In the last tutorial, we used a Profinet IO-LINK Master to connect with Codesys, Ethernet/IP IO-LINK master is used in this tutorial and connected with Beckhoff TwinCAT3 TF6281.

Configuration

Here is the configuration, and TwinCAT3 TF6281 is used here to startup a Ethernet/IP Scanner and connect to the Ethernet/IP IO-Link Master TCIEI-888P-DYU from Molex.

And Also,TwinCAT3 Ethernet/IP API is used to send the Explicit message to the target.

Module-TCIEI-888P-DYU

This is the module that we are using in this tutorial. It is a IO-LINK Master with Ethernet/IP Adapter Interface, Come from Molex(TCIEI-888P-DYU)

Signal Map

This module is separated into 3 parts – Power,Signal and Network.

Overview

Wiring

Ui/Uo

Here is the wiring.

LED

Basic Information

Here is the information of the LED and mainly you see green/red or blue while operating the device.Red is Alarm, Green is Normal and Blue is the status of IO-Link connection.

I/O Port

Here is the wiring of each port.

IP setting

You can set the IP by using the rotary switch. The default range of ip is 192.168.1.0/24. The last digital is defined by the Rotary switch.

For example the IP will be 192.168.1.1.153 if you set the x100=1,x10=5 and x1=3.

IO Connections

Here is the max of IO Connection.

Exclusive Ownerx1,Total x7 of Listen only and input only.

Data map

Here is the data mapping, you can choose to use I/O and status/IO-LINK,depending on your application.

Assmbly #113

In this tutorial, we will use Assembly#113.

Download EDS

Although an EDS file is not a must in the Ethernet/IP Communication, it can decrease your mistake while configuring the adapter.

Please import the EDS file and use it if your engineering tool is supported.

https://www.molex.com/molex/mysst/searchBrad.action?partnumber=TCIEI-888P-DxU&itemSoftware=true&itemDocument=true&ItemTechNote=true&ItemDemo=true

TwinCAT

Now we can configure the TwinCAT3 Side.Function TF6281 is used in the project to startup an Ethernet/IP Scanner, and connect with TCIEI-888P-DYU Ethernet/IP IO-LINK Master, made by molex.

Reference Link

Project#Codesys x Profinet x IO-LINK

Beckhoff#TwinCAT3 TF6281 Ethernet/IP Scanner立ち上げよう

Point1- Scanner IP Setting

It is very easy to forget to set the virtual IP for the TwinCAT3 Ethernet/IP Scanner.If default 0.0.0.0 is used, you can not connect to the adapter.

Go to Scanner>Settings>F800.0>F800.21 and F800.22 to set the IP and subnet.

Point2-Adapter IP Setting

Right click your Box(Adapter) and select “Change IP Address” to modify the ip address of the adapter.

Point3-Network Adapter Setting

Do not forget to setup the network card that is connected to your network.

Go to TC3 EIP Scanner>Adapter>Search.

Choose your network interface.

Point4-Import EDS File

You can import the EDS file by just right clicking your TC3 EIP SCanner>Import EDS File .

Point5-Select the Right Device

Please make sure the device that you inserted is correctly.

Point6-Scanner AmsNetID

This AmsNetID is used while you want to send an explicit message in the CIP network.

Append IO Connection

Insert the IO Connection by Right Click Box1>Append IO Connection>LO_PD_32bytes.

This IO Connection is Assembly #113.

Configuration

Now we can configure the Module.As the last tutorial, IO-LINK master can set the function of each port to be IO-LINK port or just DI/DO.

Double Click the connection that you inserted before.

Open the Config Instance Tab,you can configure each port.

Example1-Configure port0 as DI

In this Example we will set the Port 0 as Digital Input.

Go to C0 Mode>Value and Choose SI.

Click the IN ChannelInput.

The value will be changed to 1 if the ESTOP is released.

The value will be changed to 0 if the ESTOP is pressed.

Example2-Configurare Other port as Input

In this Example we will change other ports to see the difference of IN ChannelInput.

Select C2 Mode and change the setting to SI.

Click the IN ChannelInput.

The Value will change to 4 while a High signal is input into port2.

It means that all input values will be grouped as a value, and Bit0=port0, Bit1=Port1..etc.

Example3-Configure port0 as DO

In this example we try to configure the Port0 as Digital Output.

Open the Box1>Connection1>Outputs>OUT DATA CHANNEL.

Write value1 into the OUT DATA CHANNEL, port 1 will output a high signal.

Example4-Configure port0 as IO-LINK

Finally we will set port0 as IO-LINK Mode.

We can check all IO-LINK data of Port0 in C0 IO-Link PDIN.. variables.

The value that is read from RFID is shown.

Open your Browser, and input the IP of your Molex Device,

you can check the status of each port.

And also you can get all IO-LINK information in the C0 tab.

Program

Reference Link

The program is very similar to my last tutorial – because the io-link device is not changed ,only the fieldbus is different.

Project#Codesys x Profinet x IO-LINK

Bouns: Explict Messages

Here is a small bonus 😉 I will you how to use Beckhoff TwinCAT3 API to send the Explicit message to the adapter.

FB_GET_ATTRIBUTE_SINGLE

We can use this function block to send an explicit message with services GET_Attribute_Single.

VAR_INPUT

Name	Type	Description
sNetId	T_AmsNetID	TwinCAT EtherNet/Ip Scanner AMSNetId
sIPv4Addr	T_IPv4Addr	Target IP
bExecute	BOOL	Start with a rise edge
nClass	WORD	CIP Class number
nInstance	WORD	CIP Service Instance number
nAttribute	WORD	CIP Service Attribute number
pDst	POINTER TO BYTE	Pointer of the destination.Get it by using ADR()
nMaxLen	WORD	.Memory length of the destination.Get it by using SIZEOF()
nSessionTimeoutMSec	DWORD	Session Timeout、Default=30s
nCmdTimeoutMSec	DWORD	Command Timeout,Default=7.5s
bRackComm	BOOL	Ture if CompactLogix is used
nPort	BYTE	CPU Port Number(Only 1 is supported in TF6281)
nSlot	BYTE	Slot number

VAR_OUTPUT

bBusy	BOOL	True=executing, and go to False again if Feedback is received.
bError	BOOL	True=Error
nErrId	UDINT	Error infomration
nDataLen	WORD	Data length that received from Target(Bytes)

FB_CUSTOM_SERVICE

We can use this function block to send a custom service message.

VAR_INPUT

Name	Type	Description
sNetId	T_AmsNetID	TwinCAT EtherNet/Ip Scanner AMSNetId
sIPv4Addr	T_IPv4Addr	Target IP
bExecute	BOOL	Start with a rise edge
nServiceCode	BYTE	CIP Service Code
nClass	WORD	CIP Class number
nInstance	WORD	CIP Service Instance number
nAttribute	WORD	CIP Service Attribute number
pDst	POINTER TO BYTE	Pointer of the destination.Get it by using ADR()
nMaxLen	WORD	.Memory length of the destination.Get it by using SIZEOF()
nSessionTimeoutMSec	DWORD	Session Timeout、Default=30s
nCmdTimeoutMSec	DWORD	Command Timeout,Default=7.5s
bRackComm	BOOL	Ture if CompactLogix is used
nPort	BYTE	CPU Port Number(Only 1 is suported in TF6281)
nSlot	BYTE	Slot number

VAR_OUTPUT

bBusy	BOOL	True=executing, and go to False again if Feedback is received.
bError	BOOL	True=Error
nErrId	UDINT	Error infomration
nDataLen	WORD	Data length that received from Target(Bytes)

Implemention

DUT

DUT_EIP_Object01

This DUT is defined with CIP Object 01 Structure.

TYPE DUT_EIP_Object01 :
STRUCT
VendorID :UINT;
DeviceType :UINT;
ProductCode :UINT;
Revision_Major :USINT;
Revision_Minor :USINT;
Status :UINT;
SerialNumber :UINT;
ProductName :STRING(31);
State :UINT;
ConfigurationConsistencyValue :UINT;
HeatbeatInterval:UINT;
END_STRUCT
END_TYPE

DUT_EIP_Adapter_State

This DUT is defined with TwinCAT3 Adapter Status.

TYPE DUT_EIP_Adapter_State :
STRUCT
RemoteNodeNoConnection :BOOL;
RemoteNodeNotReachable :BOOL;
TCPClientInitFailed :BOOL;
UDPClientInitFailed :BOOL;
ConnectionDisconnected :ARRAY[1..8]OF BOOL;
END_STRUCT
END_TYPE

DUT_EIP_DevState

This DUT is defined with TwinCAT3 Ethernet/IP Status.

TYPE DUT_EIP_DevState :
STRUCT
LinkError :BOOL;
IOResetRequired :BOOL;
WatchdogTriggered :BOOL;
MasterNoValidIP :BOOL;
TCPServerUnable :BOOL;
UDPServerUnable :BOOL;
Normal :BOOL;
Error :BOOL;

END_STRUCT
END_TYPE

DUT_Contrinex_RLS_1181_320

Contrinex RFID Reader is used in this tutorial.(Please reference with my last tutorial )

TYPE DUT_Contrinex_RLS_1181_320 :
STRUCT
Status :DUT_Contrinex_RLS_1181_320_Byte0Status;
UID_LSB :DINT;
UID_MSB :DINT;
_ :ARRAY[0..6]OF BYTE;
END_STRUCT
END_TYPE

DUT_Contrinex_RLS_1181_320_Byte0Status

Please reference my last tutorial with memory mapping.

TYPE DUT_Contrinex_RLS_1181_320_Byte0Status :
STRUCT
b00NBTag :BIT; //Number of Tags in front of RWM
b01NBTag :BIT; //Number of Tags in front of RWM
b02NBTag :BIT; //Number of Tags in front of RWM
b03NBTag :BIT; //Number of Tags in front of RWM
b04ANT :BIT; //0=RF Field OFF
b05TAG :BIT; //0=No tag present in front of RWM
b06,b07 :BIT;
END_STRUCT
END_TYPE

uDUT_Contrinex_RLS_1181_320

Please reference my last tutorial with memory mapping.

TYPE uDUT_Contrinex_RLS_1181_320 :
UNION
raw:ARRAY[0..31]OF BYTE;
Data:DUT_Contrinex_RLS_1181_320;
END_UNION
END_TYPE

Function Block

FB_Contrinex_RLS_1181_320

This Function block is similar to my last tutorial and I will not explain too much.

VAR

FUNCTION_BLOCK FB_Contrinex_RLS_1181_320
VAR_INPUT
END_VAR
VAR_OUTPUT
UIDLSB :DINT;
UIDMSB :DINT;
UID :LINT;
TagsInfrontOFRWM :BYTE;
TagOnRWM :BOOL;
RFFieldON :BOOL;
END_VAR
VAR

Device AT%I* :uDUT_Contrinex_RLS_1181_320;
END_VAR

PROGRAM

UIDLSB:=Device.Data.UID_LSB;
UIDMSB:=Device.Data.UID_MSB;

UID:=SHL(DINT_TO_LINT(Device.Data.UID_MSB),32);
UID:=UID+Device.Data.UID_LSB;

TagsInfrontOFRWM.0:=Device.Data.Status.b00NBTag;
TagsInfrontOFRWM.1:=Device.Data.Status.b01NBTag;
TagsInfrontOFRWM.2:=Device.Data.Status.b02NBTag;
TagsInfrontOFRWM.3:=Device.Data.Status.b03NBTag;

TagOnRWM:=Device.Data.Status.b05TAG;
RFFieldON:=Device.Data.Status.b04ANT;

Function

FC_Get_Adapter_State

The current Ethernet IP Scanner status can be returned with this function.

VAR

FUNCTION FC_Get_Adapter_State : DUT_EIP_Adapter_State
VAR_INPUT
in:UINT;
END_VAR

PROGRAM

FC_Get_Adapter_State.RemoteNodeNoConnection[1]:=in.1;
FC_Get_Adapter_State.RemoteNodeNoConnection[2]:=in.2;
FC_Get_Adapter_State.RemoteNodeNoConnection[3]:=in.3;

FC_Get_Adapter_State.UDPClientInitFailed:=in.12;
FC_Get_Adapter_State.TCPClientInitFailed:=in.13;
FC_Get_Adapter_State.RemoteNodeNotReachable:=in.14;
FC_Get_Adapter_State.RemoteNodeNoConnection:=in.15;

FC_Get_DevState

The current Ethernet IP Adapter status can be returned with this function.

VAR

FUNCTION FC_Get_DevState : DUT_EIP_DevState
VAR_INPUT
in :UINT;
END_VAR

PROGRAM

FC_Get_DevState.Normal:=in =0;
FC_Get_DevState.Error:=in<>0;

FC_Get_DevState.LinkError:=in.0;
FC_Get_DevState.IOResetRequired:=in.4;
FC_Get_DevState.WatchdogTriggered:=in.5;
FC_Get_DevState.UDPServerUnable:=in.12;
FC_Get_DevState.TCPServerUnable:=in.13;
FC_Get_DevState.MasterNoValidIP:=in.14;

MAIN

We will call the RWM() to process the IO-LINK data,and use the Beckhoff TwinCAT3 Ethernet/IP API to send the Get_Attribute_Single and Get_Attribute_All Service messages.

VAR

PROGRAM MAIN
VAR
//IO-Link Devices
RWM1 :FB_Contrinex_RLS_1181_320;
//Get Attribute Signle
Get_Attribute_Single:FB_GET_ATTRIBUTE_SINGLE;
bExecute_Get_Attribute_Single :BOOL;
RawData_GetAttribute_Signle:ARRAY[0..255]OF BYTE;
ProductName :STRING(31);
R_TRIG_Get_Attribute_Single:R_TRIG;
//Get Attribute All
RawData_GetAttribute_All :ARRAY[0..255]OF BYTE;
R_TRIG_Get_Attribute_All :R_TRIG;
bExecute_Get_Attribute_All :BOOL;
Custom_Service:FB_CUSTOM_SERVICE;
SourceOffset :UINT;
NumberOfBytes :UINT;
Object01 :DUT_EIP_Object01;
//Configuration
sIPv4Addr :T_IPv4Addr;
sNetId :T_AmsNetID;

END_VAR

PROGRAM

//IO Link Devices
RWM1();

//Explict Message
sIPv4Addr:=’192.168.1.11′;
sNetId:=’192.168.1.18.2.1′;

//Example1, Get Attribute Single
R_TRIG_Get_Attribute_Single(
CLK:=bExecute_Get_Attribute_Single
);
IF R_TRIG_Get_Attribute_Single.Q THEN
MEMSET(
ADR(RawData_GetAttribute_Signle)
,16#0
,SIZEOF(RawData_GetAttribute_Signle)
);
END_IF
Get_Attribute_Single(
sIPv4Addr:=sIPv4Addr
,sNetId:=’192.168.1.18.2.1′
,bExecute:=bExecute_Get_Attribute_Single
,nClass:=1
,nInstance:=1
,nAttribute:=7
,pDst:=ADR(RawData_GetAttribute_Signle)
,nMaxLen:=SIZEOF(RawData_GetAttribute_Signle)
);

IF NOT Get_Attribute_Single.bBusy AND bExecute_Get_Attribute_Single THEN

MEMMOVE(
destAddr:=ADR(ProductName)
,srcAddr:=ADR(RawData_GetAttribute_Signle)
,n:=Get_Attribute_Single.nDataLen
);
bExecute_Get_Attribute_Single:=FALSE;
END_IF

//Example2, Get Attribute All
R_TRIG_Get_Attribute_All(
CLK:=bExecute_Get_Attribute_Single
);
IF R_TRIG_Get_Attribute_All.Q THEN
MEMSET(
ADR(RawData_GetAttribute_All)
,16#0
,SIZEOF(RawData_GetAttribute_All)
);
END_IF
Custom_Service(
sNetId:=sNetId
,sIPv4Addr:=sIPv4Addr
,nClass:=1
,nInstance:=1
,nAttribute:=1 //can not be zero
,nServiceCode:=16#1
,pSrc:=0
,nMaxLen:=SIZEOF(RawData_GetAttribute_All)
,bExecute:=bExecute_Get_Attribute_All
,pDst:=ADR(RawData_GetAttribute_All)
);

IF NOT Custom_Service.bBusy AND bExecute_Get_Attribute_All THEN
//The first 14 Bytes
MEMMOVE(
ADR(Object01)
,ADR(RawData_GetAttribute_All)
,TO_UINT(14)
);
MemMove(
ADR(Object01.ProductName)
,ADR(RawData_GetAttribute_All[15])
,TO_UINT(RawData_GetAttribute_All[14])
);
//13=Frame Bytes size before Product Name
//+1 is mean the Data[14] is the data leneght of Product Name, but not include this byte
SourceOffset:=13+RawData_GetAttribute_All[14]+1;
NumberOfBytes:=Custom_Service.nDataLen-SourceOffset;
MemMove(
ADR(Object01.State)
,ADR(RawData_GetAttribute_All[SourceOffset])
,TO_UINT(NumberOfBytes)
);

bExecute_Get_Attribute_All:=FALSE;
END_IF;