Motion Coordinator Technical Reference Manual
Communications Protocols 13-13
DeviceNet
DeviceNet
The Motion Coordinators MC206 and MC224 have a DeviceNet option that allows
the Motion Coordinator to be attached as a slave node to a DeviceNet factory
network. Either to built-in CANbus port or a P290 daughter board may be used as
the physical connection to the DeviceNet network.
If the built-in CANbus port is used, it will not be available for CAN I/O expansion,
so the digital I/O will be limited to the 8 in and 8 bi-directional on the Motion
Coordinator itself.
Note that the CAN daughter board P290 is not tailored for use on DeviceNet and
a DeviceNet buffer/isolator may be required.
Installation and Set-up
The DEVICENET TrioBASIC command must be in a program that runs at power-up.
See the command reference in chapter 8 for infromation about the use of the
DEVICENET command. In order to prevent the Motion Coordinator from acting as
a CANIO master and generating non-DeviceNet CANbus messages on power-up,
set the CANIO_ADDRESS to 33. This parameter is written directly into Flash
EPROM adn so it is only necessary to set CANIO_ADDRESS once.
e.g. in an intialisation program:
IF CANIO_ADDRESS<>33 THEN CANIO_ADDRESS = 33
DEVICENET(slot, 0, baudrate, macid, pollbase, pollin, pollout)
DeviceNet Information
This Section contains DeviceNet information for the multi-axis Trio Motion Coor-
dinator model MC206 and MC224.
The Motion Coordinator operates as a slave device on the DeviceNet network and
supports Explicit Messages of the predefined master/slave connection set and
Polled I/O. It does not support the Explicit Unconnected Message Manager
(UCMM).
Polled I/O allows the master to send up to 4 integer variables to the Motion Coor-
dinator and to read up to 4 integer variables from the Motion Coordinator. These
values are mapped to the TABLE memory in the Motion Coordinator. The values
are transferred periodically at a rate determined by the DeviceNet Master. The
Global variables (VRs) and TABLE memory are also accessible over DeviceNet indi-
vidually by way of the Explicit Messaging service.
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