 15 of PLUTO data*) State := 2; (*goto next state*) END_IF 2: (*This is next step where the program waits for a response on bit 15, bit cleared*) IF inPlutoId < 16#8000 THEN (*wait to get bit 15 cleared in the PLUTO id input response*) State := 3; (*goto next state*) END_IF 3: (*In this state the program will check the response bit 11, 10 and 9*) (*Note need to test highest value first and the lower and lower value*) IF inPlutoId >= 16#0800 THEN (*check if response bit 11 is set => response OK*) respOK := respOK + 1; (*count number of OK response message*) respLastValue_0 := inPlutoData_0; (*get response value 0*) respLastValue_1 := inPlutoData_1; (*get response value 1*) State := 0; (*goto start state*) ELSIF inPlutoId >= 16#0400 THEN (*check if response bit 10 is set => response timeout*) respTimeout := respTimeout +1; (*count number of timeout response message*) State := 0; (*goto start state*) ELSIF inPlutoId >= 16#0200 THEN (*check if response bit 9 is set => response bad*) respBad := respBad + 1; (*count number of bad response message*) State := 0; (*goto start state*) END_IF (*Use this code if you want to loop more Pluto units*) (*Note that response value 0/1 shall be stored in an array or similar if used in a system*) IF State = 0 THEN (*move to next Pluto if state set to 0*) Pluto := Pluto + 1; (*next Pluto*) IF Pluto > 31 THEN (*if over high limit of Pluto*) Pluto := 0; (*set low Pluto number*) END_IF END_IF END_CASE

35 2TLC172009M2009_A

5.4.4

( 10 ) PROFIBUS “bw”

pb_gw> bw ----------------------------- PROFIBUS bus status. ----------------------------- Node number : 21 [0x15] Bus speed : 1500 kbits Bus status : DATA EXCHANGE ----------------------------- PLC INPUT DATA (P=PLUTO) : RESP P00 A00 PLC OUTPUT DATA (T=To PLUTO) : T0 REQ Enabled To PLUTO package 0-3 : 0 - - -, Timeout 0 ms, Update 100 ms. PLC ADDITIONAL DATA : Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type 00 *10 ASIsafe ----------------------------- pb_gw>

“PLC ”

PROFIBUS 21( ) 0x15( ) 1.5 Mbits

PROFIBUS - RESP / P00 Pluto 0

- Pluto 0 REQ / T0

PROFIBUS Pluto 0 0ms

36 2TLC172009M2009_A

5.4.5 PROFIBUS

0 ( ) 1 ( ) 2 ( ) 3 ( ) 4 ( ) 5 ( ) 6 ( ) 7 ( )

8 – 15 (0-3) 16 – 31 Pluto CAN

0 = CAN 100, 125, 200, 250, 400, 500, 800, 1000 kbits

32 – 39 PLUTO Pluto (0 – 32).

40 0 Pluto Pluto 41 1 Pluto -“- 42 2 Pluto -“- 43 3 Pluto -“- 44 4 Pluto -“- 45 5 Pluto -“- 46 6 Pluto -“- 47 7 Pluto -“- 48 8 Pluto -“- 49 9 Pluto -“- 50 10 Pluto -“- 51 11 Pluto -“- 52 12 Pluto -“- 53 13 Pluto -“- 54 14 Pluto -“- 55 15 Pluto -“- 56 16 Pluto -“- 57 17 Pluto -“- 58 18 Pluto -“- 59 19 Pluto -“- 60 20 Pluto -“- 61 21 Pluto -“- 62 22 Pluto -“- 63 23 Pluto -“- 64 24 Pluto -“- 65 25 Pluto -“- 66 26 Pluto -“- 67 27 Pluto -“- 68 28 Pluto -“- 69 29 Pluto -“- 70 30 Pluto -“- 71 31 Pluto -“-

37 2TLC172009M2009_A

6 DeviceNet DeviceNet ODVA 2.0

DeviceNet REF 3 6.1

DeviceNet

1 V- 0V 24VDC 2 CL CAN 3 SE CAN 4 CH CAN 5 V+ +24VDC

CL-CH 120

6.2 MNS DeviceNet “MNS” DeviceNet DeviceNet “ /

LED”(MNS)

LED

- - Dup_MAC_ID

/

/

6.3 DIP

DIP - - MAC ID - Pluto EDS - CAN

38 2TLC172009M2009_A

6.3.1

“SW1– DeviceNet” 1 2 SW1

1 2 [kbits] 0 0 125 0 1 500 1 0 250 1 1 Pluto CAN

DeviceNet

MAC ID PC “cs” ( : 125 250 500 kbit/s) MAC ID DeviceNet 6.3.2 MAC ID

MAC ID “SW1– DeviceNet” 3...8

SW1

3 4 5 6 7 8

0 0 0 0 0 0 0 0x00 0 0 0 0 0 1 1 0x01 0 0 0 0 1 0 2 0x02 0 0 0 0 1 1 3 0x03 0 0 0 1 0 0 4 0x04 0 0 0 1 0 1 5 0x05 0 0 0 1 1 0 6 0x06 0 0 0 1 1 1 7 0x07 0 0 1 0 0 0 8 0x08 0 0 1 0 0 1 9 0x09 0 0 1 0 1 0 10 0x0A 0 0 1 0 1 1 11 0x0B 0 0 1 1 0 0 12 0x0C 0 0 1 1 0 1 13 0x0D 0 0 1 1 1 0 14 0x0E 0 0 1 1 1 1 15 0x0F 0 1 0 0 0 0 16 0x10 0 1 0 0 0 1 17 0x11 0 1 0 0 1 0 18 0x12 0 1 0 0 1 1 19 0x13 0 1 0 1 0 0 20 0x14

39 2TLC172009M2009_A

6.3.3

SW1 MAC IDPC DeviceNet 78 EEPROM

PC EEPROM DeviceNet DeviceNet DeviceNet

EEPROM

: “ ” 6.3.3.1

“gs” DeviceNet MAC ID

dnet_gw> gs Gateway interface baudrate : 1 : 125 kbits 2 : 250 kbits 3 : 500 kbits Select [1]: 1 MACID [63] : 63

“cs” 6.5.1, - Pluto

dnet_gw> cs

Input Assembly Instance : 1 : Status Only [100] 2 : Data Only [101] 3 : Status/Data [102] Select [0] : …

6.4 DeviceNet 2.x

- Pluto

- 1.x 2.x

6.4.1

2.x

Pluto Pluto “ Pluto”, 4.3

Pluto IO Pluto IO

40 2TLC172009M2009_A

Pluto IO 0 Pluto 24 IO 111 4 Pluto IO Pluto IO IO

Pluto IO 0 1 2 3 4 … 25 26 27 28 29 30 31

x x x x x … x x x x x x x Pluto 24 24 5 5 0 … 0 0 0 0 0 0 0

IO 111 100 111 1 0 … 0 0 0 0 0 0 0

Pluto IO (IO 4.3 - Pluto IO 0 Pluto 24 IO 111 ( ) - Pluto IO 1 Pluto 24 IO 100( ) - Pluto IO 2 Pluto 5 IO 111 ( ) - Pluto IO 3 Pluto 5 IO 1 ( 1) - Pluto IO 4 – 31 (IO 0)

PLC DIP

PLC ( - Class 100 Instance 0 Attribute 30 “Pluto IO 0, Pluto” 24 - Class 100 Instance 0 Attribute 31 “Pluto IO 0, IO ” 111 - Class 100 Instance 0 Attribute 32 “Pluto IO 0, Pluto” 24 - Class 100 Instance 0 Attribute 33 “Pluto IO 0, IO ” 100 - Class 100 Instance 0 Attribute 34 “Pluto IO 0, Pluto” 5 - Class 100 Instance 0 Attribute 35 “Pluto IO 0, IO ” 111 - Class 100 Instance 0 Attribute 36 “Pluto IO 0, Pluto” 5 - Class 100 Instance 0 Attribute 37 “Pluto IO 0, IO ” 1

: / / !

6.4.2

Pluto PlutoPLC IO Pluto

41 2TLC172009M2009_A

6.5 EDS

GATE-D1/D2 EDS

GATE-D2 ABB_GATE-D2_vX.eds EDS “JokabDeviceNet_GATE-D1_v2.eds”Pluto

DeviceNet 4 4 SW1 1 2

SW2 Pluto EDS 1 2 0 0 0 – 1 8 JokabDeviceNet_GATE-D1_L02.eds 0 1 0 – 7 32 JokabDeviceNet_GATE-D1_L08.eds 1 0 0 – 15 64 JokabDeviceNet_GATE-D1_L16.eds 1 1 0 – 31 128 JokabDeviceNet_GATE-D1_L32.eds

EDS “JokabDeviceNet_GATE-D1_v2.eds”

Pluto

EDS DeviceNet /Pluto /

Pluto

EDS 76

GATE- D2 ABB_GATE-D2_v3.eds EDS 3 GATE-D2 GATE-D1 JokabDeviceNet_GATE-D1_v3.eds EDS 3

JokabDeviceNet_GATE-D1_v2.eds JokabDeviceNet_GATE-D1_v2.eds EDS 2

JokabDeviceNet_GATE-D1_v1.eds JokabDeviceNet_GATE-D1_v1.eds

4 + Pluto 32x4 =

132 JokabDeviceNet_GATE-D1_L02.eds 2 Pluto (8 ) JokabDeviceNet_GATE-D1_L08.eds 8 Pluto (32 ) JokabDeviceNet_GATE-D1_L16.eds 16 Pluto (64 ) JokabDeviceNet_GATE-D1_L32.eds 32 Pluto (128 )

42 2TLC172009M2009_A

6.5.1 - Pluto

“ ” “ Pluto ” PlutoDeviceNet

Pluto “ ” SW2 6.5 “ ”

76

Pluto /Pluto 0 Pluto 0 4 - Pluto 1 Pluto 0 8 - Pluto ... Pluto … 12 - … …

- “ ” 4 - “ Pluto ” “ /Pluto ” SW2

DeviceNet“ Pluto” PC 6.5.1.1

4.1 6.5.1.2 Pluto

4.2

43 2TLC172009M2009_A

6.5.2 - Pluto

Pluto DeviceNet - - Pluto - Pluto 0

76

4.4 64 8 Pluto

4 DeviceNet CANopen PROFIBUS “

Pluto ”

4.4 Pluto

0 16 1 0 16 2

0

1 16 3 16 4 0 16 5

1 1 16

6 16 7 0 16 8

2

1 16 9 16 10 0 16 11

3

1 16 6.5.3 DeviceNet Pluto Pluto M SM R SR Pluto

Pluto Pluto 76

44 2TLC172009M2009_A

6.5.4

( 10 ) DeviceNet “bw”

dnet_gw> bw ----------------------------- DeviceNet bus status. ----------------------------- Node number : 3 [0x3] Bus speed : 500 kbits Bus power : VALID Bus status : OFFLINE ----------------------------- Input assembly 1 = PLUTO Data Only [102] Expected PLUTO 00-15 : 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 Expected PLUTO 16-31 : 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Output assembly 0 = No Data [112] Enabled To PLUTO package 0-3 : 0 1 2 3, Timeout 1000 ms, Update 100 ms. ----------------------------- dnet_gw>

: dnet_gw> bw ----------------------------- DeviceNet bus status. ----------------------------- Node number : 3 [0x3] Bus speed : 500 kbits Bus power : VALID Bus status : OFFLINE ----------------------------- Input assembly 1 = PLUTO Data Only [102] Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type 00 00 USER:01 | 01 00 USER:02 | 02 00 USER:03 | 03 00 USER:04 04 00 USER:05 | 05 00 USER:06 | 06 00 USER:07 | 07 00 USER:08 08 00 USER:09 | 09 00 USER:10 | 10 00 USER:11 | 11 00 USER:12 12 00 USER:13 | 13 00 USER:14 | 14 00 USER:15 | 15 00 USER:16 16 00 USER:17 | 17 00 USER:18 | 18 00 USER:19 | 19 00 USER:20 20 00 USER:21 | 21 00 USER:22 | 22 00 USER:23 | 23 00 USER:24 24 00 USER:25 | 25 00 USER:26 | 26 00 USER:27 | 27 00 USER:28 28 00 USER:29 | 29 *31 GLOBAL | 30 00 ErrCode | 31 *00 GLOBAL Output assembly 0 = No Data [112] Enabled To PLUTO package 0-3 : - - - -, Timeout 0 ms, Update 100 ms. ----------------------------- dnet_gw>

DeviceNet 3( ) 0x3 ( ) 500

kbits

DeviceNet - 102 “ Pluto ” - 113 “ Pluto ” - Pluto Pluto 0 - DeviceNet Pluto 0 2

0ms Pluto

“BY PLC” DeviceNet (PLC)

45 2TLC172009M2009_A

7 CANopen CANopen 4.02 CIA 301

CANopen REF 4 7.1

1 - - 2 CL CAN 3 SE CAN 4 CH CAN 5 - -

CL-CH 120

7.2 CANopen CANopen “CANopen LED”

LED

7.3 DIP

DIP - : - - Pluto EDS - CAN

46 2TLC172009M2009_A

7.3.1

SW1 1 2 SW1

1 2 [kbits] 0 0 125 0 1 500 1 0 250 1 1 MAC ID Pluto CAN

MAC ID PC “cs” : 10, 20, 50, 100, 120, 250, 500, 800, 1000 kbits 7.3.2

SW1 3...8

SW1

3 4 5 6 7 8

0 0 0 0 0 0 0 0x00 0 0 0 0 0 1 1 0x01 0 0 0 0 1 0 2 0x02 0 0 0 0 1 1 3 0x03 0 0 0 1 0 0 4 0x04 0 0 0 1 0 1 5 0x05 0 0 0 1 1 0 6 0x06 0 0 0 1 1 1 7 0x07 0 0 1 0 0 0 8 0x08 0 0 1 0 0 1 9 0x09 0 0 1 0 1 0 10 0x0A 0 0 1 0 1 1 11 0x0B 0 0 1 1 0 0 12 0x0C 0 0 1 1 0 1 13 0x0D 0 0 1 1 1 0 14 0x0E 0 0 1 1 1 1 15 0x0F 0 1 0 0 0 0 16 0x10 0 1 0 0 0 1 17 0x11 0 1 0 0 1 0 18 0x12 0 1 0 0 1 1 19 0x13 0 1 0 1 0 0 20 0x14

7.3.3 Pluto

SW2 (1…2) Pluto CANopen Pluto PDO:s, PDO Pluto

47 2TLC172009M2009_A

SW2 1 2

Pluto PDO:s

0 0 0 – 1 1 2 Pluto 0 1 0 – 7 4 8 Pluto 1 0 0 – 15 8 16 Pluto 1 1 0 – 31 16 32 Pluto

CANopen CANopen EDS

7.3.4

SW1 PC MAC ID EEPROM

PC EEPROM

CANopenPC EEPROM

: “ ”

48 2TLC172009M2009_A

7.3.4.1

“gs” CANopen

co_gw> gs Gateway interface baudrate : 1 : 10 kbits 2 : 20 kbits 3 : 50 kbits 4 : 100 kbits 5 : 125 kbits 6 : 250 kbits 7 : 500 kbits 8 : 800 kbits 9 : 1000 kbits Select [5]: MAC ID [63] :

“cs” 4

- Pluto Pluto CANopen

- Pluto - Pluto

co_gw> cs

NOTE set TPDO parameters for ALL enabled TPDO:s =============================================== TPDO Transmission Type (0-255) [1] : TPDO Inhibit Time [50] (ms) : TPDO Event Time [30000] (ms) : IO Configuration way : 0 : Expected Node Configuration [Only global data] 1 : Additional Data Configuration [Clear current configuration] 2 : Additional Data Configuration [Keep current configuration] Select [0]: 0 Expected data from PLUTO 00 [Y] ? YES Expected data from PLUTO 01 [Y] ? YES Expected data from PLUTO 02 [Y] ? YES Expected data from PLUTO 03 [Y] ? NO Expected data from PLUTO 04 [Y] ? NO ... Expected data from PLUTO 29 [Y] ? NO Expected data from PLUTO 30 [Y] ? NO Expected data from PLUTO 31 [Y] ? NO Enable To PLUTO package 0 [N] ? YES Enable To PLUTO package 1 [N] ? YES Enable To PLUTO package 2 [N] ? NO Enable To PLUTO package 3 [N] ? NO To PLUTO Timeout [0 ms] : 1000 To PLUTO update time [100 ms] : Save the new configuration [y/n] YES co_gw> bw ----------------------------- CANopen bus status. ----------------------------- Node number : 3 [0x3] Bus speed : 125 kbits Bus status : PRE-OPERATIONAL ----------------------------- Current setup done by EEPROM setting (PROG MODE). Expected PLUTO 00-15 : 00 01 02 03 -- -- -- -- -- -- -- -- -- -- -- -- Expected PLUTO 16-31 : -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- Enabled To PLUTO package 0-3 : 0 1 - -, Timeout 1000 ms, Update 100 ms. ----------------------------- co_gw>

49 2TLC172009M2009_A

co_gw> cs

NOTE set TPDO parameters for ALL enabled TPDO:s =============================================== TPDO Transmission Type (0-255) [1] : TPDO Inhibit Time [50] (ms) : TPDO Event Time [30000] (ms) : IO Configuration way : 0 : Expected Node Configuration [Only global data] 1 : Additional Data Configuration [Clear current configuration] 2 : Additional Data Configuration [Keep current configuration] Select [0]: 1 Area 00 data from PLUTO 00 0 Area 00 data IO type 000 111 Area 01 data from PLUTO 00 1 Area 01 data IO type 000 111 Area 02 data from PLUTO 00 0 Area 02 data IO type 000 100 Area 03 data from PLUTO 00 1 Area 03 data IO type 000 100 Area 04 data from PLUTO 00 0 Area 04 data IO type 000 1 Area 05 data from PLUTO 00 1 Area 05 data IO type 000 1 Area 06 data from PLUTO 00 Area 06 data IO type 000 Area 07 data from PLUTO 00 Area 07 data IO type 000 ... Area 30 data from PLUTO 00 Area 30 data IO type 000 Area 31 data from PLUTO 00 Area 31 data IO type 000 Enable To PLUTO package 0 [Y] ? YES Enable To PLUTO package 1 [Y] ? YES Enable To PLUTO package 2 [N] ? NO Enable To PLUTO package 3 [N] ? NO To PLUTO Timeout [1000 ms] : 500 To PLUTO update time [100 ms] : 50 Save the new configuration [y/n] YES co_gw> bw ----------------------------- CANopen bus status. ----------------------------- Node number : 3 [0x3] Bus speed : 125 kbits Bus status : PRE-OPERATIONAL ----------------------------- Current setup done by EEPROM setting (PROG MODE). Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type 00 *00 GLOBAL | 01 01 GLOBAL | 02 *00 ErrCode | 03 01 ErrCode 04 *00 USER:01 | 05 01 USER:01 | Enabled To PLUTO package 0-3 : 0 1 - -, Timeout 500 ms, Update 48 ms. ----------------------------- co_gw>

7.3.5 CAN

8 CAN 7.4 EDS EDS CANopen Pluto

Pluto PDA SW2:(1,2) 7.3.3 / Pluto

EDS B:CANopen EDS CANopen EDS

90

50 2TLC172009M2009_A

7.4.1 TPDO

TPDO 0x1800 0x180F (TPDO0 TPDO16) PLC (Pluto ) TPDO Pluto TPDO

0x01 COB-ID 0x02 1 - 240 254/255 0x03 ms - 0x05 ms -

COB-ID: 31 TPDO

: 1 2 2

(ms):

ms

: TPDO EDS 31 COB-ID

OS 2.0 0x2005 TPDO

0x01 1 - 240 254/255 0x02 ms - 0x03 ms - 0x04 TPDO

TPDO TPDO

TPDO TPDO /TPDO TPDO 0 2, 0x0005

0x2005 0x04

0x2005:0x01 0xff ( ) 0x2005:0x02 0x64 ( 100 ms) 0x2005:0x03 0x1388 ( 5000 ms) 0x2005:0x04 0x8002 ( TPDO1 TPDO16

51 2TLC172009M2009_A

7.4.2 Pluto CANopen PLC RPDO Pluto ( 4.4)

Pluto 0x2002

0x01 Pluto 0-3

0x01 0 0x02 1 0x04 2 0x08 3

0x02 Pluto (ms) CANopen PLC

0 = 1 – 60000 ms

0x03 (ms) OS 2.0

Pluto100ms

0 – 254 ms 7.4.3

CANopen OS 2.0 CANopen 4.3) TPDO1TPDO15 0x2011 – 0x2020 TPDO

: 0x2011 0x2020!

0x01 x 0x02 x+1

16 Pluto 0x00 – 0x1F (0 – 31)

(IO ) Pluto 10 0

0x2011:0x01 0x0A6F 0x0A Pluto 10

0x6F ( 111)

IO 4.3.3

CANopen OS 2.0 0x2010,

Pluto IO

0x2010:0x01 0x01

52 2TLC172009M2009_A

7.4.4 Pluto

DIP 0-3 CANopen OS 2.00–15 0x2006 90

0x01 Pluto 7.4.5 PDO

Pluto Pluto TX/RX PDO PDO

11- Can

(COB ID)

0x000 NMT ( ) 0x080

0x080 + ID 0x100

0x580 + ID SDO 0x600 + ID SDO 0x700 + ID NMT /

Tx PDO 0x180 + ID Tx PDO 1 – Pluto ( 0-1) 0x280 + ID Tx PDO 2 – Pluto ( 2-3) 0x380 + ID Tx PDO 3 – Pluto ( 4-5) 0x480 + ID Tx PDO 4 – Pluto ( 6-7) 0x1A0 + ID Tx PDO 5 – Pluto ( 8-9) 0x2A0 + ID Tx PDO 6 – Pluto ( 10-11) 0x3A0 + ID Tx PDO 7 – Pluto ( 12-13) 0x4A0 + ID Tx PDO 8 – Pluto ( 14-15) 0x1C0 + ID Tx PDO 9 – Pluto ( 16-17) 0x2C0 + ID Tx PDO 10 – Pluto ( 18-19) 0x3C0 + ID Tx PDO 11 – Pluto ( 20-21) 0x4C0 + ID Tx PDO 12 – Pluto ( 22-23) 0x1E0 + ID Tx PDO 13 – Pluto ( 24-25) 0x2E0 + ID Tx PDO 14 – Pluto ( 26-27) 0x3E0 + ID Tx PDO 15 – Pluto ( 28-29) 0x4E0 + ID Tx PDO 16 – Pluto ( 30-31)

Rx PDO 0x200 + ID Rx PDO 1 – 0 0x300 + ID Rx PDO 2 – 1 0x400 + ID Rx PDO 3 – 2 0x500 + ID Rx PDO 4 – 3

53 2TLC172009M2009_A

7.4.6 - Pluto

PDO Pluto ( ) SW2(1,2)PDO 7.3.3 PDO Pluto ( Pluto )

Pluto

MSB LSB

0 1 2 3

0, 2, 4,…

Pluto 4

4 5 6 7

1, 3, 5, …

Pluto 4+1 = Pluto 5

4.2

CANopen SDO Pluto PDO

B:CANopen EDS ( 90 7.4.7 - Pluto

Pluto CANopen - Pluto 0 – 3 - Pluto Pluto ( 0 = ) - Pluto ( 100 ms)

B:CANopen EDS ( 90

4.4 64 8 4 PDO ( COB ID)

PDO :

0 – 1 16 2 – 3 0 16 4 – 5 1 16

4.4

7.4.8 CANopen Pluto Pluto M SM R SR Pluto Pluto Pluto

SDOB:CANopen EDS 90 7.4.9

SDO 0 DIP 0 1 B:CANopen EDS 90

54 2TLC172009M2009_A

7.4.10 TPDO

TPDO B:CANopen EDS0x2005 90 7.4.11

TPDO B:CANopen EDS 0x2011 – 0x202090

0 TPDO 1 /

TPDO 16 8 Pluto 8 IO

0x026F

0x02 2 Pluto 2 0x6F 111 IO 4.3.3

bw

0x2010

55 2TLC172009M2009_A

8 CAN

GATE-D1/D2 GATE-C1/C2 DeviceNet CANopenCAN

GATE-D1/D2 GATE-C1/C2

I/O

SW1 0/ :

8.1 Pluto

I/O

PC

56 2TLC172009M2009_A

“fs” [Y/N]

Pluto 1, 26...31

co_gw> fs Enable bridge filter [N] ? YES Enable bridge Pluto 00 [Y] ? Enable bridge Pluto 01 [Y] ? NO Enable bridge Pluto 02 [Y] ? . . Enable bridge Pluto 24 [Y] ? Enable bridge Pluto 25 [Y] ? Enable bridge Pluto 26 [Y] ? NO Enable bridge Pluto 27 [Y] ? NO Enable bridge Pluto 28 [Y] ? NO Enable bridge Pluto 29 [Y] ? NO Enable bridge Pluto 30 [Y] ? NO Enable bridge Pluto 31 [Y] ? NO Save new filter setting [Y/N] ? YES co_gw>

Pluto I/O “

” CAN-ID: 0x80, 0x281..290, 0x581..590, 0x601..610.

“bs” Pluto 0 1 1 , Pluto 0 Pluto 1 ( ) Pluto 24…31 2 , 24 25 26..31 Pluto 2…23

1 “Pluto ” 2 “CANopen ”,

co_gw> bs **** BRIDGE MODE **** Bridge filter ENABLE. PLUTO gateway node 0. CAN bus 1 (PLUTO bus) speed is 400 kbits. CAN bus 2 (CANopen) speed is 400 kbits. PLUTO 00 : A20 1 BRIDGE PLUTO 16 : - BRIDGE PLUTO 01 : A20 1 PLUTO 17 : - BRIDGE PLUTO 02 : - BRIDGE PLUTO 18 : - BRIDGE PLUTO 03 : - BRIDGE PLUTO 19 : - BRIDGE PLUTO 04 : - BRIDGE PLUTO 20 : - BRIDGE PLUTO 05 : - BRIDGE PLUTO 21 : - BRIDGE PLUTO 06 : - BRIDGE PLUTO 22 : - BRIDGE PLUTO 07 : - BRIDGE PLUTO 23 : - BRIDGE PLUTO 08 : - BRIDGE PLUTO 24 : A20 2 BRIDGE PLUTO 09 : - BRIDGE PLUTO 25 : A20 2 BRIDGE PLUTO 10 : - BRIDGE PLUTO 26 : B16 2 PLUTO 11 : - BRIDGE PLUTO 27 : B16 2 PLUTO 12 : - BRIDGE PLUTO 28 : B16 2 PLUTO 13 : - BRIDGE PLUTO 29 : B20 2 PLUTO 14 : - BRIDGE PLUTO 30 : B20 2 PLUTO 15 : - BRIDGE PLUTO 31 : B20 2 co_gw>

57 2TLC172009M2009_A

9 Ethernet Ethernet GATE-E1/E2 Ethernet

E

ther

Net

/IP

PR

OFI

NE

T

Mod

bus

TCP

Bin

ary

TCP

EtherNet/IP REF 3 PROFINET REF 2

Modbus TCP REF 5 Binary TCP Binary TCP/IP

( )

:

: “Binary TCP”

9.1 Ethernet RJ45

(cat5e FTP)

:

9.2 DIP

DIP - 3.4 - 9.5.1

58 2TLC172009M2009_A

9.3 Ethernet Ethernet IP IP IP

Ethernet IP 192.168.0.100 IP 255.255.255.0 IP 0.0.0.0 PNIO GATE-E2 9.3.1 IP IP -

10

“h” “bw”

“ipaddr” PNIO “name” (PROFINET)

-

( ) IP 50100, 9.4.5

“h< >” “bw< >”

“ipaddr< >” PNIO “name” (PROFINET)

-

( ) IP 80, 9.4.1

IP IP

: PROFINET PNIO TCP/IP PNIO !

59 2TLC172009M2009_A

9.4

9.4.1

Ethernet

- GATE-E1/E2

PlutoPluto CAN

-

( )

- IP

( )

- MAC Ethernet

9.4.2 Modbus TCP

Modbus TCP REF 5 Modbus TCP 1.0b, REF 5

Modbus TCP D ( 127 ) Modbus TCP Modbus TCP 20

60 2TLC172009M2009_A

9.4.3 EtherNet/IP (EIP)

EtherNet/IP (EIP) REF 3 EtherNet/IP ODVA“CIP” 3.2 “EtherNet/IP CIP” 1.3

EtherNet/IP C ( 100 ) EtherNet/IP

AB I/O Ethernet Ethernet

- Ethernet - PLUTO_GATEWAY_1:C

PLUTO_GATEWAY_1:I PLUTO_GATEWAY_1:O

- IP ( 9.3) - ( “Data – INT”) - - - - RPI -

61 2TLC172009M2009_A

INT

- SINT – INT – DINT

100 4 2 1 101 256 128 64

102 260 130 65

4.1( ), 4.2( Pluto ) 4.3( Pluto ) /

DINT - SINT – INT

100 101 102 100 101 102 0 – 3 - 0 – 3 0 – 1 - 0 – 1

Pluto 0 - 0 – 3 4 – 7 - 0 – 1 2 – 3 Pluto 1 - 4 – 7 8 – 11 - 2 – 3 4 – 5 Pluto 2 - 8 – 11 12 – 15 - 4 – 5 6 – 7 Pluto 3 - 12 – 15 16 – 19 - 6 – 7 8 – 9 Pluto 4 - 16 – 19 20 – 23 - 8 – 9 10 – 11 Pluto 5 - 20 – 23 24 – 27 - 10 – 11 12 – 13 Pluto 6 - 24 – 27 28 – 31 - 12 – 13 14 – 15 Pluto 7 - 28 – 31 32 – 35 - 14 – 15 16 – 17 Pluto 8 - 32 – 35 36 – 39 - 16 – 17 18 – 19 Pluto 9 - 36 – 39 40 – 43 - 18 – 19 20 – 21 Pluto 10 - 40 – 43 44 – 47 - 20 – 21 22 – 23 Pluto 11 - 44 – 47 48 – 51 - 22 – 23 24 – 25 Pluto 12 - 48 – 51 52 – 55 - 24 – 25 26 – 27 Pluto 13 - 52 – 55 56 – 59 - 26 – 27 28 – 29 Pluto 14 - 56 – 59 60 – 63 - 28 – 29 30 – 31 Pluto 15 - 60 – 63 64 – 67 - 30 – 31 32 – 33 Pluto 16 - 64 – 67 68 – 71 - 32 – 33 34 – 35 Pluto 17 - 68 – 71 72 – 75 - 34 – 35 36 – 37 Pluto 18 - 72 – 75 76 – 79 - 36 – 37 38 – 39 Pluto 19 - 76 – 79 80 – 83 - 38 – 39 40 – 41 Pluto 20 - 80 – 83 84 – 87 - 40 – 41 42 – 43 Pluto 21 - 84 – 87 88 – 91 - 42 – 43 44 – 45 Pluto 22 - 88 – 91 92 – 95 - 44 – 45 46 – 47 Pluto 23 - 92 – 95 96 – 99 - 46 – 47 48 – 49 Pluto 24 - 96 – 99 100–103 - 48 – 49 50 – 51 Pluto 25 - 100–103 104–107 - 50 – 51 52 – 53 Pluto 26 - 104–107 108–111 - 52 – 53 54 – 55 Pluto 27 - 108–111 112–115 - 54 – 55 56 – 57 Pluto 28 - 112–115 116–119 - 56 – 57 58 – 59 Pluto 29 - 116–119 120–123 - 58 – 59 60 – 61 Pluto 30 - 120–123 124–127 - 60 – 61 62 – 63 Pluto 31 - 124–127 128–131 - 62 – 63 64 – 65

00 - 128–131 132–135 - 64 – 65 66 – 67 01 - 132–135 136–139 - 66 – 67 68 – 69 02 - 136–139 140–143 - 68 – 69 70 – 71 03 - 140–143 144–147 - 70 – 71 72 – 73

62 2TLC172009M2009_A

- SINT – INT 100 101 102 100 101 102

04 - 144–147 148–151 - 72 – 73 74 – 75 05 - 148–151 152–155 - 74 – 75 76 – 77 06 - 152–155 156–159 - 76 – 77 78 – 79 07 - 156–159 160–163 - 78 – 79 80 – 81 08 - 160–163 164–167 - 80 – 81 82 – 83 09 - 164–167 168–171 - 82 – 83 84 – 85 10 - 168–171 172–175 - 84 – 85 86 – 86 11 - 172–175 176–179 - 86 – 86 88 – 89 12 - 176–179 180–183 - 88 – 89 90 – 91 13 - 180–183 184–187 - 90 – 91 92 – 93 14 - 184–187 188–191 - 92 – 93 94 – 95 15 - 188–191 192–195 - 94 – 95 96 – 97 16 - 192–195 196–199 - 96 – 97 98 – 99 17 - 196–199 200–203 - 98 – 99 100–101 18 - 200–203 204–207 - 100–101 102–103 19 - 204–207 208–211 - 102–103 104–105 20 - 208–211 212–215 - 104–105 106–107 21 - 212–215 216–219 - 106–107 108–109 22 - 216–219 220–223 - 108–109 110–111 23 - 220–223 224–227 - 110–111 112–113 24 - 224–227 228–231 - 112–113 114–115 25 - 228–231 232–235 - 114–115 116–117 26 - 232–235 236–239 - 116–117 118–119 27 - 236–239 240–243 - 118–119 120–121 28 - 240–243 244–247 - 120–121 122–123 29 - 244–247 248–251 - 122–123 124–125 30 - 248–251 252–255 - 124–125 126–127 31 - 252–255 256–259 - 126–127 128–129

INT 16

“ Pluto ” 4.4


Pluto ( ) 112 - 12 - ( Pluto ) 128 0 0 0


130 0 0 0

63 2TLC172009M2009_A

RPI (RPI) 50 ms

PLC / PLC

“ Pluto ” ( 0x10) ( 0x11), 4.4

0x10

64 2TLC172009M2009_A

0x11

/

4.3 9.4.4 PROFINET

PROFINET REF 2

PROFINET TCP/IP PNIO PLCPROFINET

PNIO TCP/IP

9.4.4.1

GSDML (PROFINET GSD ) PLC ( )

E ( 134 )

1 2 Pluto 00 – 07 3 Pluto 08 – 15 4 Pluto 16 – 23 5 Pluto 24 – 31 6 00 – 07 7 08 – 15 8 16 – 23 9 24 – 31 10 Pluto 0 11 Pluto 1 12 Pluto 2 13 Pluto 3 14 15

65 2TLC172009M2009_A

9.4.4.2

PROFINET GSDMLPROFIBUS PROFIBUS PROFINET (

)

- PROFINET IP PNIO

- IP PNIO IP

PNIO 58

- IO 64 ms

- , 9.4.5 ASCII TCP

CR

50100

66 2TLC172009M2009_A

9.4.6 TCP

: !

TCP D Modbus TCP

50200

TCP

1 UINT 2, 3, 4… UINT

0xFFxx XX

0xFF 0x02 0x00 0x03 0x00 0x00 0x00 0x01 0x00 0x11

1 0x02 0xFF02 2 ( ) 0x0003 3 Pluto id 0 0x0000 4 1 0x0001 5 17 (0x11) 0x0011

1 2 3 4 TCP

67 2TLC172009M2009_A

TCP

TCP

Pluto 33

34 35 9.5 GATE-E1 LED 9.5.1

DIP 1 2 LED

SW1

1 2 0 0 Modbus TCP LED 1

Modbus TCP 0 1 EtherNet/IP - 1 0 PROFINET - 1 1 - -

68 2TLC172009M2009_A

9.5.2

“ ” LED

LED Modbus TCP EtherNet/IP PROFINET

-

-

-

/

/ / /

9.5.3

“ ” LED Ethernet

LED Modbus TCP EtherNet/IP PROFINET

- -

- IP -

/

/ / /

9.5.4

LED Ethernet

69 2TLC172009M2009_A

9.6

( 10 ) “bw”

e_gw> bw ----------------------------- IP Address : 192.168.130.212 Subnet Mask : 255.255.255.0 Gateway : 0.0.0.0 MAC Address : 00-40-9D-2B-F6-6C Link Speed : 10 MBit[Half Duplex] Software ver: 01.08 (see w command) ----------------------------- Connection Status LED MS/NS for : EtherNet/IP EtherNet/IP : OPERATIONAL, CONNECTED PROFINET : -, - Modbus/TCP : 0 users ASCII server : 0 users Binary server : 0 users ----------------------------- PLC OUTPUT DATA : Enabled To PLUTO package 0-3 : - - - -, Timeout 0 ms, Update 100 ms. ADDITIONAL DATA CONFIGURATION : Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type | Area Pluto IO-type 00 00 USER:01 | 01 00 USER:02 | 02 00 USER:03 | 03 00 USER:04 04 00 ErrCode | 08 23 ASIsafe ----------------------------- e_gw>

IP

LED “LED MS/NS for:”

“PLC OUTPUT DATA” “Data to Pluto” “100 ms” “ Pluto ” “ ” Pluto

70 2TLC172009M2009_A

10 10.1

Pluto Pluto Manager

57.6 kbits 8

10.2

PC Pluto Manager “ ” Windows Pluto“ ” Pluto

“v” (DeviceNet)

dnet_gw> v ************************************* DeviceNet gateway ************************************* Name : GATE-D2 Vendor id : 950 Device type : 0 Product code : 1000 Serial number: 5009 ************************************* Software ver: 3.0 Software date: 2010-12-12 Software CRC : 0x7ECA ************************************* dnet_gw>

71 2TLC172009M2009_A

“h” (DeviceNet)

dnet_gw> h gw <a> Read gateway SysRegister value i <p.a> Read Input status q <p.a> Read Output status g <p.a> Read Globle mem status m <p.a> Read Memory bit status sm <p.a> Read SysMem bit status r <p.a> Read Register value sr <p.a> Read SysRegister value s <p.a> Read Sequence step t <p.a> Read Timer value sp <p.a> Read SysParameter value to <a.r> Read <To PLUTO> data <area.reg> area <a> Read Pluto IO Data Area <area> <p.a> : [Pluto[.address]] boot Reboot all PLUTO units reset Restart gateway unit rp Restart PLUTO bus rw Restart DeviceNet bs Bus status PLUTO bus bw Bus status gateway bus gs Gateway MACID/baudrate setup (PROG MODE) cs Configuration setup (PROG MODE) fs Filter setup (BRIDGE MODE) def Restore factory setting time Gateway run time [sec] v Gateway version h Help text dnet_gw>

72 2TLC172009M2009_A

11 11.1 GATE-P1/P2 Pluto CAN Pluto 100, 200, 250, 400, 500, 800 and 1000 kbit/s

PROFIBUS RS485 PROFIBUS 9.6, 19.2, 45.45, 93.75, 187.5, 500 kbits and 1.5, 3, 6, 12 Mbits

PROFIBUS DP , DP-V0 PROFIBUS DIP

3 Pluto 9 PROFIBUS

2 24VDC ( ) LED Pluto (Pluto )

PROFIBUS

24 VDC, -15 % +20 % 24V < 100 mA ( � 6 A)

= 22.5 mm, = 101 mm = 119 mm 35 mm DIN

-10 + 55ºC

-25 + 55ºC

40ºC EN 60 204-1 50 % (20ºC 90 %) IP 20 - IEC 60 529

IP 20 - IEC 60 529

73 2TLC172009M2009_A

11.2 GATE-D1/D2 Pluto CAN Pluto 100, 200, 250, 400, 500, 800 and 1000 kbit/s

DeviceNet CAN DeviceNet 125 250 500 kbits

DIP DeviceNet ODVA 2.0 DeviceNet DIP

3 Pluto 5 DeviceNet


DeviceNet MNS

24 VDC, -15 % +20 % 24V < 100 mA ( � 6 A)

= 22.5 mm, = 101 mm = 119 mm 35 mm DIN

-10 + 55ºC

-25 + 55ºC

40ºC EN 60 204-1 50 % (20ºC 90 %) IP 20 - IEC 60 529

IP 20 - IEC 60 529

74 2TLC172009M2009_A

11.3 GATE-C1/C2 Pluto CAN Pluto 100, 200, 250, 400, 500, 800 and 1000 kbit/s

CANopen CAN CANopen 125 250 500 kbits (DIP )

10, 20, 50, 100, 125, 250, 500, 800 and 1000 kbits ( ) CANopen CiA 301 4.02 CANopen DIP

3 Pluto 5 CANopen


CANopen

24 VDC, -15 % +20 % 24V < 100 mA ( � 6 A)

= 22.5 mm, = 101 mm = 119 mm 35 mm DIN

-10 + 55ºC

-25 + 55ºC

40ºC EN 60 204-1 50 % (20ºC 90 %) IP 20 – IEC 60 529

IP 20 – IEC 60 529

75 2TLC172009M2009_A

11.4 GATE-E1/E2 Pluto CAN Pluto 100, 200, 250, 400, 500, 800 and 1000 kbit/s

Ethernet 10/100 Mbit/s

Ethernet Pluto PLC

- EtherNet/IP (EIP) - PROFINET - Modbus TCP - (TCP/IP)

:

IP

- - (TCP/IP)

EtherNet/IP ODVA“CIP 3.2” “EtherNet/IP CIP 1.3” RPI50 ms

PROFINET PNIO 64 ms Modbus TCP Modbus 1.0b ( 20 )

(TCP/IP) Pluto TCP/IP IP (TCP/IP)

IP EtherNet/IP PROFINET Modbus TCP TCP/IP

3 Pluto

Ethernet RJ-45( cat5e FTP) 2 24VDC ( )

LED Pluto (Pluto ) LED Ethernet ( ) LED Ethernet ( )

24 VDC, -15 % +20 %

24V < 150 mA ( � 6 A)

= 35 mm, = 101 mm = 119 mm 35 mm DIN

-10 + 55ºC

-25 + 55ºC

40ºC EN 60 204-1 50 % (20ºC 90 %) IP 20 – IEC 60 529

IP 20 – IEC 60 529

76 2TLC172009M2009_A

1 A:DeviceNet EDS

DeviceNet (ODVA) ODVA DeviceNet DeviceNet

1.1

USINT (8 ) UINT (16 ) UDINT (32 )

( 1 ) (8 )

(16 ) DWORD (32 )

1.2 • ODVA 1 : CIP , 2.0 ©2004 ODVA • ODVA 3 : CIP DeviceNet , 1.0 ©2004 ODVA

77 2TLC172009M2009_A

1.3 (01HEX – 1 )

( 0)

ID DeviceNet

1 UINT 1

1

ID DeviceNet

1 UINT 950DEC 2 UINT 00HEX 3 UINT 1000DEC 4

USINT USINT

2 3

5 6 UDINT

32

7 USINT

Jokab Safety GATE-D1

GATE- D2

=0 =1 0 1 2 Out of Box Out of Box

3 – 15

0EHEX Get_Attribute_Single 05HEX

1.4 (02HEX – 0 )

78 2TLC172009M2009_A

1.5 DeviceNet (03HEX – 1 )

( 0)

ID DeviceNet

1 UINT 2

1

ID DeviceNet

1 Mac ID USINT 63 /1

2 USINT 0 /2

5 Mac ID

USINT

0xFF

0

6 MAC ID BOOL 0 7 BOOL 0 8 MAC ID USINT 63 9 USINT 0

0EHEX Get_Attribute_Single 10HEX Set_Attribute_Single

1 , 37 2 , 37

79 2TLC172009M2009_A

1.6 (04HEX – 5 )

( 0)

ID DeviceNet

1 UINT 2 2 UINT 113

( 100 – 112)

ID DeviceNet

3 USINT[4-132] 0

100 – 4 ( )

0 – 3 0x64, 0x00, 11

101 – 128 ( )

“ 32 – x” “Pluto IO 32 – x”

0 – 3 0x64, 0x01, 0x04 32 – 0

Pluto IO 32 – 0 4 – 7 0x64, 0x02, 0x04 32 – 1

Pluto IO 32 – 1 8 – 11 0x64, 0x03, 0x04 32 – 2

Pluto IO 32 – 2 12 – 15 0x64, 0x04, 0x04 32 – 3

Pluto IO 32 – 3 …

112 – 115 0x64, 0x1D, 0x04 32 – 28 Pluto IO 32 – 028

116 – 119 0x64, 0x1E, 0x04 32 – 29 Pluto IO 32 – 29

120 – 123 0x64, 0x1F, 0x04 32 – 30 Pluto IO 32 – 30

124 – 127 0x64, 0x20, 0x04 32 – 31 Pluto IO 32 – 31

102 – 132 ( )

“ 32 – x” “Pluto IO 32 – x”

0 – 3 0x64, 0x00, 0x0B 4 – 7 0x64, 0x01, 0x04 32 – 0

Pluto IO 32 – 0 8 – 11 0x64, 0x02, 0x04 32 – 1

Pluto IO 32 – 1 12 – 15 0x64, 0x03, 0x04 32 – 2

Pluto IO 32 – 2 16 – 19 0x64, 0x04, 0x04 32 – 3

Pluto IO 32 – 3 …

116 – 119 0x64, 0x1D, 0x04 32 – 28 Pluto IO 32 – 028

120 – 123 0x64, 0x1E, 0x04 32 – 29 Pluto IO 32 – 29

124 – 127 0x64, 0x1F, 0x04 32 – 30 Pluto IO 32 – 30

128 – 132 0x64, 0x20, 0x04 32 – 31 Pluto IO 32 – 31

80 2TLC172009M2009_A

( 112 – 113)

ID DeviceNet

3 USINT[0-24] 0

112 – 0 ( )

N/A N/A

113 – 24 ( Pluto )

0 – 5 0x64, 0x00, 20 Pluto 0 6 – 11 0x64, 0x00, 21 Pluto 1 12 – 17 0x64, 0x00, 22 Pluto 2 18 – 23 0x64, 0x00, 23 Pluto 3


81 2TLC172009M2009_A

1.7 (05HEX – 3 – 8 )

( 0)

ID DeviceNet

1 UINT 1

( 1-2) I/O

ID DeviceNet

1* 2** 1 USINT 0 =

0 = 5 =

0 = 1 =

0 = 4 =

2 USINT 0 1 3 USINT 83HEX 82HEX 4 ID UINT 10xxxxxx011BIN

xxxxxx =

01111xxxxxxBIN

xxxxxx =

5 ID UINT 10xxxxxx100BIN

xxxxxx =

10xxxxxx100BIN

xxxxxx =

6 USINT 21HEX 01HEX 7

UINT 4

8

UINT 4

9

UINT 2500 0 /

12

USINT 4 = 0 = /

13

UINT 0 6

14

USINT

20h 04h 24h 64h 30h 03h

15

UINT 0 6

16

USINT

20h 04h 24h 70h 30h 03h

* 1 ** 2 I/O

82 2TLC172009M2009_A

( 4) /

ID DeviceNet

1 USINT 0 =

1 =

0 = 4 =

0 = 1 =

0 = 4 =

2 USINT 1 1 3 USINT 12HEX 02HEX 4 ID UINT 01101xxxxxxBIN

xxxxxx =

01101xxxxxxBIN

xxxxxx =

5 ID UINT 10xxxxxx010BIN

xxxxxx =

10xxxxxx010BIN

xxxxxx =

6 USINT 01HEX 01HEX 7

UINT 4 4

8

UINT 0 0

9

UINT 0 0 /

12

USINT 0 = 0 = /

13

UINT 6 6

14

USINT

20h 04h 24h 64h 30h 03h

20h 04h 24h 64h 30h 03h

15

UINT 4 4

16

USINT

20h 2Bh 24h 01h 20h 2Bh 24h 01h

83 2TLC172009M2009_A

( 4) /

ID DeviceNet

1 USINT 0 =

1 =

0 = 4 =

0 = 1 =

0 = 4 =

2 USINT 1 1 3 USINT 12HEX 02HEX 4 ID UINT 01101xxxxxxBIN

xxxxxx =

01101xxxxxxBIN

xxxxxx =

5 ID UINT FFFFHEX FFFFHEX 6 USINT 0FHEX 0FHEX 7

UINT 4 4

8

UINT 0 0

9

UINT 0 0 /

12

USINT 0 = 0 = /

13

UINT 0 0

14

USINT

15

UINT 0 0

16

USINT

84 2TLC172009M2009_A

UCMM ( ID 10-255, 5)

ID DeviceNet

1* 1 USINT 0 =

0 = 5 =

2 USINT 0 3 USINT 83HEX 4 ID UINT 5 ID UINT 6 USINT 7 UINT 8 UINT 9 UINT 2500 /

12 USINT 4 = / 13 UINT 0 14 USINT 15 UINT 0 16 USINT


85 2TLC172009M2009_A

1.8 (02HEX – 1 )

( 0)

ID DeviceNet

1 UINT 1

1

ID DeviceNet

1 UINT 16 / 2 USINT 1 / 3 COS UINT 4

0EHEX 10HEX

86 2TLC172009M2009_A

1.9 (64HEX – 32 )

( 0) “ ”, Pluto - Pluto IO “ ”, IO Pluto - Pluto Pluto IO

Pluto IO Pluto IO “ ” PLC “ ”

ID DeviceNet

1 UINT 1 10 DWORD 0 / 11 DWORD 0 12 Pluto 1 UINT[3] 0,0,0 / 13 Pluto 2 UINT[3] 0,0,0 / 14 Pluto 3 UINT[3] 0,0,0 / 15 Pluto 4 UINT[3] 0,0,0 / 16 Pluto

(0 = ; 1 = ) 0 – Pluto 1 1 – Pluto 2 2 – Pluto 3 3 – Pluto 4

0 /

17 Pluto (ms) UINT16 0 / 18 Pluto (ms) 100 / 19 (0-16)

0 = DIP 1 = 0

0 = 1 … 16 = 15

0 /

20 0 = 100 1 = 101

0 = 102 3-255 =

USINT 0 /

21 0 = 112 1 = 113 2-255 =

USINT 0 /

22 INT 4 23 INT 0

Pluto IO ( ), IO 4.3

ID 30 Pluto IO 00, (0-31) 0 / 31 Pluto IO 00, IO 0 / 32 Pluto IO 01, (0-31) 0 / 33 Pluto IO 01, IO 0 / 34 Pluto IO 02, (0-31) 0 / 35 Pluto IO 02, IO 0 / 36 Pluto IO 03, (0-31) 0 / 37 Pluto IO 03, IO 0 / 38 Pluto IO 04, (0-31) 0 / 39 Pluto IO 04, IO 0 / 40 Pluto IO 05, (0-31) 0 / 41 Pluto IO 05, IO 0 / 42 Pluto IO 06, (0-31) 0 / 43 Pluto IO 06, IO 0 / 44 Pluto IO 07, (0-31) 0 / 45 Pluto IO 07, IO 0 / 46 Pluto IO 08, (0-31) 0 / 47 Pluto IO 08, IO 0 /

87 2TLC172009M2009_A

48 Pluto IO 09, (0-31) 0 / 49 Pluto IO 09, IO 0 / 50 Pluto IO 10, (0-31) 0 / 51 Pluto IO 10, IO 0 / 52 Pluto IO 11, (0-31) 0 / 53 Pluto IO 11, IO 0 / 54 Pluto IO 12, (0-31) 0 / 55 Pluto IO 12, IO 0 / 56 Pluto IO 13, (0-31) 0 / 57 Pluto IO 13, IO 0 / 58 Pluto IO 14, (0-31) 0 / 59 Pluto IO 14, IO 0 / 60 Pluto IO 15, (0-31) 0 / 61 Pluto IO 15, IO 0 / 62 Pluto IO 16, (0-31) 0 / 63 Pluto IO 16, IO 0 / 64 Pluto IO 17, (0-31) 0 / 65 Pluto IO 17, IO 0 / 66 Pluto IO 18, (0-31) 0 / 67 Pluto IO 18, IO 0 / 68 Pluto IO 19, (0-31) 0 / 69 Pluto IO 19, IO 0 / 70 Pluto IO 20, (0-31) 0 / 71 Pluto IO 20, IO 0 / 72 Pluto IO 21, (0-31) 0 / 73 Pluto IO 21, IO 0 / 74 Pluto IO 22, (0-31) 0 / 75 Pluto IO 22, IO 0 / 76 Pluto IO 23, (0-31) 0 / 77 Pluto IO 23, IO 0 / 78 Pluto IO 24, (0-31) 0 / 79 Pluto IO 24, IO 0 / 80 Pluto IO 25, (0-31) 0 / 81 Pluto IO 25, IO 0 / 82 Pluto IO 26, (0-31) 0 / 83 Pluto IO 26, IO 0 / 84 Pluto IO 27, (0-31) 0 / 85 Pluto IO 27, IO 0 / 86 Pluto IO 28, (0-31) 0 / 87 Pluto IO 28, IO 0 / 88 Pluto IO 29, (0-31) 0 / 89 Pluto IO 29, IO 0 / 90 Pluto IO 30, IO 0 / 91 Pluto IO 30, (0-31) 0 / 92 Pluto IO 31, IO 0 / 93 Pluto IO 31, (0-31) 0 /

1-32

Pluto ( Pluto + 1)

ID DeviceNet

1 0 2 0 3 0 4 32 DWORD 0

0EHEX 10HEX 32HEX Pluto 33HEX 34HEX

88 2TLC172009M2009_A

Pluto (0x32)

1–32 Pluto 0–31

0 – 1

Pluto 3 14 15

15 14 0 0 (0/1) (0 – 31) 0 1 (0/1) (0 – 1024) | 0x4000 1 0 (uint16) (0 – 300) | 0x8000 1 1 (uint32) (0 – 999) | 0xC000

UINT32 UINT16

0 – 3 UINT32

(0x33)

0 – 1

0 – 3 UINT32

89 2TLC172009M2009_A

(0x34)

0 – 5

0 – 5

90 2TLC172009M2009_A

2 B:CANopen EDS 2.1

0x1000 0x00 N/A UINT32 0

0x1001 0x00 N/A UINT8 0

0x1018 0x00 UINT8 4 0x01 ID UINT32 0x000001B0 0x02 UINT32 1000 0x03 UINT32 1 0x04 UINT32 0xnnnnnnnn

0x1002 MFR 0x00 Pluto 32 UINT32 0x00000000

0x1017 0x00 [ms] UINT16 0 /

0x1400 RPDO 1 0x00 UINT8 2 0x01 PDO COB-ID UINT32 ID + 0x200 /

3

0x02 UINT8 255 /


3 0x02 UINT8 255 /


3 0x02 UINT8 255 /


3 0x02 UINT8 255 /

0x1600 RPDO 1 0x00 UINT8 3 0x01 1 ( , , # ) UINT32 0x62000110 0x02 2 ( , , # ) UINT32 0x62000210 0x03 3 ( , , # ) UINT32 0x62000310




0x1800 TPDO 1 0x00 UINT8 5 0x01 PDO COB-ID UINT32 ID + 0x180 /

4

0x02 UINT8 255 / 0x03 [ms] UINT16 50 / 0x04 UINT8 0

3 Bit 31 (0 = , 1 = RPDO) 4 Bit 31 (0 = , 1 = TPDO)

91 2TLC172009M2009_A

0x05 [ms] UINT16 30000 /

0x1801 TPDO 2 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x280 / 0x02-0x05 TPDO 1

0x1802 TPDO 3 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x380 /

4 0x02-0x05 TPDO 1

0x1803 TPDO 4 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x480 /

4 0x02-0x05 TPDO 1

0x1804 TPDO 5 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x1A0 /

4 0x02-0x05 TPDO 1


4 0x02-0x05 TPDO 1


4 0x02-0x05 TPDO 1


4 0x02-0x05 TPDO 1

0x1808 TPDO 9 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x1C0 /

4 0x02-0x05 TPDO 1

0x1809 TPDO 10 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x2C0 /

4 0x02-0x05 TPDO 1

0x180A TPDO 11 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x3C0 /

4 0x02-0x05 TPDO 1

0x180B TPDO 12 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x4C0 /

4 0x02-0x05 TPDO 1

0x180C TPDO 13 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x1E0 /

4 0x02-0x05 TPDO 1

0x180D TPDO 14 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x2E0 /

4 0x02-0x05 TPDO 1

0x180E TPDO 15 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x3E0 /

92 2TLC172009M2009_A

4 0x02-0x05 TPDO 1

0x180F TPDO 16 0x00 TPDO 1 0x01 PDO COB-ID UINT32 ID + 0x4E0 /

4 0x02-0x05 TPDO 1

0x1A00 TPDO 1 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x60000108 0x02 2 ( , , # ) UINT32 0x60000208 0x03 3 ( , , # ) UINT32 0x60000308 0x04 4 ( , , # ) UINT32 0x60000408 0x05 5 ( , , # ) UINT32 0x60010108 0x06 6 ( , , # ) UINT32 0x60010208 0x07 7 ( , , # ) UINT32 0x60010308 0x08 8 ( , , # ) UINT32 0x60010408





0x1A05 TPDO 6 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x600A0108 0x02 2 ( , , # ) UINT32 0x600A0208 0x03 3 ( , , # ) UINT32 0x600A0308 0x04 4 ( , , # ) UINT32 0x600A0408 0x05 5 ( , , # ) UINT32 0x600B0108 0x06 6 ( , , # ) UINT32 0x600B0208

93 2TLC172009M2009_A

0x07 7 ( , , # ) UINT32 0x600B0308 0x08 8 ( , , # ) UINT32 0x600B0408

0x1A06 TPDO 7 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x600C0108 0x02 2 ( , , # ) UINT32 0x600C0208 0x03 3 ( , , # ) UINT32 0x600C0308 0x04 4 ( , , # ) UINT32 0x600C0408 0x05 5 ( , , # ) UINT32 0x600D0108 0x06 6 ( , , # ) UINT32 0x600D0208 0x07 7 ( , , # ) UINT32 0x600D0308 0x08 8 ( , , # ) UINT32 0x600D0408

0x1A07 TPDO 8 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x600E0108 0x02 2 ( , , # ) UINT32 0x600E0208 0x03 3 ( , , # ) UINT32 0x600E0308 0x04 4 ( , , # ) UINT32 0x600E0408 0x05 5 ( , , # ) UINT32 0x600F0108 0x06 6 ( , , # ) UINT32 0x600F0208 0x07 7 ( , , # ) UINT32 0x600F0308 0x08 8 ( , , # ) UINT32 0x600F0408



0x1A0A TPDO 11 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x60140108 0x02 2 ( , , # ) UINT32 0x60140208 0x03 3 ( , , # ) UINT32 0x60140308 0x04 4 ( , , # ) UINT32 0x60140408 0x05 5 ( , , # ) UINT32 0x60150108 0x06 6 ( , , # ) UINT32 0x60150208 0x07 7 ( , , # ) UINT32 0x60150308 0x08 8 ( , , # ) UINT32 0x60150408

0x1A0B TPDO 12 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x60160108 0x02 2 ( , , # ) UINT32 0x60160208 0x03 3 ( , , # ) UINT32 0x60160308 0x04 4 ( , , # ) UINT32 0x60160408 0x05 5 ( , , # ) UINT32 0x60170108 0x06 6 ( , , # ) UINT32 0x60170208 0x07 7 ( , , # ) UINT32 0x60170308 0x08 8 ( , , # ) UINT32 0x60170408

0x1A0C TPDO 13 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x60180108

94 2TLC172009M2009_A

0x02 2 ( , , # ) UINT32 0x60180208 0x03 3 ( , , # ) UINT32 0x60180308 0x04 4 ( , , # ) UINT32 0x60180408 0x05 5 ( , , # ) UINT32 0x60190108 0x06 6 ( , , # ) UINT32 0x60190208 0x07 7 ( , , # ) UINT32 0x60190308 0x08 8 ( , , # ) UINT32 0x60190408

0x1A0D TPDO 14 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x601A0108 0x02 2 ( , , # ) UINT32 0x601A0208 0x03 3 ( , , # ) UINT32 0x601A0308 0x04 4 ( , , # ) UINT32 0x601A0408 0x05 5 ( , , # ) UINT32 0x601B0108 0x06 6 ( , , # ) UINT32 0x601B0208 0x07 7 ( , , # ) UINT32 0x601B0308 0x08 8 ( , , # ) UINT32 0x601B0408

0x1A0E TPDO 15 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x601C0108 0x02 2 ( , , # ) UINT32 0x601C0208 0x03 3 ( , , # ) UINT32 0x601C0308 0x04 4 ( , , # ) UINT32 0x601C0408 0x05 5 ( , , # ) UINT32 0x601D0108 0x06 6 ( , , # ) UINT32 0x601D0208 0x07 7 ( , , # ) UINT32 0x601D0308 0x08 8 ( , , # ) UINT32 0x601D0408

0x1A0F TPDO 16 0x00 UINT8 8 0x01 1 ( , , # ) UINT32 0x601E0108 0x02 2 ( , , # ) UINT32 0x601E0208 0x03 3 ( , , # ) UINT32 0x601E0308 0x04 4 ( , , # ) UINT32 0x601E0408 0x05 5 ( , , # ) UINT32 0x601F0108 0x06 6 ( , , # ) UINT32 0x601F0208 0x07 7 ( , , # ) UINT32 0x601F0308 0x08 8 ( , , # ) UINT32 0x601F0408

0x2000 0x00 UINT8 7 0x01 PLUTO ID (0-31) UINT8 0 / 0x02 [0] UINT8 0 / 0x03 [1] UINT8 0 / 0x04 [2] UINT8 0 / 0x05 [3] UINT8 0 / 0x06 [4] UINT8 0 / 0x07 [5] UINT8 0 /

0x2001 0x00

: ” ”

UINT8 7

0x01 0x01 : 0x02 : OK, 0x04 : 0x08 :

UINT8 0

0x02 [0] UINT8 0 0x03 [1] UINT8 0 0x04 [2] UINT8 0 0x05 [3] UINT8 0 0x06 [4] UINT8 0 0x07 [5] UINT8 0

0x2002 Pluto 0x00 UINT8 3

95 2TLC172009M2009_A

0x01 “ Pluto 0-3 ” UINT8 0 / 0x02 Pluto (ms) UINT16 0 / 0x03 (ms) UINT8 100 /

0x2003 0x00 UINT8 2 0x01 PLUTO ID (0-31),

0x00FF UINT8 0 /

0x02 0-31 (0-1024)|0x4000 (0-300)|0x8000

(0-999)|0xC000

UINT16 0 /

0x2004 0x00

: ” ”

UINT8 2

0x01 0x01 : 0x02 : OK, 0x04 : 0x08 :

UINT8 0

0x02 UINT32 0

0x2005 TPDO 0x00 UINT8 4 0x01 UINT8 255 / 0x02 [ms] UINT16 50 / 0x03 [ms] UINT16 30000 / 0x04 TPDO

TPDO

/ “TPDO x” “PDO COB-ID”

TPDOTPDO

0: TPDO1 2: TPDO2 3: TPDO3 4: TPDO4 5: TPDO5 6: TPDO6 7: TPDO7 8: TPDO8 9: TPDO9 10: TPDO10 11: TPDO11 12: TPDO12 13: TPDO13 14: TPDO14 15: TPDO15

UINT16 0 /

0x2006 0x00 UINT8 1

0x01 Pluto 0: DIP 1: PLC 0 2: PLC 1 3: PLC 2 4: PLC 3 5: PLC 4 6: PLC 5 7: PLC 6 8: PLC 7 9: PLC 8 10: PLC 9

UNIT8 0 /

96 2TLC172009M2009_A

11: PLC 10 12: PLC 11 13: PLC 12 14: PLC 13 15: PLC 14 16: PLC 15

0x2010 0x00 UINT8 1

0x01 TPDO 0

:

UINT8 0 /

0x2011 TPDO1 0x00 UINT8 2

0X01 0

: Pluto 0 – 31

: IO 0 – 255

0x016F 01 => Pluto 1 6F => 111 =>

UINT16 0 /

0X02 1 UINT16 0 /

0x2012 TPDO2 0x00 UINT8 2 0X01 2 UINT16 0 / 0X02 3 UINT16 0 /








0x201A TPDO10 0x00 UINT8 2 0X01 18 UINT16 0 / 0X02 19 UINT16 0 /

0x201B TPDO11 0x00 UINT8 2 0X01 20 UINT16 0 / 0X02 21 UINT16 0 /

0x201C TPDO12 0x00 UINT8 2

97 2TLC172009M2009_A

0X01 22 UINT16 0 / 0X02 23 UINT16 0 /

0x201D TPDO13 0x00 UINT8 2 0X01 24 UINT16 0 / 0X02 25 UINT16 0 /

0x201E TPDO14 0x00 UINT8 2 0X01 26 UINT16 0 / 0X02 27 UINT16 0 /

0x201F TPDO15 0x00 UINT8 2 0X01 28 UINT16 0 / 0X02 29 UINT16 0 /


0x6000 Pluto 0 / 0 0x00 UINT8 4 0x01 Pluto 0-7 / 0-7 UINT8 0 0x02 Pluto 8-15 / 8-15 UINT8 0 0x03 Pluto 16-23 / 16-23 UINT8 0

0x04 Pluto 24-31 / 24-31 UINT8 0

0x6001 Pluto 1 / 1 0x00 – 0x04 Pluto 0 / 0 0x6002 Pluto 2 / 2 0x00 – 0x04 Pluto 0 / 0 0x6003 Pluto 3 / 3 0x00 – 0x04 Pluto 0 / 0 0x6004 Pluto 4 / 4 0x00 – 0x04 Pluto 0 / 0 0x6005 Pluto 5 / 5 0x00 – 0x04 Pluto 0 / 0 0x6006 Pluto 6 / 6 0x00 – 0x04 Pluto 0 / 0 0x6007 Pluto 7 / 7 0x00 – 0x04 Pluto 0 / 0 0x6008 Pluto 8 / 8 0x00 – 0x04 Pluto 0 / 0 0x6009 Pluto 9 / 9 0x00 – 0x04 Pluto 0 / 0 0x600A Pluto 10 / 10 0x00 – 0x04 Pluto 0 / 0 0x600B Pluto 11 / 11 0x00 – 0x04 Pluto 0 / 0 0x600C Pluto 12 / 12 0x00 – 0x04 Pluto 0 / 0 0x600D Pluto 13 / 13 0x00 – 0x04 Pluto 0 / 0 0x600E Pluto 14 / 14 0x00 – 0x04 Pluto 0 / 0 0x600F Pluto 15 / 15 0x00 – 0x04 Pluto 0 / 0 0x6010 Pluto 16 / 16 0x00 – 0x04 Pluto 0 / 0 0x6011 Pluto 17 / 17 0x00 – 0x04 Pluto 0 / 0 0x6012 Pluto 18 / 18 0x00 – 0x04 Pluto 0 / 0 0x6013 Pluto 19 / 19 0x00 – 0x04 Pluto 0 / 0 0x6014 Pluto 20 / 20 0x00 – 0x04 Pluto 0 / 0 0x6015 Pluto 21 / 21 0x00 – 0x04 Pluto 0 / 0 0x6016 Pluto 22 / 22 0x00 – 0x04 Pluto 0 / 0 0x6017 Pluto 23 / 23 0x00 – 0x04 Pluto 0 / 0 0x6018 Pluto 24 / 24 0x00 – 0x04 Pluto 0 / 0 0x6019 Pluto 25 / 25 0x00 – 0x04 Pluto 0 / 0 0x601A Pluto 26 / 26 0x00 – 0x04 Pluto 0 / 0 0x601B Pluto 27 / 27 0x00 – 0x04 Pluto 0 / 0 0x601C Pluto 28 / 28 0x00 – 0x04 Pluto 0 / 0 0x601D Pluto 29 / 29 0x00 – 0x04 Pluto 0 / 0 0x601E Pluto 30 / 30 0x00 – 0x04 Pluto 0 / 0 0x601F Pluto 31 / 31 0x00 – 0x04 Pluto 0 / 0

0X6200 Pluto 0 0x00 UINT8 3

0x01 Pluto 0-16 UINT16 0 : 0x02 Pluto 0 UINT16 0 : 0x03 Pluto 1 UINT16 0 :

0X6201 Pluto 1 0x00 UINT8 3 0x01 Pluto 0-16 UINT16 0 : 0x02 Pluto 0 UINT16 0 :

98 2TLC172009M2009_A

0x03 Pluto 1 UINT16 0 :

0X6202 Pluto 2 0x00 UINT8 3 0x01 Pluto 0-16 UINT16 0 : 0x02 Pluto 0 UINT16 0 : 0x03 Pluto 1 UINT16 0 :

0X6203 Pluto 3 0x00 UINT8 3 0x01 Pluto 0-16 UINT16 0 : 0x02 Pluto 0 UINT16 0 : 0x03 Pluto 1 UINT16 0 :

99 2TLC172009M2009_A

2.2 CAN ID’s

11- Can (COB ID)

0x000 NMT ( ) 0x080

0x080 + ID 0x100

0x580 + ID SDO 0x600 + ID SDO 0x700 + ID NMT /

Tx PDO 0x180 + ID Tx PDO 1 – Pluto ( 0-1) 0x280 + ID Tx PDO 2 – Pluto ( 2-3) 0x380 + ID Tx PDO 3 – Pluto ( 4-5) 0x480 + ID Tx PDO 4 – Pluto ( 6-7) 0x1A0 + ID Tx PDO 5 – Pluto ( 8-9) 0x2A0 + ID Tx PDO 6 – Pluto ( 10-11) 0x3A0 + ID Tx PDO 7 – Pluto ( 12-13) 0x4A0 + ID Tx PDO 8 – Pluto ( 14-15) 0x1C0 + ID Tx PDO 9 – Pluto ( 16-17) 0x2C0 + ID Tx PDO 10 – Pluto ( 18-19) 0x3C0 + ID Tx PDO 11 – Pluto ( 20-21) 0x4C0 + ID Tx PDO 12 – Pluto ( 22-23) 0x1E0 + ID Tx PDO 13 – Pluto ( 24-25) 0x2E0 + ID Tx PDO 14 – Pluto ( 26-27) 0x3E0 + ID Tx PDO 15 – Pluto ( 28-29) 0x4E0 + ID Tx PDO 16 – Pluto ( 30-31)

Rx PDO 0x200 + ID Rx PDO 1– Pluto 0 0x300 + ID Rx PDO 2 – Pluto 1 0x400 + ID Rx PDO 3– Pluto 2 0x500 + ID Rx PDO 4 – Pluto 3

100 2TLC172009M2009_A

3 C EtherNet/IP

DeviceNet (ODVA)

3.1

USINT (8 ) UINT (16 ) UDINT (32 )

( 1 ) (8 )

(16 ) DWORD (32 )

101 2TLC172009M2009_A

3.2 (01HEX – 1 )

ID 1 UINT 1

ID

1 UINT 950 2 UINT 0 3 UINT 1100 4

USINT USINT

2 5

5 6 UDINT

32

7 USINT JOKAB SAFETY GATE-E1

GATE-E2

=0 =1

0 1 2 Out of Box Out of Box

3 – 15

0EHEX Get_Attribute_Single 05HEX

3.3 (02HEX)

102 2TLC172009M2009_A

3.4 (04HEX – 5 )

( 0)

ID 1 UINT 2 2 UINT 113

( 100 – 102)

ID

3 USINT [4-132]

0

100 – 4 ( )

6.5.1

0 – 3 0x64, 0x00, 0B

101 – 256 ( )

6.5.1

0 – 3 0x64, 0x01, 0x04 32 – 0 4 – 7 0x64, 0x02, 0x04 32 – 1 … 120 – 123 0x64, 0x1F, 0x04 32 – 30 124 – 127 0x64, 0x20, 0x04 32 – 31 128 – 131 0x64, 0x01, 0x0A 00 132 – 135 0x64, 0x02, 0x0A 01 … 248 – 251 0x64, 0x1F, 0x0A 30 252 – 255 0x64, 0x20, 0x0A 31

103 2TLC172009M2009_A

102 – 260 ( )

6.5.1

0 – 3 0x64, 0x00, 0x0B 4 – 7 0x64, 0x01, 0x04 32 – 0 8 – 11 0x64, 0x02, 0x04 32 – 1 … 124 – 127 0x64, 0x1F, 0x04 32 – 30 128 – 131 0x64, 0x20, 0x04 32 – 31 132 – 135 0x64, 0x01, 0x0A 00 136 – 139 0x64, 0x02, 0x0A 01 … 252 – 255 0x64, 0x1F, 0x0A 30 256 – 259 0x64, 0x20, 0x0A 31

112

ID

3 USINT [0-24]

0

112 – 24 ( Pluto )

6.5.2

0 – 5 0x64, 0x00, 0x0C Pluto 0 6 – 11 0x64, 0x00, 0x0D Pluto 1 12 – 17 0x64, 0x00, 0x0E Pluto 2 18 – 23 0x64, 0x00, 0x0F Pluto 3

128 ( – )

129 ( – )

130

I/O 0 – 400

104 2TLC172009M2009_A


3.5 (06HEX)

105 2TLC172009M2009_A

3.6 TCP (F5HEX – 1 )

ID 1 UINT 1

ID

1 5 DWORD 1 2 6 DWORD 0 3 7 DWORD 0 4 8

UINT

2 0x20F6 0x2401

5 9

IP 2

UDINT UDINT UDINT UDINT UDINT UINT

0 0 0 0 0 0 0

6 10

UINT

0 0

0EHEX Get_Attribute_Single 10HEX Set_Attribute_Single 01HEX Get_Attribute_All

5 ODVA“ 2 EtherNet/IP CIP ” 5-4.2.2.3






106 2TLC172009M2009_A

3.7 Ethernet (F6HEX – 1 )

ID 1 UINT 1

ID

1 11 UDINT 100 2 12 DWORD 3 3 13 USINT

[6] 0

0EHEX Get_Attribute_Single 01HEX Get_Attribute_All

11

ODVA“ 2 EtherNet/IP CIP ” 5-4.2.2.2 12

ODVA“ 2 EtherNet/IP CIP ” 5-4.2.2.2 13

ODVA“ 2 EtherNet/IP CIP ” 5-4.2.2.3

107 2TLC172009M2009_A

3.8 (64HEX – 32 )

( 0) “ Pluto ” 4.4

ID 1 UINT 1

10

DWORD 0 /

11 DWORD 0 12 Pluto 1 UINT[3] 0,0,0 / 13 Pluto 2 UINT[3] 0,0,0 / 14 Pluto 3 UINT[3] 0,0,0 / 15 Pluto 4 UINT[3] 0,0,0 / 16 Pluto

(0 = ; 1 = ) 0 – Pluto 1 1 – Pluto 2 2 – Pluto 3 3 – Pluto 4

0 /

17 Pluto (ms) 0 =

� 1000 ms

UINT16 0 /

18 Pluto(ms) 4 0, 4, 8, 16… 252

UINT8 100 /

19 (0-16) 0 = DIP 1 = 0 2 = 1 … 16 = 15

UINT8 0 /

4.3 ID

32 00, (0-31) 0 / 33 00, IO 0 / 34 01, (0-31) 0 / 35 01, IO 0 / 36 02, (0-31) 0 / 37 02, IO 0 / 38 03, (0-31) 0 / 39 03, IO 0 / 40 04, (0-31) 0 / 41 04, IO 0 / 42 05, (0-31) 0 / 43 05, IO 0 / 44 06, (0-31) 0 / 45 06, IO 0 / 46 07, (0-31) 0 / 47 07, IO 0 /

108 2TLC172009M2009_A

48 08, (0-31) 0 / 49 08, IO 0 / 50 09, (0-31) 0 / 51 09, IO 0 / 52 10, (0-31) 0 / 53 10, IO 0 / 54 11, (0-31) 0 / 55 11, IO 0 / 56 12, (0-31) 0 / 57 12, IO 0 / 58 13, (0-31) 0 / 59 13, IO 0 / 60 14, (0-31) 0 / 61 14, IO 0 / 62 15, (0-31) 0 / 63 15, IO 0 / 64 16, (0-31) 0 / 65 16, IO 0 / 66 17, (0-31) 0 / 67 17, IO 0 / 68 18, (0-31) 0 / 69 18, IO 0 / 70 19, (0-31) 0 / 71 19, IO 0 / 72 20, (0-31) 0 / 73 20, IO 0 / 74 21, (0-31) 0 / 75 21, IO 0 / 76 22, (0-31) 0 / 77 22, IO 0 / 78 23, (0-31) 0 / 79 23, IO 0 / 80 24, (0-31) 0 / 81 24, IO 0 / 82 25, (0-31) 0 / 83 25, IO 0 / 84 26, (0-31) 0 / 85 26, IO 0 / 86 27, (0-31) 0 / 87 27, IO 0 / 88 28, (0-31) 0 / 89 28, IO 0 / 90 29, (0-31) 0 / 91 29, IO 0 / 92 30, (0-31) 0 / 93 30, IO 0 / 94 31, (0-31) 0 / 95 31, IO 0 /

109 2TLC172009M2009_A

1-32

1–32 Pluto 0–31

ID 1 0 2 0 3 0 4 32 DWORD 0

10 32 DWORD 0

0EHEX 10HEX 32HEX Pluto 33HEX 34HEX

3.8.1 0x32

Pluto 1–32 Pluto 0–31

0 – 1 UINT16,

Pluto 5.4.3.4 Pluto 3 14 15

15 14 0 0 (0/1) (0 – 31) 0 1 (0/1) (0 – 1024) | 0x4000 1 0 (uint16) (0 – 300) | 0x8000 1 1 (uint32) (0 – 999) | 0xC000

UINT32 UINT16

UINT32

0 – 3 UINT32,

110 2TLC172009M2009_A

3.8.2 0x33

(“gw”)

0 – 1 UINT16,

UINT32

0 – 3 UINT32, 3.8.3 0x34

111 2TLC172009M2009_A

3.9 PCCC (67HEX – 1 )

4BHEX PCCC

PCCC ( 4BHEX) AB/ RA “ PCCC ” PLC5E SLC 5/05 PLC5E AB/RA

PCCC PLCEtherNet/IP ,

PCCC ( )

Modbus Modbus

PCCC

ModbusPCCC

Pluto 33 133 2 UDINT Pluto 33 133 4 PLUTO 00 UDINT Pluto 33 133 6 PLUTO 01 UDINT Pluto 33 133 8 PLUTO 02 UDINT Pluto 33 133 10 PLUTO 03 UDINT Pluto 33 133 12 PLUTO 04 UDINT Pluto 33 133 14 PLUTO 05 UDINT Pluto 33 133 16 PLUTO 06 UDINT Pluto 33 133 18 PLUTO 07 UDINT Pluto 33 133 20 PLUTO 08 UDINT Pluto 33 133 22 PLUTO 09 UDINT Pluto 33 133 24 PLUTO 10 UDINT Pluto 33 133 26 PLUTO 11 UDINT Pluto 33 133 28 PLUTO 12 UDINT Pluto 33 133 30 PLUTO 13 UDINT Pluto 33 133 32 PLUTO 14 UDINT Pluto 33 133 34 PLUTO 15 UDINT Pluto 33 133 36 PLUTO 16 UDINT Pluto 33 133 38 PLUTO 17 UDINT Pluto 33 133 40 PLUTO 18 UDINT Pluto 33 133 42 PLUTO 19 UDINT Pluto 33 133 44 PLUTO 20 UDINT

112 2TLC172009M2009_A

Pluto 33 133 46 PLUTO 21 UDINT Pluto 33 133 48 PLUTO 22 UDINT Pluto 33 133 50 PLUTO 23 UDINT Pluto 33 133 52 PLUTO 24 UDINT Pluto 33 133 54 PLUTO 25 UDINT Pluto 33 133 56 PLUTO 26 UDINT Pluto 33 133 58 PLUTO 27 UDINT Pluto 33 133 60 PLUTO 28 UDINT Pluto 33 133 62 PLUTO 29 UDINT Pluto 33 133 64 PLUTO 30 UDINT Pluto 33 133 66 PLUTO 31 UDINT Pluto 33 133 68 00 UDINT Pluto 33 133 70 01 UDINT Pluto 33 133 72 02 UDINT Pluto 33 133 74 03 UDINT Pluto 33 133 76 04 UDINT Pluto 33 133 78 05 UDINT Pluto 33 133 80 06 UDINT Pluto 33 133 82 07 UDINT Pluto 33 133 84 08 UDINT Pluto 33 133 86 09 UDINT Pluto 33 133 88 10 UDINT Pluto 33 133 90 11 UDINT Pluto 33 133 92 12 UDINT Pluto 33 133 94 13 UDINT Pluto 33 133 96 14 UDINT Pluto 33 133 98 15 UDINT Pluto 33 133 100 16 UDINT Pluto 33 133 102 17 UDINT Pluto 33 133 104 18 UDINT Pluto 33 133 106 19 UDINT Pluto 33 133 108 20 UDINT Pluto 33 133 110 21 UDINT Pluto 33 133 112 22 UDINT Pluto 33 133 114 23 UDINT Pluto 33 133 116 24 UDINT Pluto 33 133 118 25 UDINT Pluto 33 133 120 26 UDINT Pluto 33 133 122 27 UDINT Pluto 33 133 124 28 UDINT Pluto 33 133 126 29 UDINT Pluto 33 133 128 30 UDINT Pluto 33 133 130 31 UDINT

113 2TLC172009M2009_A

Modbus Modbus

PCCC

ModbusPCCC

34 134 2 PLUTO UINT 34 134 3 UINT 34 134 4 UINT 34 134 5 UINT 34 134 6 MSW UINT 34 134 7 LSW UINT

Modbus Modbus

PCCC

ModbusPCCC

35 135 2 PLUTO UINT 35 135 3 UINT 35 135 4 UINT 35 135 5 UINT 35 135 6 UINT

Modbus Modbus

PCCC

ModbusPCCC

36 136 2 UINT 36 136 3 Pluto UINT

36 136 4 UINT 36 136 5 Pluto UINT

36 136 6 UINT 36 136 7 UDINT

(MSW)

36 136 8 UDINT

(LSW)

36 136 9 UINT

36 136 10 00 UINT

36 136 11 01 UINT

36 136 12 02 UINT

36 136 13 03 UINT

36 136 14 04 UINT

36 136 15 05 UINT

36 136 16 06 UINT

114 2TLC172009M2009_A

36 136 17 07 UINT

36 136 18 08 UINT

36 136 19 09 UINT

36 136 20 10 UINT

36 136 21 11 UINT

36 136 22 12 UINT

36 136 23 13 UINT

36 136 24 14 UINT

36 136 25 15 UINT

36 136 26 16 UINT

36 136 27 17 UINT

36 136 28 18 UINT

36 136 29 19 UINT

36 136 30 20 UINT

36 136 31 21 UINT

36 136 32 22 UINT

36 136 33 23 UINT

36 136 34 24 UINT

36 136 35 25 UINT

36 136 36 26 UINT

36 136 37 27 UINT

36 136 38 28 UINT

36 136 39 29 UINT

36 136 40 30 UINT

36 136 41 31 UINT

115 2TLC172009M2009_A

Modbus Modbus

PCCC

ModbusPCCC

CPU 62 162 2 UINT

CPU 62 162 3 UINT

CPU 62 162 4 UINT

CPU 62 162 5 UINT

CPU 62 162

6 UDINT (MSW)

CPU 62 162

7 UDINT (LSW)

CPU 62 162 8 Pluto UINT

CPU 62 162 9 Pluto UINT

Modbus Modbus

PCCC

ModbusPCCC

TCP 64 164 2 UINT

TCP 64 164 3 UINT

TCP 64 164 … UINT

Modbus Modbus

PCCC

ModbusPCCC

65 165

116 2TLC172009M2009_A

PCCC ( / )

Modbus Modbus

PCCC

ModbusPCCC

Pluto 1 101 1 UINT Pluto 1 101 2 UINT Pluto 1 101 3 0, UINT Pluto 1 101 4 0/ 0 UINT Pluto 1 101 5 0/ 1 UINT Pluto 1 101 6 1, UINT Pluto 1 101 7 1/ 0 UINT Pluto 1 101 8 1/ 1 UINT Pluto 1 101 9 2, UINT Pluto 1 101 10 2/ 0 UINT Pluto 1 101 11 2/ 1 UINT Pluto 1 101 12 3, UINT Pluto 1 101 13 3/ 0 UINT Pluto 1 101 14 3/ 1 UINT

Modbus Modbus

PCCC

ModbusPCCC

2 102 1 UINT 2 102 2 PLUTO UINT 2 102 3 UINT 2 102 4 UINT

Modbus Modbus

PCCC

ModbusPCCC

3 103 1 UINT 3 103 2 PLUTO UINT 3 103 3 UINT 3 103 4 UINT 3 103 5 UINT

Modbus Modbus

PCCC

Modbus

PCCC

4 104 1 UINT 4 104 2 Pluto UINT

4 104 3 Pluto UINT 4 104 4 UDINT

(MSW) 4 104 5 UDINT

(LSW) 4 104 6 00 UINT

117 2TLC172009M2009_A

4 104 7 01 UINT 4 104 8 02 UINT 4 104 9 03 UINT 4 104 10 04 UINT 4 104 11 05 UINT 4 104 12 06 UINT 4 104 13 07 UINT 4 104 14 08 UINT 4 104 15 09 UINT 4 104 16 10 UINT 4 104 17 11 UINT 4 104 18 12 UINT 4 104 19 13 UINT 4 104 20 14 UINT 4 104 21 15 UINT 4 104 22 16 UINT 4 104 23 17 UINT 4 104 24 18 UINT 4 104 25 19 UINT 4 104 26 20 UINT 4 104 27 21 UINT 4 104 28 22 UINT 4 104 29 23 UINT 4 104 30 24 UINT 4 104 31 25 UINT 4 104 32 26 UINT 4 104 33 27 UINT 4 104 34 28 UINT 4 104 35 29 UINT 4 104 36 30 UINT 4 104 37 31 UINT 4 104 38 Pluto

(ms) UINT

4 104 39 Pluto PROFINET

UINT

4 104 40 / PROFINET

UNIT

4 104 41 / PROFINET

UINT

4 104 42 UINT

Modbus Modbus

PCCC

ModbusPCCC

CPU

30 130 1 UINT

CPU

30 130 2 Modbus/TCP UINT

30 130 3 EtherNet/IP UINT

118 2TLC172009M2009_A

CPU

CPU 30 130 4 PROFINET UINT

CPU

30 130 5 TCP ASCII UINT

CPU

30 130 6 TCP UINT

CPU

30 130 7 LED UINT

CPU

30 130 8 Profinet Hz UINT

Modbus Modbus

PCCC ModbusPCCC

TCP ASCII 32 132 1 UINT [>0] TCP ASCII 32 132 2 UINT TCP ASCII 32 132 3 UINT TCP ASCII 32 132 … UINT

119 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus PCCC

Pluto 33 133 1 UINT

Pluto 33 133 2 MSW

UINT

Pluto 33 133 3 LSW

UINT

Pluto 33 133 4 Pluto 00 MSW UINT

Pluto 33 133 5 Pluto 00 LSW UINT























120 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus PCCC




























121 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus PCCC














Pluto 33 133 68 00 MSW

UINT

Pluto 33 133 69 00 LSW

UINT

Pluto 33 133 60 01 MSW

UINT

Pluto 33 133 71 01 LSW

UINT

Pluto 33 133 72 02 MSW

UINT

Pluto 33 133 73 02 LSW

UINT

Pluto 33 133 74 03 MSW

UINT

Pluto 33 133 75 03 LSW

UINT

Pluto 33 133 76 04 MSW

UINT

Pluto 33 133 77 04 LSW

UINT

Pluto 33 133 78 05 MSW

UINT

Pluto 33 133 79 05 LSW

UINT

Pluto 33 133 80 06 MSW

UINT

122 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus PCCC

Pluto 33 133 81 06 LSW

UINT

Pluto 33 133 82 07 MSW

UINT

Pluto 33 133 83 07 LSW

UINT

Pluto 33 133 84 08 MSW

UINT

Pluto 33 133 85 08 LSW

UINT

Pluto 33 133 86 09 MSW

UINT

Pluto 33 133 87 09 LSW

UINT

Pluto 33 133 88 10 MSW

UINT

Pluto 33 133 89 10 LSW

UINT

Pluto 33 133 90 11 MSW

UINT

Pluto 33 133 91 11 LSW

UINT

Pluto 33 133 92 12 MSW

UINT

Pluto 33 133 93 12 LSW

UINT

Pluto 33 133 94 13 MSW

UINT

Pluto 33 133 95 13 LSW

UINT

Pluto 33 133 96 14 MSW

UINT

Pluto 33 133 97 14 LSW

UINT

Pluto 33 133 98 15 MSW

UINT

Pluto 33 133 99 15 LSW

UINT

Pluto 33 133 100 16 MSW

UINT

Pluto 33 133 101 16 LSW

UINT

Pluto 33 133 102 17 MSW

UINT

Pluto 33 133 103 17 LSW

UINT

Pluto 33 133 104 18 MSW

UINT

Pluto 33 133 105 18 LSW

UINT

123 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus PCCC

Pluto 33 133 106 19 MSW

UINT

Pluto 33 133 107 19 LSW

UINT

Pluto 33 133 108 20 MSW

UINT

Pluto 33 133 109 20 LSW

UINT

Pluto 33 133 110 21 MSW

UINT

Pluto 33 133 111 21 LSW

UINT

Pluto 33 133 112 22 MSW

UINT

Pluto 33 133 113 22 LSW

UINT

Pluto 33 133 114 23 MSW

UINT

Pluto 33 133 115 23 LSW

UINT

Pluto 33 133 116 24 MSW

UINT

Pluto 33 133 117 24 LSW

UINT

Pluto 33 133 118 25 MSW

UINT

Pluto 33 133 119 25 LSW

UINT

Pluto 33 133 120 26 MSW

UINT

Pluto 33 133 121 26 LSW

UINT

Pluto 33 133 122 27 MSW

UINT

Pluto 33 133 123 27 LSW

UINT

Pluto 33 133 124 28 MSW

UINT

Pluto 33 133 125 28 LSW

UINT

Pluto 33 133 126 29 MSW

UINT

Pluto 33 133 127 29 LSW

UINT

Pluto 33 133 128 30 MSW

UINT

Pluto 33 133 129 30 LSW

UINT

Pluto 33 133 130 31 MSW

UINT

124 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus PCCC

Pluto 33 133 131 31 LSW

UINT

Modbus Modbus

PCCC

Modbus PCCC

34 134 1 UINT 34 134 2 Pluto UINT 34 134 3 UINT 34 134 4 UINT 34 134 5 UINT 34 134 6 MSW UINT 34 134 7 LSW UINT

Modbus Modbus

PCCC

ModbusPCCC

35 135 1 UINT 35 135 2 Pluto UINT 35 135 3 UINT 35 135 4 UINT 35 135 5 UINT 35 135 6 UINT

Modbus Modbus

PCCC

Modbus

PCCC

36 136 1 UINT 36 136 2 UINT 36 136 3 Pluto UINT 36 136 4 UINT 36 136 5 Pluto UINT 36 136 6 UINT 36 136 7 UDINT (MSW) 36 136 8 UDINT (LSW) 36 136 9 UINT 36 136 10 00 UINT 36 136 11 01 UINT 36 136 12 02 UINT 36 136 13 03 UINT 36 136 14 04 UINT 36 136 15 05 UINT 36 136 16 06 UINT 36 136 17 07 UINT 36 136 18 08 UINT 36 136 19 09 UINT 36 136 20 10 UINT

125 2TLC172009M2009_A

36 136 21 11 UINT 36 136 22 12 UINT 36 136 23 13 UINT 36 136 24 14 UINT 36 136 25 15 UINT 36 136 26 16 UINT 36 136 27 17 UINT 36 136 28 18 UINT 36 136 29 19 UINT 36 136 30 20 UINT 36 136 31 21 UINT 36 136 32 22 UINT 36 136 33 23 UINT 36 136 34 24 UINT 36 136 35 25 UINT 36 136 36 26 UINT 36 136 37 27 UINT 36 136 38 28 UINT 36 136 39 29 UINT 36 136 40 30 UINT 36 136 41 31 UINT 36 136 42 UINT 36 136 43 Pluto UINT 36 136 44 UINT 36 136 45 Pluto UINT 36 136 46 UINT 36 136 47 / UINT 36 136 48 UINT 36 136 49 / UINT 36 136 50 UINT

Modbus Modbus

PCCC

Modbus

PCCC

CPU 62 162 1 UINT CPU 62 162 2 UINT CPU 62 162 3 UINT CPU 62 162 4 UINT CPU 62 162 5 UINT CPU 62 162 6 UDINT (MSW) CPU 62 162 7 UDINT (LSW) CPU 62 162 8 Pluto UINT CPU 62 162 9 Pluto UINT CPU 62 162 10 UINT CPU 62 162 11 UINT CPU 62 162 12 UINT CPU 62 162 13 UINT CPU 62 162 14 UINT

126 2TLC172009M2009_A

Modbus Modbus

PCCC

Modbus

PCCC

CPU 62 162 15 UINT CPU 62 162 16 UINT

Modbus Modbus

PCCC

ModbusPCCC

TCP 64 164 1 UINT [>0] TCP 64 164 2 UINT TCP 64 164 3 UINT TCP 64 164 … UINT

127 2TLC172009M2009_A

4 D: Modbus TCP Modbus TCP 502

“ ” “ ”

1 (0x01) Pluto / 2 (0x02) / 3 (0x03) / 4 (0x04) 33 (0x21) Pluto 34 (0x22) / 35 (0x23) /

:

Modbus TCP

03 (0x03) 16 (0x10)

4.1 Pluto Modbus TCP 33, (0x21), Pluto

: 100 !

/ 1 66 Pluto 67 130

+ 0 + 1 1 UDINT MSW LSW 3 PLUTO 00 UDINT MSW LSW 5 PLUTO 01 UDINT MSW LSW 7 PLUTO 02 UDINT MSW LSW 9 PLUTO 03 UDINT MSW LSW 11 PLUTO 04 UDINT MSW LSW 13 PLUTO 05 UDINT MSW LSW 15 PLUTO 06 UDINT MSW LSW 17 PLUTO 07 UDINT MSW LSW 19 PLUTO 08 UDINT MSW LSW 21 PLUTO 09 UDINT MSW LSW 23 PLUTO 10 UDINT MSW LSW 25 PLUTO 11 UDINT MSW LSW 27 PLUTO 12 UDINT MSW LSW 29 PLUTO 13 UDINT MSW LSW 31 PLUTO 14 UDINT MSW LSW 33 PLUTO 15 UDINT MSW LSW 35 PLUTO 16 UDINT MSW LSW 37 PLUTO 17 UDINT MSW LSW 39 PLUTO 18 UDINT MSW LSW 41 PLUTO 19 UDINT MSW LSW 43 PLUTO 20 UDINT MSW LSW

128 2TLC172009M2009_A

45 PLUTO 21 UDINT MSW LSW 47 PLUTO 22 UDINT MSW LSW 49 PLUTO 23 UDINT MSW LSW 51 PLUTO 24 UDINT MSW LSW 53 PLUTO 25 UDINT MSW LSW 55 PLUTO 26 UDINT MSW LSW 57 PLUTO 27 UDINT MSW LSW 59 PLUTO 28 UDINT MSW LSW 61 PLUTO 29 UDINT MSW LSW 63 PLUTO 30 UDINT MSW LSW 65 PLUTO 31 UDINT MSW LSW 67 00 UDINT MSW LSW 69 01 UDINT MSW LSW 71 02 UDINT MSW LSW 73 03 UDINT MSW LSW 75 04 UDINT MSW LSW 77 05 UDINT MSW LSW 79 06 UDINT MSW LSW 81 07 UDINT MSW LSW 83 08 UDINT MSW LSW 85 09 UDINT MSW LSW 87 10 UDINT MSW LSW 89 11 UDINT MSW LSW 91 12 UDINT MSW LSW 93 13 UDINT MSW LSW 95 14 UDINT MSW LSW 97 15 UDINT MSW LSW 99 16 UDINT MSW LSW 101 17 UDINT MSW LSW 103 18 UDINT MSW LSW 105 19 UDINT MSW LSW 107 20 UDINT MSW LSW 109 21 UDINT MSW LSW 111 22 UDINT MSW LSW 113 23 UDINT MSW LSW 115 24 UDINT MSW LSW 117 25 UDINT MSW LSW 119 26 UDINT MSW LSW 121 27 UDINT MSW LSW 123 28 UDINT MSW LSW 125 29 UDINT MSW LSW 127 30 UDINT MSW LSW 129 31 UDINT MSW LSW

UDINT 4

UDINT

MSW LSW

4 3 1 0

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

129 2TLC172009M2009_A

4.2 Pluto Modbus TCP 1, (0x01), / Pluto

0 [13, 0x000D] UINT 1

(0= , 1= ) - 0, 0 - 1, 1 - 2, 2 - 3, 3

UINT

2 0, UINT 3 0/ 0 UINT 4 0/ 1 UINT 5 1, UINT 6 1/ 0 UINT 7 1/ 1 UINT 8 2, UINT 9 2/ 0 UINT 10 2/ 1 UINT 11 3, UINT 12 3/ 0 UINT 13 3/ 1 UINT

4.3 Modbus TCP 4, (0x04),

:

: Pluto IO

0

: Pluto

130 2TLC172009M2009_A

+ 0 + 1 0 [36, 0x0024] UNIT 1 Pluto

(0 = ; 1 = ) - 0 – Pluto 1 - 1 – Pluto 2 - 2 – Pluto 3 - 3 – Pluto 4

UINT - -

2 Pluto (ms) UINT - - 3 UDINT MSW LSW

5 0 UINT Pluto IO 6 1 UINT Pluto IO 7 2 UINT Pluto IO 8 3 UINT Pluto IO 9 4 UINT Pluto IO 10 5 UINT Pluto IO 11 6 UINT Pluto IO 12 7 UINT Pluto IO 13 8 UINT Pluto IO 14 9 UINT Pluto IO 15 10 UINT Pluto IO 16 11 UINT Pluto IO 17 12 UINT Pluto IO 18 13 UINT Pluto IO 19 14 UINT Pluto IO 20 15 UINT Pluto IO 21 16 UINT Pluto IO 22 17 UINT Pluto IO 23 18 UINT Pluto IO 24 19 UINT Pluto IO 25 20 UINT Pluto IO 26 21 UINT Pluto IO 27 22 UINT Pluto IO 28 23 UINT Pluto IO 29 24 UINT Pluto IO 30 25 UINT Pluto IO 31 26 UINT Pluto IO 32 27 UINT Pluto IO 33 28 UINT Pluto IO 34 29 UINT Pluto IO 35 30 UINT Pluto IO 36 31 UINT Pluto IO 37 Pluto (ms) UINT 38 (PROFINET ) UINT 39 (PROFINET ) UINT 40 (PROFINET ) UINT 41 (0-16) UINT

131 2TLC172009M2009_A

4.4 /

: / /

Modbus TCP 2, (0x02), /

Pluto 5.4.3.4

0

0 = 3 = !

UINT

1 Pluto ID 0-31

255 (0xFF)

UINT

2 0 = 1 = 2 = 3 =

UINT

3 UINT

Modbus TCP 34, (0x22),

+ 0 + 1 0

6 = 0 = !

UINT - -

1 Pluto ID [0-31]

UINT - -

2 0 = 1 = 2 = 3 =

UINT - -

3 UINT - - 4

0x0001 = OK 0x0002 = 0x0004 = 0x0008 =

UINT - -

5 UDINT MSW LSW

132 2TLC172009M2009_A

- 2

0

- 2 3

- 34

6

- 34

0 4.5 /

:

Modbus TCP 3, (0x03), /

0 [2-4] UINT 1 Pluto ID

[0-31] UINT

2 UINT 3 UINT 4 UINT

Modbus TCP 35, (0x23),

0 [3-6] UINT 1 Pluto ID

[0-31] UINT

2 0x0001 = OK 0x0002 = 0x0004 = 0x0008 =

UINT

3 UINT 4 UINT 5 UINT

133 2TLC172009M2009_A

“123456”

1 0x3132 2 0x3334 3 0x3536

0 “123”

1 0x3132 2 0x3300 3 0x0000

134 2TLC172009M2009_A

5 E PROFINET

PLUTO

Jokab Safety AB (GATE-E1) ABB AB (GATE-E2)

ID 0x0184 PLUTO

ID 0x03E8 PLUTO PROFINET

5.1

: Jokab Safety GATE-E1 GATE-E2 Jokab Safety GATE-E1 GATE-E2

0x00000100 PLUTO PROFINET 20-070-73 1.0 1.0

1440 1440

0..15 8 ms

RTA ConnectMe DNS JOKABGATEE1 GATE-E2

0 Pluto ( : 1 -- : 2 )

[ms] 16 0 0 - 0 0..60000

Pluto Pluto ( : 2 -- : 1 ) [ms] 8 0 0 - 100 0..250

42 -- : 1 )

8 0 0 - 0 0..16

Pluto Pluto

1..1

Pluto 00–07 Pluto 0-7 2..2 Pluto 08-15 Pluto 8-15 3..3

135 2TLC172009M2009_A

Pluto 16-23 Pluto 16-23 4..4 Pluto 24-31 Pluto 24-31 5..5

00-07 Pluto 6..6 08-15 Pluto 7..7 16-23 Pluto 8..8 24-31 Pluto 9..9 Pluto 0 Pluto 10..10 Pluto 1 Pluto 11..11 Pluto 2 Pluto 12..12 Pluto 3 Pluto 13..13

Pluto 14..14 Pluto 15..15

5.2

:

0x00000101 Pluto Pluto

N/A 01-

1.0 1.0

[ ]

32 3 -- : 1 )

0 0 - 0..1

: Pluto 00-07 Pluto 00–07

0x00000201 Pluto 0-7 N/A

02-Pluto 1.0 1.0

[ ] 00 32 01 32

136 2TLC172009M2009_A

02 32 03 32 04 32 05 32 06 32 07 32

Pluto 0-7 4 -- : 1 ) 0 0 - 0..1

: Pluto 08-15 Pluto 08-15

0x00000202 Pluto 8-15 N/A

02-Pluto 1.0 1.0

[ ] 08 32 09 32 10 32 11 32 12 32 13 32 14 32 15 32

Pluto 8-15 5 -- : 1 )

0 0 - 0..1

Pluto 16-23 Pluto 16-23

0x00000203 Pluto 16-23 N/A

02-Pluto 1.0 1.0

137 2TLC172009M2009_A

[ ] 16 32 17 32 18 32 19 32 20 32 21 32 22 32 23 32

Pluto 16-23 6 -- : 1 ) 0 0 - 0..1

Pluto 24-31 Pluto 24-31

0x00000204 Pluto 24-31 N/A

02-Pluto 1.0 1.0

[ ] 24 32 25 32 26 32 27 32 28 32 29 32 30 32 31 32

Pluto 24-31 7 -- : 1 ) 0 0 - 0..1

: 00-07 00-07

0x00000301 Pluto N/A

05- 1.0

138 2TLC172009M2009_A

1.0

[ ] 00 32 01 32 02 32 03 32 04 32 05 32 06 32 07 32 00( 8 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

01( 9 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

02( 10 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

03( 11 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

04( 12 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

05( 13 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

06( 14 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

07( 15 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31

139 2TLC172009M2009_A

IO 8 1 0 - 0..110

: 08-15 08-15


05- 1.0 1.0

[ ]

08 32 09 32 10 32 11 32 12 32 13 32 14 32 15 32 08( 16 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

09( 17 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

10( 18 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

11( 19 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

12( 20 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

13( 21 -- : 2 )

140 2TLC172009M2009_A

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

14( 22 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

15( 23 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

: 16-23 16-23


05- 1.0 1.0

[ ]

16 32 17 32 18 32 19 32 20 32 21 32 22 32 23 32 16( 24 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

17( 25 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

18( 26 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

19( 27 -- : 2 )

141 2TLC172009M2009_A

Pluto 8 0 0 - Pluto 00 0..31

IO 8 1 0 - 0..110 20( 28 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

21( 29 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

22( 30 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

23( 31 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

: 24-31 24-31


05- 1.0 1.0

[ ]

24 32 25 32 26 32 27 32 28 32 29 32 30 32 31 32 24( 32 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

142 2TLC172009M2009_A

25( 33 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

26( 34 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

27( 35 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

28( 36 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

29( 37 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

30( 38 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

31( 39 -- : 2 )

Pluto 8 0 0 - Pluto 00 0..31 IO 8 1 0 - 0..110

: Pluto 0 Pluto 0


03- Pluto 1.0 1.0

[ ] 0 16 0 0 16 0 1 16

143 2TLC172009M2009_A

0( 40 -- : 1 ) 0 0 - 0..1

: Pluto 1 Pluto 1


03- Pluto 1.0 1.0

[ ] 1 16 1 0 16 1 1 16

1( 40 -- : 1 ) 0 1 - 0..1

: Pluto 2 Pluto 2


03- Pluto 1.0 1.0

[ ] 2 16 2 0 16 2 1 16

2( 40 -- : 1 )

0 2 - 0..1

: Pluto 3 Pluto 3

0x00000404

144 2TLC172009M2009_A

Pluto N/A

03- Pluto 1.0 1.0

[ ] 3 16 3 0 16 3 1 16

3( 40 -- : 1 ) 0 3 - 0..1

:


04- / 1.0 1.0

[ ]

16 Pluto 16

16 16

41 -- : 1 ) 0 0 - 0..1

:


04- / 1.0 1.0

[ ]

145 2TLC172009M2009_A

16 Pluto 16

16 16

16 MSW 16 LSW 16

41 -- : 1 ) 0 1 - 0..1

5.3

:

0 1

:

0 DIP 1 0 2 1

3 2

4 3

5 4

6 5

7 6

8 7

9 8

10 9

11 10

12 11

13 12

14 13

15 14

16 15

:

0 DIP 1 0

146 2TLC172009M2009_A

2 1

3 2

4 3

5 4

6 5

7 6

8 7

9 8

10 9

11 10

12 11

13 12

14 13

15 14

16 15

: Pluto

0 Pluto 00 1 Pluto 01 2 Pluto 02 3 Pluto 03 4 Pluto 04 5 Pluto 05 6 Pluto 06 7 Pluto 07 8 Pluto 08 9 Pluto 09 10 Pluto 10 11 Pluto 11 12 Pluto 12 13 Pluto 13 14 Pluto 14 15 Pluto 15 16 Pluto 16 17 Pluto 17 18 Pluto 18 19 Pluto 19 20 Pluto 20 21 Pluto 21 22 Pluto 22 23 Pluto 23 24 Pluto 24 25 Pluto 25

147 2TLC172009M2009_A

26 Pluto 26 27 Pluto 27 28 Pluto 28 29 Pluto 29 30 Pluto 30 31 Pluto 31

: IO

0 1 ToGateway_UserNumber_1 2 ToGateway_UserNumber_2 3 ToGateway_UserNumber_3 4 ToGateway_UserNumber_4 5 ToGateway_UserNumber_5 6 ToGateway_UserNumber_6 7 ToGateway_UserNumber_7 8 ToGateway_UserNumber_8 9 ToGateway_UserNumber_9 10 ToGateway_UserNumber_10 11 ToGateway_UserNumber_11 12 ToGateway_UserNumber_12 13 ToGateway_UserNumber_13 14 ToGateway_UserNumber_14 15 ToGateway_UserNumber_15 16 ToGateway_UserNumber_16 17 ToGateway_UserNumber_17 18 ToGateway_UserNumber_18 19 ToGateway_UserNumber_19 20 ToGateway_UserNumber_20 21 ToGateway_UserNumber_21 22 ToGateway_UserNumber_22 23 ToGateway_UserNumber_23 24 ToGateway_UserNumber_24 25 ToGateway_UserNumber_25 26 ToGateway_UserNumber_26 27 ToGateway_UserNumber_27 28 ToGateway_UserNumber_28 29 ToGateway_UserNumber_29 30 ToGateway_UserNumber_30 31 ToGateway_UserNumber_31 32 ToGateway_UserNumber_32 33 ToGateway_UserNumber_33 34 ToGateway_UserNumber_34 35 ToGateway_UserNumber_35 36 ToGateway_UserNumber_36

148 2TLC172009M2009_A

37 ToGateway_UserNumber_37 38 ToGateway_UserNumber_38 39 ToGateway_UserNumber_39 40 ToGateway_UserNumber_40 41 ToGateway_UserNumber_41 42 ToGateway_UserNumber_42 43 ToGateway_UserNumber_43 44 ToGateway_UserNumber_44 45 ToGateway_UserNumber_45 46 ToGateway_UserNumber_46 47 ToGateway_UserNumber_47 48 ToGateway_UserNumber_48 49 ToGateway_UserNumber_49 50 ToGateway_UserNumber_50 51 ToGateway_UserNumber_51 52 ToGateway_UserNumber_52 53 ToGateway_UserNumber_53 54 ToGateway_UserNumber_54 55 ToGateway_UserNumber_55 56 ToGateway_UserNumber_56 57 ToGateway_UserNumber_57 58 ToGateway_UserNumber_58 59 ToGateway_UserNumber_59 60 ToGateway_UserNumber_60 61 ToGateway_UserNumber_61 62 ToGateway_UserNumber_62 63 ToGateway_UserNumber_63 64 ToGateway_UserNumber_64 65 ToGateway_UserNumber_65 66 ToGateway_UserNumber_66 67 ToGateway_UserNumber_67 68 ToGateway_UserNumber_68 69 ToGateway_UserNumber_69 70 ToGateway_UserNumber_70 71 ToGateway_UserNumber_71 72 ToGateway_UserNumber_72 73 ToGateway_UserNumber_73 74 ToGateway_UserNumber_74 75 ToGateway_UserNumber_75 76 ToGateway_UserNumber_76 77 ToGateway_UserNumber_77 78 ToGateway_UserNumber_78 79 ToGateway_UserNumber_79 80 ToGateway_UserNumber_80 81 ToGateway_UserNumber_81 82 ToGateway_UserNumber_82

149 2TLC172009M2009_A

83 ToGateway_UserNumber_83 84 ToGateway_UserNumber_84 85 ToGateway_UserNumber_85 86 ToGateway_UserNumber_86 87 ToGateway_UserNumber_87 88 ToGateway_UserNumber_88 89 ToGateway_UserNumber_89 90 ToGateway_UserNumber_90 91 ToGateway_UserNumber_91 92 ToGateway_UserNumber_92 93 ToGateway_UserNumber_93 94 ToGateway_UserNumber_94 95 ToGateway_UserNumber_95 96 ToGateway_UserNumber_96 97 ToGateway_UserNumber_97 98 ToGateway_UserNumber_98 99 ToGateway_UserNumber_99 100 ToGateway_ErrorCode 101 ToGateway_B46_I20_I47 102 ToGateway_ASi_16_31_Safe 103 ToGateway_ASi_1_3_NonSafe_In 104 ToGateway_ASi_4_7_NonSafe_In 105 ToGateway_ASi_8_11_NonSafe_In 106 ToGateway_ASi_12_15_NonSafe_In 107 ToGateway_ASi_16_19_NonSafe_In 108 ToGateway_ASi_20_23_NonSafe_In 109 ToGateway_ASi_24_27_NonSafe_In 110 ToGateway_ASi_28_31_NonSafe_In

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