Spectation Communication Manual En

s Preface Contents

Introduction 1 Connecting the Vision Sensor VS72x to the PG 2 Simplified communication 3 Enhanced communication 4 Using the VS Gateway to Communicate Between a VS 72x Vision Sensor and a Profibus Master

5

Appendices Important port addresses A Windows diagnostic tools B Index

SIMATIC

VS72x Communication

Manual

05/2008 A5E00285838-05

Siemens AG Automation and Drives Postfach 4848 90437 NÜRNBERG GERMANY

A5E00285838-05 05/2008

Copyright © Siemens AG 2008 Technical data subject to change

Safety Guidelines This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring to property damage only have no safety alert symbol. The notices shown below are graded according to the degree of danger.

! Danger indicates that death or severe personal injury will result if proper precautions are not taken.

! Warning indicates that death or severe personal injury may result if proper precautions are not taken.

! Caution with a safety alert symbol indicates that minor personal injury can result if proper precautions are not taken.

Caution

without a safety alert symbol indicates that property damage can result if proper precautions are not taken.

Notice indicates that an unintended result or situation can occur if the corresponding notice is not taken into account.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.

Qualified Personnel The device/system may only be set up and used in conjunction with this documentation. Commissioning and operation of a device/system may only be performed by qualified personnel. Within the context of the safety notices in this documentation qualified persons are defined as persons who are authorized to commission, ground and label devices, systems and circuits in accordance with established safety practices and standards.

Prescribed Usage Note the following:

! Warning This device and its components may only be used for the applications described in the catalog or the technical description, and only in connection with devices or components from other manufacturers which have been approved or recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage, positioning and assembly as well as careful operation and maintenance.

Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.

VS72x Communication A5E00285838-05 iii

Preface

Purpose of the Manual This manual gives you a complete overview of programming with SIMATIC Spectation. It helps you during installation and commissioning. The procedures involved in creating programs, the structure of user programs and the individual language elements are described.

It is intended for persons who are responsible for the realization of control tasks using SIMATIC automation systems. We recommend that you familiarize yourself with the Getting Started. For further information about data exchange with the SIMATIC Automation System refer to the "VS 72x Communication manual".

Required Basic Knowledge You require a general knowledge in the field of automation engineering to be able to understand this manual. In addition, you should know how to use computers or devices with similar functions (e.g. programming devices) under Windows 2000 or Windows XP operating systems.

Where is this Manual valid? This manual is valid for the software SIMATIC Spectation V 2.6 or higher.

Place of this Documentation in the Information Environment This manual forms as a PDF part of the CD SIMATIC Spectation.

CE Labeling VS Link, VS Link-PROFIBUS and SIMATIC VS 72x products fulfill the requirements and protection guidelines of the following EU directives:

• EC Directive 89/336/EWG "EMC directive"

Preface

VS72x Communication iv A5E00285838-05

Further Support If you have any technical questions, please get in touch with your Siemens representative or office.

You will find your contact partner at:

http://www.siemens.com/automation/service&support

For questions of support visit:

http://www.siemens.de/automation/support-request

For further Information to Factory Automation Sensors, visit:

http://www.siemens.de/simatic-sensors

Training Centers Siemens offers a number of training courses to familiarize you with the SIMATIC Machine Vision VS72x and the SIMATIC S7 automation system. Please contact your regional training center or our central training center in D 90327 Nuremberg, Germany for details: Telephone: +49 (911) 895-3200. Internet: http://www.sitrain.com

Service & Support on the Internet In addition to our documentation, we offer our Know-how online on the internet at: http://www.siemens.com/automation/service&support

where you will find the following:

• The newsletter, which constantly provides you with up-to-date information on your products.

• The right documents via our Search function in Service & Support.

• A forum, where users and experts from all over the world exchange their experiences.

• Your local representative of automation & Drives.

• Information on field service, repairs, spare parts and more under "Services".

http://www.siemens.com/automation/partner�

http://www.siemens.de/automation/support-request�

http://www.siemens.de/simatic-sensors�

http://www.sitrain.com/�

http://www.siemens.com/automation/service&support�

VS72x Communication A5E00285838-05 v

Contents

Preface iii

Contents v

1 Introduction 1-1 1.1 Description of communication modes ......................................................... 1-1 1.2 Technical requirements for communication................................................ 1-3 1.2.1 Software for all communication modes.............................................................1-3 1.2.2 Hardware ..........................................................................................................1-4 1.2.2.1 PROFIBUS DP communication: SIMATIC Vision Sensor VS72x ....................1-4 1.2.2.2 PROFINET communication: SIMATIC Vision Sensor VS72x...........................1-9 1.2.2.3 Ethernet Communication: SIMATIC Vision Sensor VS72x ............................1-10

2 Connecting the Vision Sensor VS72x to the PG 2-1

3 Simplified communication 3-1 3.1 Overview.......................................................................................................... 3-1 3.2 Requests to VS72x ......................................................................................... 3-2 3.2.1 Standard functions (byte n+0): .........................................................................3-3 3.2.2 Test program number (bytes n+2 and n+3)......................................................3-4 3.2.3 User data area (starting at byte n+4)................................................................3-5 3.2.4 Script camera....................................................................................................3-7 3.3 Responses of Vision Sensor VS72x ............................................................. 3-8 3.3.1 Frame header ...................................................................................................3-9 3.3.2 Output bits Out User 1 to 8 (bytes n+3)..........................................................3-11 3.3.3 User data area ................................................................................................3-11 3.3.4 Measured value output ...................................................................................3-12 3.4 Description of the function blocks ............................................................. 3-14 3.5 PROFIBUS DP simplified communication: VS72x sensor – SIMATIC PLCs3-18 3.5.1 Integration into your STEP 7 project...............................................................3-19 3.5.2 Configuration of VS Link .................................................................................3-22 3.6 PROFINET simplified communication: VS72x sensor – SIMATIC PLCs 3-26 3.6.1 Integration in your STEP 7-Project .................................................................3-27 3.6.2 Communication between CPU-300 and VS72x via CP343............................3-29 3.6.3 Communication between CPU-400 and VS72x via CP443............................3-29 3.7 Ethernet simplified communication: VS72x Sensor – SIMATIC PLCs ... 3-30 3.7.1 Integration into your STEP 7 project...............................................................3-31

4 Enhanced communication 4-1 4.1 Overview of enhanced functionality ............................................................. 4-1 4.1.1 Input bytes ........................................................................................................4-3 4.1.2 Output bytes .....................................................................................................4-4 4.2 Enhanced communication with PROFIBUS DP / Modbus.......................... 4-5 4.2.1 Configuring the connection between VS Link PROFIBUS DP and the sensor 4-8 4.2.2 Transferring data to the CPU, example with a 314C-2DP CPU.....................4-13 4.2.3 Adapting the settings on VS Link PROFIBUS DP ..........................................4-14 4.3 Enhanced communication with Ethernet ................................................... 4-18 4.3.1 System driver..................................................................................................4-19

Contents

VS72x Communication vi A5E00285838-05

4.3.2 Data Link driver...............................................................................................4-20 4.3.3 Integration into your STEP 7 project...............................................................4-24

5 Using the VS Gateway to Communicate Between a VS 72x Vision Sensor and a Profibus Master 5-1 5.1 Overview.......................................................................................................... 5-1 5.2 Installing and Configuring the AnyBus®-X Generic Gateway and Ethernet

Interface........................................................................................................... 5-2 5.2.1 Configuration Options .......................................................................................5-2 5.2.2 Configuring the VS Gateway Ethernet Interface using IPconfig.......................5-2 5.3 VS Gateway Communications with VS 72x Vision Sensors using Modbus

TCP................................................................................................................... 5-3 5.3.1 VS Gateway and Modbus TCP.........................................................................5-3 5.3.1.1 Input Register Map ...........................................................................................5-4 5.3.1.2 Holding Register Map .......................................................................................5-4 5.3.2 Modbus TCP Communications with VS 72x Vision Sensors............................5-5 5.3.2.1 Operation ..........................................................................................................5-5 5.3.2.2 Transfer Setup ..................................................................................................5-6 5.3.2.3 Example............................................................................................................5-7 5.4 Configuring the VS Gateway Profibus Slave ............................................. 5-11 5.4.1 Profibus Introduction.......................................................................................5-11 5.4.2 AnyBus® Profibus Support.............................................................................5-11 5.4.3 Input Buffer .....................................................................................................5-12 5.4.4 Output Buffer ..................................................................................................5-12 5.5 Configuration of the IO Buffer of the Gateway .......................................... 5-13 5.5.1 Communication Settings.................................................................................5-13 5.5.2 5.4.2.3.3 Change Configuration....................................................................5-14 5.5.3 Profibus Slave Configuration ..........................................................................5-15 5.6 Hardware Configuration............................................................................... 5-17 5.6.1 Slave/Master Configuration ............................................................................5-17 5.6.2 Mechanical Specifications ..............................................................................5-18 5.7 Installation Instructions ................................................................................. 5-1 5.8 Connecting the VS Gateway to the Camera................................................. 5-1 5.9 Additional Information ................................................................................... 5-2

Appendix A Important port addresses 1

Appendix B Windows diagnostic tools 1

Index 3

Introduction

VS72x Communication A5E00285838-05 1-1

1 Introduction

1.1 Description of communication modes With Vision Sensors of the VS72x family we basically distinguish between three communication modes:

• Communication via TCP/IP

• Communication via PROFINET (from Spectation 2.8.1.)

• Communication via PROFIBUS DP

The following options can be selected for communication via TCP/IP and PROFIBUS DP, with limitations:

• Simplified communication

• Enhanced communication

PROFINET only supports simplified communication. The differences between simplified and enhanced communication are explained below.

Simplified communication For this type of communication you can use the function blocks provided on your CD. Select the appropriate block based on your hardware configuration.

This communication mode allows you to use the standard functions of the Vision Sensors:

• Start/stop inspections

• Teach-in / Save

• Import values (user data)

• Output measured value (user data)

• Error feedback of the Vision Sensor

For information on the length of user data, refer to chapter 3.4: Description of the function blocks.

Enhanced communication For this type of communication you usually use a system / data link driver configuration or script programs, which you have created based on your hardware configuration.

This communication mode allows you to execute all Vision Sensor functions, see CommandList in the Spectation Online Help.

Introduction

VS72x Communication 1-2 A5E00285838-05

Decision table for communication mode The following table shows you which communication mode you can select:

Communication mode Communication mode Import of

values Measured value output Simplified Enhanced

DP+VS Link via VDX 28 bytes 28 bytes x - DP+VS Link via Modbus 512 bytes 512 bytes - x PROFINET via VDX 60 bytes 60 bytes x - Ethernet via VDX 60 bytes 60 bytes x - System Terminal / Data Link ∞1 ∞1 - x

The number of supported Vision Sensors depends on:

• The drivers used

• The amount of transferred data per Vision Sensor.

1 Depends on the respective communication partner

Introduction


1.2 Technical requirements for communication

1.2.1 Software for all communication modes

• SIMATIC Spectation Version 2.8.1 or higher

• STEP 7 Version 5.2 SP 1 or higher

• NCM S7 Industrial Ethernet Version 5.2 SP 1 or higher

• NCM S7 PROFIBUS DP Version 5.2 SP 1 or higher

• Enhanced communication also requires a corresponding block for the CP

• For PROFIBUS DP communication, you also need the engineering software VS Link Version 1.2.5 or higher with the associated GSD file

• Certain communication functions require a test program which has been created in Spectation and handles the image processing tasks.

• A certain version of the function block only can be used with a certain Spectation version.

Version of the function block Spectation Version

FB72 V1.1 / FC72 V1.0 2.6.4 -2.7.6 FB72 V1.2 / FC72 V1.1 2.7.7 or higher FB72 V1.2 / FB73 V1.1 / FC72 V1.1 2.8.1 or higher

Note

• For detailed information, refer to the STEP 7 documentation.

• Detailed information on the function blocks can be found on the Spectation CD, under VS72X.HLP.

• The specified programs and program modules should be installed on your PC/programming device.

Introduction


1.2.2 Hardware

1.2.2.1 PROFIBUS DP communication: SIMATIC Vision Sensor VS72x

Many devices also communicate over a PROFIBUS DP interface, including the CPU (314C-2 DP).

A module must therefore be implemented in the existing system which converts the Ethernet TCP/IP into PROFIBUS DP communication. This conversion is carried out by the VS Link PROFIBUS DP module. Up to 4 Vision Sensors can be operated simultaneously from one switch (e.g. SIMATIC NET Scalance X104).

The following components are used:

• Vision Sensor VS72x

• S7 CPU 314C-2DP

• VS Link PROFIBUS

• ESM TP40 switch

• Programming device/PC

L+ M Ether -

net

Vision Sensor

CPU314C- 2DP

GND/24V

Video Out

PROFIBUS-DP

RS232

Ethernet

VS Link PROFIBUS

PC / PG

Ethernet/TCP/IP

PROFIBUS-DP

Fig. 1-1: Example of PROFIBUS DP communication with VS72x

Introduction


Configuration of VS Link

PROFIBUS DP address Set the PROFIBUS DP address of the device on the VS Link PROFIBUS DP. There are two rotary switches for this on the device itself:

Fig. 1-2: Setting of address on the VS Link PROFIBUS DP

As an example, set the address "3" here, i.e. set the upper of the two switches to the value "0", and the lower to the value "3" (address read from right to left: 03).

Tip: The address can always be calculated as follows: Address = 10 x upper value + lower value

Introduction


Configuring I/O areas Proceed as follows in the VS Link software:

In the menu "Configure -> Project parameters", enter the cyclic data quantity in the tab "PROFIBUS". If you have connected a VS72x to the VS Link, enter 32 bytes here (64 bytes for 2 Vision Sensors, 96 bytes for 3 Vision Sensors etc.)

Note

Make sure that the length of the input/output data in the VS-Link coincides with the total length of the I/O area used in the STEP 7 project (HW Config).

Fig. 1-3: Window "Configuration of project parameters"

Introduction


Configuration of connection to the Vision Sensor In the menu item "Add -> Connection", enter the IP address of the VS72x. Also set the port number 3246 here, and select the option "Use Vision Data Exchange (VDX)". You can also set the Update Rate here, as well as the Data Block to be used (in this case "Block 1").

Update Rate is the repetition rate of the frame between VS Link and Vision Sensor in milliseconds. It should not be less than 100 ms.

The Data Block parameter assigns the incoming and outgoing 32-byte data packets to a Vision Sensor. Block 1 corresponds to the first submodule in STEP 7 (HW Config), Block 2 the second module, etc.

Fig. 1-4: Window "Connection of configuration"

Downloading of project to the VS Link

Fig. 1-5: Window "Configuration of remote system"

Introduction


1. In the Configuration menu, click on Remote System.

2. Following selection of the correct communications interface, click on "Connect". The dialog box "Administer Remote System" is displayed.

3. In the first tab, click on "Download project and save on VS Link".

4. Check that the Ethernet setting is correct, and confirm "Save project in Flash memories on VS Link" with "yes".

Fig. 1-6: Window "Administer Remote System"

Note The Ethernet parameters indicate the IP address, the mask, and the gateway of the VS Link unit. These do not refer to the PC with which the VS Link project was created. The VS Link unit applies these settings during runtime. The Ethernet parameters of thePC are used in the case of test mode on the PC.

5. Click OK when you have defined the parameters. Close the dialog box "Administer Remote System", and switch the VS Link unit off and on again. This step is important for registration of the Ethernet parameters within the unit.

Introduction


1.2.2.2 PROFINET communication: SIMATIC Vision Sensor VS72x

The following components are used in the example configuration for PROFINET communication:


• S7 CPU 319-3 PN/DP

• Programming device/PC

L+ M Ether -

net

Vision Sensor

CPU319-3 PN/DP

PC / PG

PRO

FIB

US-

DP PR

OFI

NET

Fig. 1-7: Example of PROFINET communication with VS72x

This hardware configuration only supports communication via PROFINET interface.

For information on communication with CP343 and CP443, refer to chapters 3.6.2 and 3.6.3

Introduction


1.2.2.3 Ethernet Communication: SIMATIC Vision Sensor VS72x

The following components are used in the example configuration for PROFINET communication:


• S7 CPU 314C-2DP

• Communication processor CP 343-1, standard version

• Switch ESM TP40

• PG/PC

L+ M Ether -

net

Vision Sensor

1 2 3 4 1 2 3 4

V24

Port 1 Port 2 Port 3 Port 4

SPorts/Inputs CPU314C CP 343-1 ESM TP40

Netzwerkanbindung

PC / PG

PRO

FIB

US-

DP

Ethernet

Ethe

rnet

Fig. 1-8: Example of Ethernet communication with VS72x

This hardware configuration only supports communication via Ethernet TCP/IP interface.

Note

The communication structure has been tested with components selected from the catalog CA 01 (Automation and Drives).

Introduction


Connecting the Vision Sensor VS72x to the PG


2 Connecting the Vision Sensor VS72x to the PG

In order to establish the connection between the Vision Sensor VS72x and the programming device/PC, it is necessary to determine the IP address of the Vision Sensor. The IP address is automatically determined by Spectation.

Procedure for establishment of connection with automatic determination of IP address

1. Start the program SIMATIC Spectation. The PC Communication dialog box opens automatically.

2. Click the plus sign of the Network folder, and select the sensor. After a search delay of a few seconds, the network data of the sensor are shown on the next dialog box.

Fig. 2-1: Verification of IP address and subnet mask



3. The first two number groups of the IP address shown here must correspond with those of your PC/PG. The fourth group must be different. This can be set user-specific. Always make sure that this IP address is unique within your network. If uncertain, consult your system administrator. Click Edit to modify the entry accordingly, and then click OK to close the dialog box.

Fig. 2-2: Entry of IP address and subnet mask

4. Also verify that the subnet mask of the PC corresponds with the Mask entry in Spectation. If the addresses differ, modify accordingly (IP Config / All).

5. In the PC Communications dialog box, click Connect.



Use of the VDX driver in Spectation The VDX driver (Vision Data Exchange) is an alternative to the Modbus protocol for establishment of the connection between a SmartImage sensor and a VSLink station on the PROFIBUS. In the basic setting, the VDX driver is activated. If the driver is not used, it should be disabled in the Input/Output menu. When the VDX driver is enabled, it starts in the background, and cyclically exchanges data with VSLink stations.

Fig. 2-3: Activation/disabling of driver

Note: VDX driver activated, and Modbus connection to VS Link • If the VDX driver is activated when using simplified communication (see

Fig. 2-3) and a Modbus connection to the VS Link configured at the same time (see Fig. 2-4), you cannot read values out of the VS Link in the defined areas of the Modbus.

• The output value determined over the fast VDX driver is present briefly in the defined registers.

• If the data transfer is executed over the slower Modbus, these values in the defined registers are overwritten.



Fig. 2-4: Input/Output

Fig. 2-5: Modbus master

Remedy:

Delete all Modbus connections to the VS Link.

Note

Other Modbus connections, e.g. to other sensors, are not affected.

Simplified communication


3 Simplified communication

3.1 Overview

Spectation V2.6 or higher provides you with simplified functions for communication between a SIMATIC S7 PLC and Vision Sensor 72x over PROFIBUS DP and ETHERNET. (Version V2.8.1 also supports communication via PROFINET). This type of communication is run via the data areas and provides the following requests:

• Trigger

• Load

• Teach-in

• Save

• Reset

• Trigger mode

• Run mode.

However, simplified communication has reduced functionality compared to the enhanced communication with PROFIBUS DP / Modbus described in chapter 4:

• The standard functions (Trigger, Load, Teach-in, Save, Reset, Trigger mode and Run mode) are available to the user.

• On PROFIBUS DP, the system provides 28 bytes for value import and 28 bytes for measured value output.

• On PROFINET and ETHERNET, the system provides 60 bytes for value import and for measured value output.



3.2 Requests to VS72x

The requests to the Vision Sensors VS72x comprise:

• Standard functions (Trigger, Load, …) Byte n+0

• Number of test program Bytes n+2 and n+3

• User data area Bytes n+4 to n+31 with PROFIBUS DP or Byte n+63 with PROFINET or ETHERNET communication.

Table 3-1 Request structure

Bit 7 6 5 4 3 2 1 0

Byte n+0 Reserve Run mode (inspection)

Trigger mode Reset Save Teach-in Load Trigger

Byte n+1 Reserve Byte n+2 Byte n+3

Test program number

Byte n+4 Start of value import area . . .

Byte n+31 End of area for PROFIBUS DP . . .

Byte n+63 End of area for PROFINET and Ethernet



3.2.1 Standard functions (byte n+0):

Trigger (bit 0) Triggers a measurement when external trigger mode is set.

Note

The trigger is not reset automatically.

Load (bit 1) Loads the test program which has the digital test program ID specified in bytes 2/3. Up to 32768 test programs can be selected.

Teach-in (bit 2) Teaches all SoftSensors enabled for digital teach-in mode.

Save (bit 3) Saves the learned SoftSensors.

Reset (bit 4) Resets the error code and cycle counter.

Trigger mode (bit 5) Toggles between external and internal trigger mode.

• 0: internal trigger mode

• 1: external trigger mode

Run mode, inspection (bit 6) Enables/disables inspection mode.

• 0: disables inspection mode

• 1: enables inspection mode



3.2.2 Test program number (bytes n+2 and n+3)

This specifies the digital ID of the test program to be loaded. The digital ID is assigned in the test program management dialog box of the test program menu.

Fig. 3-1: Test program management



3.2.3 User data area (starting at byte n+4)

The area starting at byte 4 is available for value import.

Format of data to be transferred:

• Byte

• Integer

• Floating-point number

• String

Mixed formats are also possible.

Value import A script must be used to access the respective values in the request frame.

Two types of script exist depending on the purpose of use for the data:

• SoftSensor script

• Background script

Syntax for access to received data:

• Byte: void = VDX_GetImportByte(int index);

• Integer: int = VDX_GetImportInteger(int index);

• Floating-point number: float = VDX_GetImportFloat(int index);

• String: string = VDX_GetImportString(int index).

Note

Index declares the respective start byte.

Valid values:

• 0 to 27 with PROFIBUS DP

• 0 to 59 with PROFINET and ETHERNET



The following table lists possibilities for using the value import and value output area.

Table 3-2 Index numbers for value import/output

Byte access Integer access

Float access

String access

Mixed access

Byte n+4 Index 0 Index 0 Byte

Byte n+5 Index 1 Byte n+6 Index 2 Byte n+7 Index 3

Index 0 Index 0

Byte n+8 Index 4 Byte n+9 Index 5

Byte n+10 Index 6 Byte n+11 Index 7

Index 4 Index 4

Index 1 String

Byte n+12 Index 8 Byte n+13 Index 9 Byte n+14 Index 10 Byte n+15 Index 11

Index 8 Index 8 Index 8

Floating-point number



Byte n+... Index …

Index … Index …

Index 0

Index …

Byte access Indicates the index numbers if values of only one byte are transmitted.

Integer access Indicates the index numbers if only integers are transmitted.

Float access Indicates the index numbers if only floating-point numbers are transmitted.

String access Indicates the index numbers if a string is transmitted.

Mixed access Indicates the index numbers if different formats are used.



3.2.4 Script camera

At the receive end, the transmitted data are received by a foreground script.

Example of sensor script: Value import

Fig. 3-2: Example of parameter input for value import

Fig. 3-3: Example script of value import



3.3 Responses of Vision Sensor VS72x

The response frame consists of:

• Frame header (status messages, error code, cycle counter) Bytes n+0 to n+2

• Output bits Byte n+3

• User data area Bytes n+4 to n+31 or Byte n+63

Table 3-3 Response structure

Bit 7 6 5 4 3 2 1 0

Byte n+0 Life bit

ACK (command acknow-ledge)

Reserve Reserve Wrong code Fail Warn Pass

Byte n+1 Error code Byte n+2 Cycle counter

Byte n+3 Out User 8

Out User 7

Out User 6

Out User 5

Out User 4

Out User 3

Out User 2

Out User 1

Byte n+4 Start of measured value output area . . .

Byte n+31 End of area for PROFIBUS DP . . .

Byte n+63 End of area for PROFINET and Ethernet



3.3.1 Frame header

Status signals (Byte n+0): Pass / Warn / Fail (Bit 0/1/2) Status of the most recent measurement, according to the test program setting. The data are transmitted via the VDX driver.

Wrong code (bit 3) Indicates that a code has been read by a SoftSensor, but that this does not agree with the specified code.

Response to a command (acknowledge, ACK), bit 6 Spectation 2.7.7 or higher.

A response (ACK) is generated by the VDX driver for the following requests:

• Trigger (bit 0)

• Load (bit 1)

• Teach-in (bit 2)

• Save (bit 3)

• Trigger mode (bit 5), with status change 0 ->1 and 1-> 0

• Run mode inspection (bit 6) with status change 0 ->1 and 1-> 0

The acknowledgment also updates the error code.

Watchdog (life display) bit 7 Spectation 2.7.7 or higher

The watchdog bit (life bit) is used to monitor the status of the sensor and of the connection (is there a problem in communication; is the sensor switched on ...).

The life bit is present in the response frame byte n+0, bit 7.

The life bit toggles every 1000 ms. With each change, the VS72x sends a complete frame (64 bytes).

Inversion of the life bit by the VS72x also takes place following a regular request. In addition to the life bit, the remaining values (bytes n+0 to n+63) also change according to the processed request.

The FB/FC72 resp FB73 evaluates the life bit. If an error occurs, i.e. if the life bit does not toggle within 1000 ms, the FB sets the new output CONN_OK_CAMx to the value FALSE. This output can be displayed by the user.



The output is automatically reset following elimination of the error.

If no errors are present, the output CONN_OK_CAMx has the value TRUE.

Note

With FB72 (PROFIBUS), CONN_OK_CAMx represents the four outputs CONN_OK_CAM1 to CONN_OK_CAM4, with FB73 (PROFINET) and FC72 (Industrial Ethernet), it represents the output CONN_OK_CAM.

Error code (byte n+1) Possible codes:

1: Error when loading the test program

2: Error when saving the test program

3: Trigger error

Cycle counter (byte n+2) • Spectation 2.7.6 or older:

The cycle counter is incremented following each measurement. The first measurement request enters the value "0" in the cycle counter.

There is no response for the user at the PLC end in the case of all other requests.

• Spectation 2.7.7 or higher: The cycle counter is incremented following each measurement. Following the first measurement request, the counter has the value "1".



3.3.2 Output bits Out User 1 to 8 (bytes n+3)

Output bits which can be set based on the results of the SoftSensors.

The bits are defined in Spectation in the Input/Output, Datalink menu.

Fig. 3-4: Example of Datalink outputs

The first 8 user-defined outputs are written to byte 3 of the response frame.

3.3.3 User data area

The area starting at byte n+4 is available for measured value output. Format of data to be transferred: byte, integer, floating-point number or string. A mixed format is also possible, see chapter 3.2.3: User data area (starting at byte n+4) - Table 3-2: Value import.



3.3.4 Measured value output

Syntax for write access to measured values in the output area:

• Byte: VDX_SetOutputByte(int index, byte value);

• Integer: VDX_SetOutputInteger(int index, int value);

• Floating-point number: VDX_SetOutputFloat(int index, float value);

• String: VDX_SetOutputString(int index, string value).

Syntax for read access to measured values in the output area:

• Byte: byte = VDX_GetOutputByte(int index);

• Integer: int = VDX_GetOutputInteger(int index);

• Floating-point number: float = VDX_GetOutputFloat(int index);

• String: string = VDX_GetOutputString(int index).

Note Index declares the respective start byte.

Valid values:

• 0 to 27 with PROFIBUS DP

• 0 to 59 with PROFINET and ETHERNET

A table with the possible applications of the output area can be found in chapter 3.2.3: User data area (starting at byte n+4) - Table 3-2: Value import.

You should use the SoftSensor scripts in order to output the respective measured values.

Fig. 3-5: Example of parameter input for result



Fig. 3-6: Example script for result



3.4 Description of the function blocks

FB 72 for PROFIBUS DP FB 72 "VS_S7_DP" is used to establish simplified communication over PROFIBUS DP between an S7-300 or S7-400 PLC with integral or external PROFIBUS DP interface (except CP342-5) and the VS Link. Up to 4 Vision Sensors VS72x can be connected to the VS Link per call of the function block. The function block is simply called cyclically in OB 1 or an OB 1 subroutine.

Enter the I/O addresses which represent the Vision Sensor on the VS Link in the "LADDR_CAMx" parameters. The I/O addresses from HW-Config have to be converted into hexadecimal values and must be identical for the input and output areas of a camera.

32 bytes input data and 32 bytes output data are used per connected VS72x. For information on the structure of user data for a VS72x, please refer to chapter 3.2 (Table 3-1) and chapter 3.3 (Table 3-3) or to the online help. With the maximum number of 4 Vision Sensors per VS Link, the data area therefore consists of 128 bytes of input data and 128 bytes of output data. The data areas are declared in the "SEND" and "RECV" parameters (ANY pointers). The data areas always have a fixed length of 128 bytes.

The "RET_VAL_SEND" and "RET_VAL_RECV" parameters return information on the cause of errors.

The error codes are described in the online help.

Monitoring the connection status (from Spectation 2.7.7 together with VSLink 1.2.5)

The CONN_OK_CAM1 to CONN_OK_CAM4 parameters are used to monitor the status of the sensor and of the connection (is there a problem in communication; is the sensor switched on ...). The life bit of the sensor is evaluated for this purpose (cf. chapter 3.3.1).

The life bit toggles every 1000 ms. Inversion of the life bit by the VS72x also takes place following a regular request.

If an error occurs, i.e. if the life bit does not toggle within 1000 ms, the FB sets the output CONN_OK_CAMx to the value FALSE. The output is automatically reset following elimination of the error.


You can find further information in the online help on the CD under Communication\Online Help.



FB 73 for PROFINET FB 73 "VS72x_S7_PN" is used to establish a simplified communication via PROFINET between an S7-300 or S7-400 PLC with integrated PROFINET interface. FB 73 is called cyclically in OB 1 or in an OB 1 sublevel for each VS72x system. At parameter "LADDR_CAM", declare the I/O address which represents the Vision Sensor in the address space of the CPU. Convert the I/O address defined in HW Config into a HEX value. Always use the same I/O addresses for the I/O areas of the camera. VS72x requires 64 bytes of input data and 64 bytes of output data. For information on the structure of user data for an VS72x, refer to chapter 3.2 (Table 3-1) and to chapter 3.3 (Table 3-3), or to the online help. These data areas are declared at the parameters "SEND" and "RECV" (ANY Pointer) and always have a fixed length of 64 bytes. The "RET_VAL_SEND" and "RET_VAL_RECV" parameters return information pertaining to causes of error. The error codes are described in the online help. Monitoring the connection status

Parameter CONN_OK_CAM is used to monitor the connection status and the sensor (is there a problem in communication; is the sensor switched on ...). The life flag of the sensor is evaluated accordingly (cf. chapter 3.3.1).

The life flag is toggled at intervals of 1000 ms. VS72x also inverts the life flag after a normal job was completed.

The FB sets output CONN_OK_CAM = TRUE after an error was detected, that is, if life flag is no longer toggled at intervals of 1000 ms. The output is reset automatically after the error was cleared.

Output CONN_OK_CAM = TRUE if no errors are active. For further information, refer to the Online Help on your CD, section Communication\Online-Help.



FC 72 "VS_300_IE" for S7-300 and FC 72 "VS_400_IE" for S7-400

FC 72 "VS_300_IE" and FC 72 "VS_400_IE" are used to establish simplified communication over Industrial Ethernet TCP/IP between an S7 PLC with TCP/IP-capable communications processor and a VS72x. In OB 1 or a OB 1 subroutine, call one FC 72 for each VS72x system.

The "ID" parameter specifies the connection ID from NetPro. Please make allowances for the maximum communication resources specified in the respective technical data of the CPU and communications processor.

The "LADDR" parameter is also returned by NetPro when you view the object properties of the configured connection.

FC 72 is used to transmit data with a fixed length of 64 bytes to the Vision Sensor, and to receive data with a fixed length of 64 bytes from the Vision Sensor. For information on the structure of user data, please refer to chapter 3.2 (Table 3-1) and chapter 3.3 (Table 3-3) or to the online help. The data areas are declared in the "SEND" and "RECV" parameters (ANY pointers). The data areas always have a fixed length of 64 bytes each.

The "ACT" parameter is used to trigger the send job to the VS72x. The data are then transferred once, and "ACT" is reset. The data are received at every call of the FC 72, irrespective of "ACT".

Error-free execution is signaled if the complete user data area was transferred over Ethernet and the value of the "ERROR_SEND" and "ERROR_RECV" parameters is "0". The "RET_VAL_SEND" and "RET_VAL_RECV" parameters should be evaluated when "ERROR_SEND" or "ERROR_RECV" is "1".

The error codes are described in the online help.

Monitoring the connection status (from Spectation 2.7.7)

The CONN_OK_CAM parameter is used to monitor the status of the sensor and of the connection (is there a problem in communication; is the sensor switched on ...). The life bit of the sensor is evaluated for this purpose (cf. chapter 3.3.1).


If an error occurs, i.e. if the life bit does not toggle within 1000 ms, the FB sets the output CONN_OK_CAM to the value FALSE. The output is automatically reset following elimination of the error.

If no errors are present, the output CONN_OK_CAM has the value TRUE.

The MON_START_TICK and MON_PREV_VAL parameters are used internally by the FC, and need only be linked by the user.


Loading function blocks The function blocks are stored in the VS72x library on the installation CD of SIMATIC Spectation in the folder Communication\Function Blocks.



In STEP 7, unpack the zipped blocks in this folder, and save them in STEP7 to .../S7LIBs.

Block overview Blocks available for simplified communication between VS72x and SIMATIC:

Table 3-4 Block overview

PLC Block Block name Communication mode

S7-300/S7-400 FB 72 VS_S7_DP PROFIBUS DP

S7-300/S7-400 FB 73 VS72x_S7_PN PROFINET

S7-300 FC 72 VS_300_IE TCP/IP

S7-400 FC 72 VS_400_IE TCP/IP

Note

Always make sure that the function block you are using is compatible with the configured communication mode (PROFIBUS DP, PROFINET or Ethernet) and the PLC (S7-300 or S7-400).



3.5 PROFIBUS DP simplified communication: VS72x sensor – SIMATIC PLCs

Simplified PROFIBUS DP + VSLink communication over PROFIBUS DP allows you to transfer up to 28 bytes of user data by way of Vision Sensor.

L+ M Ether -

net

Vision Sensor

CPU314C- 2DP

GND/24V

Video Out

PROFIBUS-DP

RS232

Ethernet

VS Link PROFIBUS

PC / PG

Ethernet

PROFIBUS-DP

Fig. 3-7: Example of PROFIBUS DP communication with VS72x



3.5.1 Integration into your STEP 7 project

Hardware • You have configured your hardware in HW-Config. Open the hardware catalog,

and select the entry VS Link under PROFIBUS DP/Sensor system/VSLink.

• Drag-and-drop this entry to your PROFIBUS DP segment. Set the PROFIBUS DP address of the VS Link in the properties menu (e.g. 3). The address must correspond with the hardware coding switch settings on the module, see chapter 3.5.2.

• The universal modules are located under VS Link in the hardware catalog.

• Add one universal module per Vision Sensor to the VS Link table with double-click.

• In each universal module, set the "Unit" parameter to "Byte", and the "Consistency" parameter to "Complete length". The input and output addresses must have the same value.

Fig. 3-8: Example with HW-Config for integration in STEP 7



Software Copy FB 72 from the VS72x Series library to your S7 project, and call it in OB1 or a subordinate block:

STL: Explanation:

CALL " VS_S7_DP " , DB72

LADDR_CAM1 :=W#16#00 The start addresses

LADDR_CAM2 : of the I/O area from

LADDR_CAM3 : HW-Config

LADDR_CAM4 :

RECV :=P#DB75.DBX0.0 BYTE 128 Received data

SEND :=P#DB75.DBX128.0 BYTE 128 Transmitted data

RET_VAL_RECV:=MW300 Status display: receive

RET_VAL_SEND:=MW302 Status display: send

CONN_OK_CAM1:=M304.0 Connection monitoring

CONN_OK_CAM2:

CONN_OK_CAM3:

CONN_OK_CAM4:

Enter the I/O addresses which represent the Vision Sensors on the VS Link in the "LADDR_CAMx" parameters. The I/O addresses from HW-Config have to be converted into hexadecimal values and must be identical for the corresponding input and output areas.

32 bytes input data and 32 bytes output data are used per connected VS72x. For information on the structure of user data for a VS72x, please refer to chapter 3.2 (Table 3-1) and chapter 3.2 (Table 3-3) or to the online help. With the maximum number of 4 Vision Sensors per VS Link, the data area therefore consists of 128 bytes of input data and 128 bytes of output data. The data areas are declared in the "SEND" and "RECV" parameters (ANY pointers). The data areas always have a fixed length of 128 bytes.

The "RET_VAL_SEND" and "RET_VAL_RECV" parameters return information on the cause of errors. The error codes are described in the online help.

The CONN_OK_CAMx parameter is used to monitor the status of the sensor and of the connection (is there a problem in communication; is the sensor switched on ...). The life bit of the sensor is evaluated for this purpose (cf. chapter 3.3.1).


If an error occurs, i.e. if the life bit does not toggle within 1000 ms, the FB sets the output CONN_OK_CAMx to the value FALSE. The output is automatically reset following elimination of the error.




Note

Make sure that the length of the input/output data in the VS-Link coincides with the total length of the I/O area used in the STEP 7 project (HW-Config).




3.5.2 Configuration of VS Link

PROFIBUS DP address On the VS Link PROFIBUS DP, set the module's PROFIBUS DP address you have defined in the hardware configuration in STEP 7 (cf. chapter 3.5.1). There are two rotary switches for this on the device itself:

Fig. 3-9: Setting the address on VS Link PROFIBUS DP







Note





Configuration of connection to the Vision Sensor In the menu item "Add -> Connection", enter the IP address of the VS72x. Also set the port number 3246 here, and select the option "Use Vision Data Exchange (VDX)". You can also set the Update Rate here, as well as the Data Block to be used (in this case "Block 1").

Update Rate is the repetition rate of the frame between VS Link and Vision Sensor in milliseconds. It should not be less than 100 ms.

The Data Block parameter assigns the incoming and outgoing 32-byte data packets to a Vision Sensor. Block 1 corresponds to the first submodule in STEP 7 (HW-Config), Block 2 the second module, etc.

Fig. 3-11: Window "Connection of configuration"

Downloading of project to the VS Link 1. In the Configuration menu, click on Remote System.








Note The Ethernet parameters indicate the IP address, the mask, and the gateway of the VS Link unit. These do not refer to the PC with which the VS Link project was created. The VS Link unit applies these settings during runtime. The Ethernet parameters of thePC are used in the case of test mode on the PC.




3.6 PROFINET simplified communication: VS72x sensor – SIMATIC PLCs

Communication via PROFINET with VDX drivers supports the transfer of up to 60 bytes of user data per Vision Sensor.

L+ M Ether -

net

Vision Sensor

CPU319-3 PN/DP

PC / PG

PRO

FIB

US-

DP PR

OFI

NET

Fig. 3-14: Example of PROFINET communication with VS72x



3.6.1 Integration in your STEP 7-Project

Hardware • You created the hardware configuration in HW Config. The VDX module entry

is available in the hardware catalog, PROFINET IO/Sensors/Spectation.

• Drag-and-drop this entry to your PROFINET segment. Enter the device name of the VS72x in the properties menu. The device name must match the name configured under Spectation.

• A VDX interface is already available in the inserted VDX module.

• Enter the required I/O addresses in the properties menu of the VDX interface Note that the input and output addresses must be identical. Set the value "OB1-PI" at the "process image" parameters.

Fig. 3-15: Example of HW Config for implementation in STEP 7



Software • Copy FB 73 from the VS72x series library to your S7 project and call it in OB1

or in a sublevel block.

AWL: Comment: CALL " VS72x_S7_PN " , DB73 LADDR_CAM :=W#16#00 Start address I/O area RECV :=P#DB75.DBX0.0 BYTE 64 Receive data SEND :=P#DB75.DBX64.0 BYTE 64 Send data RET_VAL_RECV:=MW300 Receive status display RET_VAL_SEND:=MW302 Send status display CONN_OK_CAM :=M304.0 Connection monitoring

Enter the I/O address which represents the Vision Sensor in the address space of the CPU at parameter "LADDR_CAM". Convert the I/O address from HW Config into a HEX value. Always use the same address for the I/O areas.

VS72x requires 64 bytes of input data and 64 bytes of output data. For information on the structure of user data for an VS72x, refer to chapter 3.2 (Table 3-1) and to chapter 3.3 (Table 3-3), or to the online help. These data areas are declared at the parameters "SEND" and "RECV" (ANY Pointer) and always have a fixed length of 64 bytes.

The "RET_VAL_SEND" and "RET_VAL_RECV" parameters return information to error causes. For information on error codes, refer to the online help.

The CONN_OK_CAMx parameter is used to monitor the status of the sensor and of the connection (is there a problem in communication; is the sensor switched on ...). The life bit of the sensor is evaluated for this purpose (cf. chapter 3.3.1).

The life bit toggles every 1000 ms. Inversion of the life bit by the VS72x also takes place following a normal request.


Output CONN_OK_CAM = TRUE if no errors are active.



3.6.2 Communication between CPU-300 and VS72x via CP343

Communication with VS72x cameras via PROFINET is not supported with CP343, as this CP allows consistent reading of data blocks with a length to 32 bytes.

CP343 EX30 features an 64Byte internal I/O area.

For this reason, device-specific access to this I/O is not possible within FB73. FC11 (PNIO_SEND) and FC12 (PNIO_RECV) are available for handling read and write operations in this I/O area. You always have to read and write the entire I/O area. (See the manual NCM-S7 ("S7-CPs for Industrial Ethernet")

All inputs of the CP must be read at the start of the cycle by calling FC12 and can be created in a DB or in the memory bit area. All devices, that is, their associated FBs, access this input image and write their outputs to a corresponding output image. The output image is transferred to the CPU at the end of the cycle by calling FC11.

3.6.3 Communication between CPU-400 and VS72x via CP443

Communication with VS72x cameras via PROFINET is not supported with CP443, as this CP allows consistent reading of data blocks with a length to 32 bytes.



3.7 Ethernet simplified communication: VS72x Sensor – SIMATIC PLCs

Communication over Ethernet with VDX driver allows you to transfer up to 60 bytes of user data per Vision Sensor.

L+ M Ether -

net

Vision Sensor

1 2 3 4 1 2 3 4

V24



Network connection

PC / PG

PRO

FIB

US-

DP

Ethernet Et

hern

et





Hardware You have configured your hardware in HW-Config.

Fig. 3-17: Example with HW-Config for integration in STEP 7

Open NetPro to create a new TCP connection to a non-specified partner. Select "Active connection establishment" in the "General information" tab.

Fig. 3-18: Window "Properties – TCP connection: "General information" tab"



In the "Addresses" tab, enter the IP addresses of the Vision Sensor (see also chapter 2:) and port number 7500. The local port number is assigned automatically, and you need not change it.

Fig. 3-19: Window "Properties – TCP connection: "Addresses" tab"

Software Copy the function corresponding to your system family from the VS72x Series library to your S7 project, and call it in OB1 or a subordinate block:

You can add the FC 72 for Ethernet to your STEP 7 program as follows: STL: Explanation:

CALL "VS_300_IE"

ID:=1 Connection ID from NetPro, block parameter

LADDR:=W#16#100 Base address of the IE-CP, block parameter

SEND:=P#DB75.DBX0.0 BYTE 64 Send user data area

RECV:=P#DB75.DBX128.0 BYTE 64 Receive area User data

RET_VAL_SEND:=MW300 Status display: send

RET_VAL_RECV:=MW300 Status display: receive

ERROR_SEND:=M0.0 Error analysis

ERROR_RECV:=M0.2 Error analysis

CONN_OK_CAM:=M20.0 Connection monitoring

MON_START_TICK:=MD22 Internal parameter

MON_PREV_VAL :=MB30 Internal parameter

ACT:=M0.1 Job initiation



The "ID" parameter specifies the connection ID from NetPro. Please make allowances for the maximum communication resources specified in the respective technical data of the CPU and communications processor.

The "LADDR" parameter is also returned by NetPro when you view the object properties of the configured connection.

FC 72 is used to transmit data with a fixed length of 64 bytes to the Vision Sensor, and to receive data with a fixed length of 64 bytes from the Vision Sensor. For information on the structure of user data, please refer to chapter 3.2 and chapter 3.3 or to the online help. The data areas are declared in the "SEND" and "RECV" parameters (ANY pointers). The data areas always have a fixed length of 64 bytes each.

The "ACT" parameter is used to trigger the send job to the VS72x. The data are then transferred once, and "ACT" is reset. The data are received at every call of the FC 72, irrespective of "ACT".

Error-free execution is signaled if the complete user data area was transferred over Ethernet and the value of the "ERROR_SEND" and "ERROR_RECV" parameters is "0". The "RET_VAL_SEND" and "RET_VAL_RECV" parameters should be evaluated when "ERROR_SEND" or "ERROR_RECV" is "1".

The CONN_OK_CAM parameter is used to monitor the status of the sensor and of the connection (is there a problem in communication; is the sensor switched on ...). The life bit of the sensor is evaluated for this purpose (cf. chapter 3.3.1).



If no errors are present, the output CONN_OK_CAM has the value TRUE.

The MON_START_TICK and MON_PREV_VAL parameters are used internally by the FC, and need only be linked by the user.


Enhanced communication


4 Enhanced communication

4.1 Overview of enhanced functionality

Spectation V2.6 provides enhanced functionality for communication between a SIMATIC S7 PLC and Vision Sensor 72x via PROFIBUS DP and ETHERNET. This type of communication is not available for PROFINET IO.

Enhanced communication differs from simplified communication by having the following additional functionality:

• More values can be transferred

• 14 user-defined inputs

• 16 user outputs

• 24 user-defined outputs

• Status bits: Busy, 3 Strobe, Resource Conflict, Select Pass, Select Fail, Acquiring, Inspecting, Inspect Toggle

• The range of values can be scaled

The section below shows the assignment between registers and inputs/outputs.

SIMATIC VS72x registers and I/O assignments

Table 4-1 SIMATIC VS72x registers and I/O assignments Bit position Siemens

register 7 6 5 4 3 2 1 0 Type

Bit 63 Bit 62 Bit 61 Bit 60 Bit 59 Bit 58 Bit 57 Bit 56 0

Output 63 Output 62 Output 61 Output 60 Output 59 Output 58 Output 57 Output 56 Bit 55 Bit 54 Bit 53 Bit 52 Bit 51 Bit 50 Bit 49 Bit 48

1 Output 55 Output 54 Output 53 Output 52 Output 51 Output 50 Output 49 Output 48


User 16 User 15 User 14 User 13 User 12 User 11 User 10 User 09 Bit 39 Bit 38 Bit 37 Bit 36 Bit 35 Bit 34 Bit 33 Bit 32

3 User 08 User 07 User 06 User 05 User 04 User 03 User 02 User 01 Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24

4 Output 31 Output 30 Output 29 Output 28 Output 27 Output 26 Output 25 Output 24


Reserved Wrong code Strobe 2 Strobe 3 Reserved

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 6 Inspect

toggle Inspecting Acquiring Reserved

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

Output





Select Fail Select Pass

Res. Conflict

Strobe Busy Fail Warn Pass






Input 31 Input 30 Input 29 Input 28 Input 27 Input 26 Input 25 Input 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16

9 Input 23 Input 22 Input 21 Input 20 Input 19 Input 18 Relearn Prod Id 14 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

10 Prod Id 13 Prod Id 12 Prod Id 11 Prod Id 10 Prod Id 9 Prod Id 8 Prod Id 7 Prod Id 6


Prod Id 5 Prod Id 4 Prod Id 3 Prod Id 2 Prod Id 1 Prod Id 0 Select Trigger

Input

12 Reg 12

Bit 7 Reg 12

Bit 6 Reg 12

Bit 5 Reg 12

Bit 4 Reg 12

Bit 3 Reg 12

Bit 2 Reg 12

Bit 1 Reg 12

Bit 0

--

---

16382 Reg 16382

Bit 7 Reg 16382

Bit 6 Reg 16382

Bit 5 Reg 16382

Bit 4 Reg 16382

Bit 3 Reg 16382

Bit 2 Reg 16382

Bit 1 Reg 16382

Bit 0 16383 Reg 16383

Bit 7 Reg 16383

Bit 6 Reg 16383

Bit 5 Reg 16383

Bit 4 Reg 16383

Bit 3 Reg 16383

Bit 2 Reg 16383

Bit 1 Reg 16383

Bit 0

General purpose

4.1.1 Input bytes

Trigger (bit 0) Starts an inspection if the trigger source is set to external.

Select (bit 1) Loads the test program which has the digital test program ID specified in bytes 9-11. Up to 32768 test programs can be selected.

Prod ID (bits 2–16) This specifies the digital ID of the test program to be loaded. The digital ID is assigned in the test program management dialog box of the test program menu.

Relearn (bit 17) Teaches all SoftSensors enabled for digital teach-in mode.

INPUT (18–31) Virtual entries which do not have a system function. These can be read or used with scripts.



4.1.2 Output bytes

Pass / Warn / Fail (bits 0/1/2) Status of the most recent measurement, according to the test program setting.

Busy (bit 3) Shows that the Vision Sensor is executing an inspection.

Strobe / Strobe 2 / Strobe 3 (bit 4/bit 19/bit 20) Outputs for controlling strobe lights.

Resources Conflict (bit 5) Shows that both image memories of the Vision Sensor are full and that no additional images can be acquired.

Select Pass / Select Fail (bit 6 and bit 7) Shows that programs have been successfully transferred.

Acquiring (bit 13) Shows that an image is being acquired.

Inspecting (bit 14) Shows that the test program is running.

Inspect toggle (bit 16) Toggles at each inspection.

Wrong code (bit 21) Indicates that a code has been read, but that this does not agree with the specified code.

Output (bits 24–31 and bits 48–63) Virtual outputs which cannot be set by the system. These can be set with scripts.

User (bits 32–47) These are outputs which can be set by the SoftSensors.



4.2 Enhanced communication with PROFIBUS DP / Modbus

Example configuration

L+ M Ether -

net

Vision Sensor

CPU314C- 2DP

GND/24V

Video Out

PROFIBUS-DP

RS232

Ethernet

VS Link PROFIBUS

PC / PG

Ethernet/Modbus

PROFIBUS-DP

Fig. 4-1: Example of PROFIBUS DP communication with Vision Sensor VS72x

This type of communication is used to implement functionality for controlling data exchange between the CPU and the Vision Sensor via PROFIBUS DP and Modbus. VS LINK PROFIBUS DP is sued to convert the signals.

In order to be able to control the Vision Sensor or output measured values using this process you need to implement scripts for mirroring the data to the virtual I/O. You can also choose to activate a background script to control the Vision Sensor and to output the status flags.

For further information re virtual I/O and script programming, refer to the Spectation Online Help system.



Special features of this type of communication:

• VS Link is a slave in PROFIBUS DP and in Modbus.

• Message frames are exchanged cyclically with the Vision Sensor via Ethernet

• VS Link mirrors the user data of the message frames from Modbus to PROFIBUS DP and vice versa

Triggering a measurement The Vision Sensor can only be triggered if, as described previously:

• The registers have been mapped

• A test program has been selected for inspection

• External trigger mode is set

• Inspection mode is enabled.

If these conditions are met, a measurement is triggered by a positive edge of the triggered bit.

You should create an empty dummy program in order to ensure automatic activation of the inspection mode. The system loads this program automatically after POWER ON. You only need to do this if you have not defined a start inspection program.

Note

The dummy program must be selected as the start program in the SIMATIC Spectationprogram.

Reloading the test program The test programs are loaded based on the digital ID set in the test program management dialog. 15 test program ID bits are available at the virtual inputs. You need to write the ID of the required test program in binary format to these bits. Note that you do not have two complete bytes reserved for you when writing the test program ID; the 15 bits are distributed across 3 bytes or registers. A test program is loaded by the positive edges on the Select bit.



Value import Additional values which may need to be transferred alongside with the control functions must be located in the data area following the control functions. Because you only have up to 4 bytes for control functions, the area for value import starts at byte n+4.

The imported values are processed with scripts. Whether a SoftSensor script or background script is used depends on the application of the values.

The example below shows a SoftSensor script named "Position" that provides a coordinate for the test program. class Position

{

public void inspect()

{

this.Point.X=RegisterReadFloat(204);

this.Point.Y=RegisterReadFloat(208);

}

}

Floating-point numbers are read from the registers 204 and 208 and output by the script as coordinate. This allows you to reference other SoftSensors to this coordinate. Both values use four registers since the value is read from the register as a floating-point number. 204 and 208 define the start register for reading the value.

Measured value output Just as with the value import, you need to make sure that you output measured values only to the areas which do not overlap with your virtual outputs. Hence, the output area for measured values would start at byte n+8, because you only have up to 8 bytes for virtual outputs.

Measured value output is controlled by script, just like the value import function. The decision whether to use a SoftSensor or background script is determined by the manner in which the measured values are generated.

The following example shows a SoftSensor script named "Result" which returns the number of Blobs found by the Blob Selector tool. class Result

{

public void inspect()

{

RegisterWriteInteger(108 , Blob_Selector.NumBlobs);

}

}

The "Blob_Selector" SoftSensor writes the "NumBlobs" value to the registers 108-111. These four registers are required because the value is written in integer format. 108 defines the start register for writing the value.



4.2.1 Configuring the connection between VS Link PROFIBUS DP and the sensor

In order to transfer measurement data to the PC over PROFIBUS DP, you need to establish bidirectional Modbus communication to VS Link PROFIBUS DP. Proceed as follows:

1. In SIMATIC Spectation, select Input/Output > Modbus Master.

2. In the next dialog box, click New. A new connection is inserted.

3. Click the new connection to select it. Then click the Edit button.

4. In the Slave IP address box, enter the VS Link PROFIBUS DP address. Make the other entries according to the figure below:

Fig. 4-2: Configuring the connection to VS Link PROFIBUS DP

Note Please note that one Modbus register occupies two bytes, and one Siemens SIMATIC PLC register occupies only one byte.

5. Close the dialog box with OK.

6. In the Modbus Master dialog box, click New again to insert a further connection.

7. Also select this new connection, and then click Edit.



8. In the Slave IP Master box, enter the same address as for the connection just created. Make the other entries according to the figure below:

Fig. 4-3: Configuring the connection from VS Link PROFIBUS DP


10. In the Modbus Master dialog box, click Start.


Description of the parameters

Table 4-2 Description of the modbus parameters Parameter name Description

Name Freely selectable Slave IP address IP address of VS Link Command • Read Multiple Registers (fetch data from VS Link)

• Write Multiple Registers (write data to VS Link)

Slave register start Start register of the used area in VS Link • Register 1000-1511 data from Modbus to PROFIBUS DP

• Register 2000-2511 data from PROFIBUS DP to Modbus

Master register start Start register of the used area in Vision Sensor Number of registers Length of data to be sent Poll rate Frame interval between VS Link and Vision Sensor in milliseconds. The poll

rate should be shorter than the cycle time of the CPU, e.g. 10 ms Timeout Timeout for VS Link



Mapping of the virtual inputs In order to be able to control the Vision Sensor over Modbus, you need to program an interconnection between the registers from VS Link and the virtual inputs. You also need this connection in order to output the status bits of the virtual outputs on Modbus.

The background script below shows you the simplest way of transferring the required data:

class MapToVirtual_IO

{

public static void main()

{

//Maps the virtual outputs //to the output registers of Modbus

RegisterWriteByte(100,RegisterReadByte(0));








//Maps the first 4 input registers of Modbus //to the virtual inputs





}

}

The first instruction set writes the virtual outputs (registers 0–7) to registers 100-107. The second instruction set writes the registers 200-203 to the virtual inputs (registers 8–11).



So that the script runs following a sensor power off, the property "Run after power on" of the background script must be activated, cf. following figures.

Fig. 4-4: SIMATIC Spectation program



• Open the Edit menu in the SIMATIC Spectation program, and then the dialog "Background script":

Fig. 4-5: Dialog "Background scripts"

• Click Properties in the dialog "Background script", and activate the option box RUN.

Fig. 4-6: Dialog "Configure background script"

• Click on the OK button. You then return to the dialog "background script", cf. figure.



4.2.2 Transferring data to the CPU, example with a 314C-2DP CPU

Hardware You have configured your hardware in HW-Config. Open the hardware catalog, and select the entry VS Link under PROFIBUS DP/Sensor system/VSLink.

Drag-and-drop this entry to your PROFIBUS DP segment. Set the PROFIBUS DP address of the VS Link in the properties menu (e.g. 3). The address must correspond with the hardware coding switch settings on the module.

A universal module is located under VS Link in the hardware catalog, insert this.

Fig. 4-7:Example with HW-Config for data transmission to the CPU



Software Copy SFCs 14 and 15 from the Block catalog/Libraries/Standard library/System Function Blocks folder to OB 1.

// Receiving data via PROFIBUS DP

CALL "DPRD_DAT"

LADDR :=W#16#0

RET_VAL:=MW16

RECORD :=P#DB16.DBX0.0 BYTE 4

// Sending data via PROFIBUS DP

CALL "DPWR_DAT"

LADDR :=W#16#0

RECORD :=P#DB16.DBX0.0 BYTE 4

RET_VAL:=MW16

In the "LADDR" parameters, enter the base address of the used I/O area which represents the Vision Sensor on the VS Link. The addresses from HW-Config have to be converted into hexadecimal values. Write the addresses for the input area to SFC 14, and those for the output area to SFC 15.


This concludes configuration of data transfer to the CPU over PROFIBUS DP.

4.2.3 Adapting the settings on VS Link PROFIBUS DP

PROFIBUS DP address On the VS Link PROFIBUS DP, set the module's PROFIBUS DP address you have defined in the hardware configuration in STEP 7 (cf. chapter 4.2.2). There are two rotary switches for this on the device itself:



Fig. 4-8: Setting the address on VS Link PROFIBUS DP







Note





Downloading of project to the VS Link 1. In the Configuration menu, click on Remote System.






Note

The Ethernet parameters indicate the IP address, the mask, and the gateway of the VS Link unit. These do not refer to the PC with which the VS Link project was created. The VS Link unit applies these settings during runtime. The Ethernet parameters of thePC are used in the case of test mode on the PC.




4.3 Enhanced communication with Ethernet

Example configuration

L+ M Ether -

net

Vision Sensor

1 2 3 4 1 2 3 4

V24



Netzwork connection

PC / PG

PRO

FIB

US-

DP

Ethernet

Ethe

rnet


Two modes are available for enhanced communication over Ethernet:

1. System / Data Link These two standard drivers are offered by the Spectation firmware. The system driver is used to control the Vision Sensor, and is also used in the Spectation software to configure the Vision Sensor. The Data Link driver is used to output measured values. Both drivers are based on the TCP/IP protocol and provide user data in ASCII format.

2. Socket objects and background script This version allows you to program a user-specific frame based on a background script and on the socket objects included in Spectation. This allows you to establish connections to almost any station capable of operating with Ethernet and TCP/IP.

For detailed information, refer to the Spectation online help.



4.3.1 System driver

The Spectation firmware automatically starts the system driver in server mode, and connects it to port 3246 of the Vision Sensor. In addition to standard functions, you can also use this driver to call all Command List functions.

Extract from the Command List: • Modifying communication settings

• Creating, deleting and modifying test programs

• Creating, deleting and modifying SoftSensors

• Direct read/write access to a register

• Transferring image data

• Output of script debug messages

• Switching the Vision Sensor to diagnostics mode

• Reading system data

• Reading test program data

• Reading SoftSensor data

For detailed information, refer to the Spectation online help.

Frame structure All commands sent to the Vision Sensor by means of the system driver consist of an init character "#", the command itself, e.g. Y+, and the "End of Line" character <CrLf> (decimal value Cr=13, Lf=10).

Triggering the Vision Sensor The Vision Sensor can be set to perform event-triggered (single mode) and continuous (continuous mode) measurements.

For continuous mode, the internal trigger of the sensor is set, inspection mode is initiated by the "#Y+<CrLf>" command, and stopped by "#Y-<CrLf>".

In single mode, the sensor is triggered by external signals. This function is enabled by a "#Yp-<CrLf>" command, and disabled by "#Yp+<CrLf>". A measurement is triggered by the "#YI<CrLf>" command. Inspection mode must be enabled, just as for continuous mode.



Reloading the test programs Reloading of test programs for the inspection is based on the test program ID assigned by the system. This has nothing to do with the digital test program ID.

The test program is selected by the "#PIxx<CrLf>" command, where xx stands for the relevant test program ID.

You can view the test program ID using Telnet software and the "#PQ<CrLf>" command.

On the Windows taskbar, click Start > Run. Enter Telnet in the dialog box (IP address of Vision Sensor) 3246, and then click OK. Then type in the "#PQ" command and press Enter. A list of all created test programs and their IDs appears.

Value import You can write values directly to the Vision Sensor registers. This requires the "#RsxxYzz<CrLf>" command, where xx stands for the start register, Y for the format, and zz for the numerical value.

e.g.: #Rs100F72.01

The numerical value 72.01 is written in floating-point format to register 100.

A list of available formats and their identifiers can be found in the following table and in the Spectation online help.

Table 4-3 Description of parameters for value import Format Value B UINT8 I UINT16 I UINT32 F FLOAT32 D DOUBLE L UINT64 s String k Block as UINT8s

4.3.2 Data Link driver

You can use the Data Link driver to output measured values after each measurement. You can configure up to 10 output strings, and assign separate send conditions. In addition, you can configure substitutions for faulty measurements.

The configuration of the output string is associated with the test program, i.e. each test program is assigned a separate configuration. It is not possible to create a configuration without having first selected a test program.



Note Measured values are only output when inspection mode is enabled.

Configuring data output To configure the Data Link driver, select the Data Link item from the I/O menu.

The send conditions for output strings are defined in the Sensors tab. You can decide to send a string always, never, or in association with the configured SoftSensors.

Fig. 4-13: Window "Datalink parameters – Sensors tab"

SIMATIC S7 CPs require a constant data length. Usually, you should configure only one string that contains all vital data. If your application requires more than one string, always send only one string per measurement, making sure that all strings are of the same length. Because of the fact that one Data Link output is configured for each test program, the strings must, of course, have the same length.

The string content is defined in the String register. You can enter user-specific texts, or insert measured values from a SoftSensor shown in the selection box on the right.

Press the Enter key or click "EOL" to insert an end-of-line character. This may be required for some communication partners. SIMATIC S7 CPs do not use an "EOL" character for TCP connections.

When you click on Format, you can call a function that allows you to set fixed formats and lengths for the measured values returned by the SoftSensors. This is always required for communication partners that do not respond to an "EOL" character, but rather to a fixed frame length.



Fig. 4-14: Window "Datalink parameters – Strings tab"

Type "Test SIMATIC 724" in the input box, then press Return or click EOL.

General settings can be made in the "General" tab.

Under "Fail character", you can set substitution values. You should select the "Value" entry when using a SIMATIC S7 CP. This maintains a constant length of the output string after an error has occurred, and thus ensures error-free data transfer to the SIMATIC S7 CP.

Use the "Transmission rate" parameter to specify the number of measurements to be performed before a string is output.

If you have used the Format button to define measured values, and these are physically shorter than the formatted length, the value is assigned a placeholder prefix. You can choose from two types of placeholder: zeros or space characters.



If a communication partner can interpret data formatted in XML, you can enable this output format here.

Fig. 4-15: Window "Datalink parameters – General tab"

Enabling inspection mode Enable inspection mode

Fig. 4-16: Enabling inspection mode; standard bar on the left, enhanced bar on the right

Testing measured value output Next, verify data output using the standard Windows program Telnet. On the Windows taskbar, click Start > Run. Enter Telnet in the dialog box (IP address of Vision Sensor) 3247, and then click OK.

If everything has been configured correctly, "Test VS724" should be output.




Hardware Open NetPro to create two new TCP connections to a non-specified partner. Select "Active connection establishment" for every connection in the "General information" tab.

Fig. 4-17: TCP connection

In the "Addresses" tab, enter the IP addresses of the Vision Sensor (see also chapter 2) and port number 3246 for the system driver, or 3247 for the Data Link driver.



Fig. 4-18: System driver

Fig. 4-19: Data Link driver

Software Function block FC5 "AG_SEND" is required to control the Vision Sensor by means of the system driver. This function block transfers the data from the CPU to the CP. Based on the previously configured configuration and this block, the CP automatically generates the TCP/IP frame, and embeds the user data in this frame.

According to your system family, select this function block from the Libraries/SIMATIC_NET_CP catalog and add it to OB 1.

STL: Explanation:

CALL "AG_SEND"



ACT :=M1.0 Starts the send operation

ID :=1 Connection ID from NetPro

LADDR :=W#16#100 Base address of the CP

SEND :=P#DB1.DBX 0.0 BYTE 20 Data area to be transferred

LEN :=20 Length of data to be sent in bytes

DONE :=M2.0 Indicates completion of a job

ERROR :=M2.1 Indicates whether an error is present

STATUS :=MW4 Indicates the status of the block

Note Make sure that each frame is terminated by the "End-of-Line" character <CrLf>. The "LEN" parameter should only contain the actual number of bytes used.

A string is output at the Data Link port after each measurement, provided this port is configured. The CP receives the frames based on the configured connection. The CP automatically removes the TCP/IP frame and provides the data to the CPU. In order to transfer the data from the CP to the CPU, execute function block FC6 "AG_Recv".

According to your system family, select this function block from the Libraries/SIMATIC_NET_CP catalog and add it to OB 1.

STL: Explanation:

CALL "AG_RECV"

ID :=2 Connection ID from NetPro

LADDR :=W#16#100 Base address of the CP

RECV :=P#DB2.DBX 0.0 BYTE 17 Target area for received data

NDR :=M3.0 Indicates the presence of new data

ERROR :=M3.1 Indicates whether an error is present

STATUS :=MW6 Indicates the status of the block

LEN :=MW8 Number of received bytes

The setting of the "Recv" parameter is of importance for this block. A data area is opened on the CP based on the number of received bytes; after these 17 bytes have been filled with data, the data are transferred to the CPU. This means that when the length of received data is shorter than that configured, the bytes of the



next frame are transferred to this data block, and vice versa. The consequence is that the DB starts processing these received data, i.e. the start point of a data block therefore fluctuates within the DB.

All numerical values in the Data Link are initially interpreted as an ASCII-based string. STEP 7 provides various conversion blocks to reconvert this string into a number format. However, watch that the string formats of SIMATIC S7 and Spectation are different. In SIMATIC S7, the string content is extended by a two-byte prefix. The first byte contains the total number of characters reserved for the variable, and the second byte contains the actual number of characters used. Spectation does not provide the two bytes. As a consequence, when using a conversion block, you first need to cut the relevant numerical value from the data block and then add the two-byte prefix to the new string. This also applies, of course, if you want to view this string on an HMI device.

For further information on these blocks, refer to the SIMATIC STEP 7 online help.

Using the VS Gateway to Communicate Between a VS 72x Vision Sensor and a Profibus Master


5 Using the VS Gateway to Communicate Between a VS 72x Vision Sensor and a Profibus Master

Note: The AnyBus® X-Gateway is also known as theVS Gateway, the name that is used throughout this chapter. In Spectation, the camera is connected to the Gateway device using the VS Gateway settings. See Connecting the VS Gateway to the Camera on page 5-46 Chapter 5.7.

5.1 Overview

This chapter explains how to establish communication between a VS 72x vision sensor and a Profibus master device through the VS Gateway device.

The VS Gateway has two network interfaces and the device exchanges data via two pairs of exchange buffers.

Figure 5-1: VS Gateway

Up to 512 bytes of data can be forwarded between network interfaces. The input buffer on one interface is routed through the output buffer on the other.

In the figure shown above, the gateway is configured with an Ethernet interface on one side and a Profibus interface on the other. The gateway device can act as Modbus TCP slave or EtherNet/IP slave on its Ethernet Interface and Profibus slave on its Profibus interface. This document explains how to set up communications with a VS 72x vision sensor via Modbus TCP. The VS Gateway device also supports access via HTTP, FTP, and Telnet.

This chapter describes the following:

• How to configure the Ethernet interface of the VS Gateway device.

• How to establish communications between a VS 72X vision sensor and the gateway via Modbus TCP.

• How to configure the Profibus slave interface on the VS Gateway.



5.2 Installing and Configuring the AnyBus®-X Generic Gateway and Ethernet Interface

5.2.1 Configuration Options

VS 72x vision sensors use Modbus TCP to communicate with the VS Gateway device over Ethernet. The VS Gateway, in turn, communicates through Profibus with the Master device.

In order to communicate with the VS 72X vision sensor over Modbus TCP, the VS Gateway’s Ethernet interface needs to be configured, which is described in this section. You can refer to the AnyBus®-X Generic Gateway User Manual and the AnyBus®-X Ethernet Network Interface Addendum for more information. These can be downloaded from the HMS website (www.hms-networks.com).

There are several methods available to configure the Ethernet interface network settings.

• Dip Switches—If an address of type 192.168.0.x is desired, the configuration dip switches on the Ethernet interface can be used to specify the last octet. The switches would be used to create a binary representation (8 bits for 0-255) of the last octet. The subnet mask in this case is fixed at 255.255.255.0 and a gateway address is not set.

• IPconfig Utility—A utility program called IPconfig is provided by HMS to configure the AnyBus®-X Ethernet interface network parameters. This utility implements the HMS IP Configuration Protocol (HICP) and can be downloaded from the HMS website (www.hms-networks.com). The next section discusses how to configure network settings with AnyBus® IPconfig.

• Other Configuration Methods—There are other methods of configuring the Ethernet interface network settings such as loading configuration files and through the VS Gateway’s web interface. These are not discussed in this integration note but are covered in the Addendum documents available on the HMS website.

5.2.2 Configuring the VS Gateway Ethernet Interface using IPconfig

Download the AnyBus IPconfig utility from the HMS website; install it and start it up. Upon startup the program scans the network for AnyBus devices with Ethernet interfaces.

http://www.hms-networks.com/�




Figure 5-2: IPConfig Utility

Once the device has been identified and listed, you can edit its network settings by double-clicking it in the list.

Figure 5-3: Gateway Configuration

In the new window that appears, you can set the IP address, subnet mask, default gateway address and primary and secondary DNS addresses. You can also specify a host name and a password to lock the network settings. Finally, click the Set button to configure the device with the new parameters.

5.3 VS Gateway Communications with VS 72x Vision Sensors using Modbus TCP

5.3.1 VS Gateway and Modbus TCP

The AnyBus®-X Gateway Ethernet interface supports Modbus TCP. The following table lists the Modbus function codes supported by the Ethernet interface (from the AnyBus®-X Ethernet Network Interface Addendum document):



Table 5-1: Modbus Function Codes

Function Code

Function Name Mapped to Buffer...

3 Read multiple registers (Read Holding Registers) Input

4 Read input registers Input

6 Write single register Output

7 Read exception status -

8 Diagnostics -

16 Force multiple registers (Write Holding Registers) Output

22 Mask write register Output

23 Read/Write registers Output

The Input and Output Buffers in the AnyBus®-X Gateway Ethernet interface are mapped to Input and Holding Registers respectively.

5.3.1.1 Input Register Map

The Input Buffer is mapped to Input Register 1 and on. Depending on the type of gateway and how it has been set up to operate, up to 5 words (registers 1 to 5) may be occupied by the Status Word and the Live List, as shown in the following figure from the AnyBus®-X Ethernet Network Interface Addendum document:

Figure 5-4: Input Register Map

Note: From the AnyBus®-X Ethernet Network Interface Addendum document: “The Live List is only available on master-slave gateway versions. Consult the AnyBus®-X Generic Gateway user manual for further information”.

5.3.1.2 Holding Register Map

The Output Buffer is mapped to holding register 1 and on. Depending on how the gateway is set to operate, holding register 1 may be occupied by the Control Word, as shown in the following figure from the AnyBus®-X Ethernet Network Interface Addendum document:



Figure 5-5: Holding Register Map

Refer to the AnyBus®-X Generic Gateway User Manual and AnyBus®-X Ethernet Network Interface Addendum documents for further details.

Note that the Input Buffer (data coming from the Profibus network) is mapped to Modbus Input Register 1 and the Output Buffer (data forwarded to the Profibus network) is mapped to Modbus Holding Register 1. Input registers are accessed at Modbus address 0 if function 4 (Read Input Registers) is used and address 1024 if function 3 (Read Multiple Registers) is used. Holding Registers are accessed at address 0 using function 16 (Write Multi Registers) or function 6 (Write Single Register). That is, if you want to use Modbus class 0 function codes, you can use Read Holding Registers (function code 3) and read the VS Gateway input registers (linked to the Profibus network) with an offset of 1024 and you can use Write Holding Registers (function code 16) with an offset of 0 to write to the Profibus network.

In order to configure the input and output buffer size for the Modbus slave interface you need to access the Gateway Configuration Interface. This is done by connecting to the RS-232 programming port on the AnyBus®-X Gateway using any ASCII-capable terminal program such as Microsoft HyperTerminal. For more information refer to Chapter 5 – Gateway Config Interface (RS232) in the AnyBus®-X Generic Gateway User Manual. You would also use this interface to configure the Profibus interface parameters.

5.3.2 Modbus TCP Communications with VS 72x Vision Sensors

5.3.2.1 Operation

Modbus Communications is one of the most widely used industrial protocols for communication between industrial devices. It is a class-structured protocol. VS 72x vision sensors implement all Class 0 function codes (Read and Write Multiple Registers) and most Class 1 function codes (Read Status, Read Input Discretes, Read Multiple Coils, Write Coil, Read Input Registers, Write a single Register).

The VS 72X vision sensor can be configured as either a Modbus master or as a slave. To have the VS 72X vision sensor act as a Modbus slave, you would set the Enabled property to true. However, in this case, the AnyBus®-X Ethernet interface acts as the Modbus slave; so you need to configure the VS 72X vision sensor as a Modbus master.



There are two methods to perform Modbus communications as a master on a VS 72X vision sensor. One method is to use an instance of the MBTransfer class through a script; in this case, you could execute any class 0 or class 1 function codes supported by the VS 72x vision sensor. The second method is to configure Modbus master transfers through the Modbus Master in Spectation; in this case, only class 0 function codes (Read and Write Holding Registers) are supported. This document covers the second method.

5.3.2.2 Transfer Setup

This section covers the graphical method of establishing Modbus communications as a Modbus master from a VS 72X vision sensor.

To configure the camera, first connect to it using Spectation. Once you have established the connection and presuming you have already programmed the inspection, select the desired product on the camera and proceed to the Modbus Master setup (I/O > Modbus Master). Click on the New button. Select the new Modbus Master entry and click the Edit button. Enter the IP address of the AnyBus®-X Ethernet interface, select the command (read or write registers), set the registers, set the poll rate (if the transfer mode includes a polling mechanism), and set the timeout. Click the OK button to save the configuration. For each read or write operation, you add another entry.

Figure 5-6: Editing the Modbus Master

Once each Modbus Master entries has been configured, click the Save button to save the configuration to the camera. Then click the Start button to enable the operations.

Note that you can configure more than one read or write operation. This would be the case if you are transferring output data that does not reside on contiguous Modbus registers on the camera.

Remember that the Read Input Registers Modbus function (code 4) is not directly accessible from the Modbus master configuration in the System Explorer. Instead this configuration uses Read Multiple Registers function (code 3). So a user must specify the slave start register property starting from address 1024, not 0 when reading from the input buffer on the VS Gateway.



The number of registers transferred must not exceed the number of registers specified via Telnet on the VS Gateway side.

Several cameras can be configured to communicate with a single AnyBus®-X Gateway. You would need to allocate consecutive blocks of data on the input and output buffers of the VS Gateway to each camera. From the Modbus standpoint, you would just add offsets to the slave start registers being accessed by each camera according to their allotted block. All the allotted blocks, as a single package would then be propagated through the Profibus network. The Profibus master would need to know the offsets for each block to distinguish between each camera. Note that the sizes for the input and output buffers must match for both networks (Modbus and Profibus) on the AnyBus®-X Gateway.

5.3.2.3 Example

For this example, you need to have access to the vision sensor’s virtual I/O functions and also exchange some general purpose input and output values (two 16-bit integer values as input to the camera and two 16-bit integer values to output inspection results from the camera).

The following figures show the Modbus maps.



Figure 5-7: Modbus Coil and Virtual Inputs Map



Figure 5-8: Modbus Coil and Virtual Inputs Map

If you exchange these registers with the AnyBus®-X Gateway accordingly (write registers 0 through 7 and read into registers 8 through 15) you can have access to each individual I/O point on the camera from the Profibus device.

Because you need to send two output values resulting from the vision inspection, you need to write this information starting at register 16 (so as not to write over the reserved registers above). This means that you cannot send the registers containing the virtual output functions and the two inspection output values on one single write operations because the registers are not contiguous. The same can apply operations if the data is not contiguous.

In this case, however, you receive the two input 16-bit integer values on Modbus registers 16 and 17 (Modbus registers are 16 bits long) so that you can perform a single Read Multiple Register operation; where you would read into the camera’s registers 8 through 17 (a total of 10 registers). Then you write the two 16-bit integer output values into the camera’s registers 18 and 19. So you need to create two write operations: one that would transfer out registers 0 through 7 and another that would write out registers 18 and 19.



The final configuration would be the same as the one shown in the following figure and table:

Figure 5-9: Example Configuration

Table 5-2: Modbus Operations

Modbus Operation

Modbus Registers on VS 72x Vision Sensor (Master)

Modbus Registers on AnyBus®-X Gateway

(Slave)

Write Holding Registers

0 – 7 (Sensor’s Virtual Output)

0 - 7

Write Holding Registers

18 – 19 (Two integer inspection result values)

8 - 9

Read Holding Registers

8 – 17 (Sensor’s Virtual Input + Two integer input values)

1024 – 1033 (offset of 1024 applied to Holding

Registers)



5.4 Configuring the VS Gateway Profibus Slave

5.4.1 Profibus Introduction

Profibus stands for Process Field Bus. Profibus is an international, vendor-independent, open fieldbus standard. European standards EN 50170 and EN 50254 ensure vendor-independence and openness. The standard allows devices from multiple vendors to communicate without special interface adjustments. Profibus can be used for both complex communication tasks and high-speed time critical applications.

Profibus offers functionally graduated communication protocols (Communication Profiles): DP and FMS. Depending on the application, the transmission technologies (Physical Profiles) RS-485, IEC 1158-2 or fiber optics are available. Profibus Communication Profiles define how users transmit their data serially via the common transmission medium. DP is the most frequently used communication profile. It is optimized for speed, efficiency and low connection costs and is designed especially for communication between automation systems and distributed peripherals. DP is suitable as a replacement for conventional, parallel signal transmission with 24 volts in manufacturing automation as well as for analog signal transmission with 4 ... 20 mA or Hart in process automation.

The media of this Fieldbus is a shielded copper cable composed of a twisted pair. The baud rate for the bus is between 9.6k baud to a maximum of 12M baud. The Profibus network can consist of 126 nodes and the total amount of data for Profibus-DP is 244 Byte out and 244 Byte in per module (node 126 should not be used to exchange user data. This node is used for commissioning purposes).

5.4.2 AnyBus® Profibus Support

In order to communicate with the master device over Profibus, the VS Gateway’s Profibus slave interface needs to be configured. This step is described in this section. The user can refer to the AnyBus®-X Generic Gateway User Manual, the AnyBus®-X Profibus Slave Network Interface Addendum and the AnyBus®-X Profibus Slave Installation Sheet for more information. These can be downloaded from the HMS website (www.hms-networks.com).

From the AnyBus®-X Profibus Slave Network Interface Addendum: “On Profibus, data from the gateway is represented as cyclical I/O data (DP) and Acyclical I/O data (DPV). The amount of data that is represented as Cyclical I/O data vs. the amount that is represented as acyclical I/O data can be configured via the Gateway Config interface. The Slave interface can handle up to 244 bytes of I/O data in each direction. However, the total data size (input + output) cannot exceed 416 bytes.”

The AnyBus-X Profibus Slave interface offers complete slave functionality according to extensions of EN 50170 (DPV1). It supports Class 1 and Class 2 services as well as the standard DP functionality. The original version, designated DPV0, has been expanded to include version DPV1, offering acyclic data exchange between master and slave.




5.4.3 Input Buffer

From the AnyBus®-X Profibus Slave Network Interface Addendum: “Depending on the type of gateway and how it has been configured, up to 10 bytes of the data produced by the gateway may be occupied with status information”.

Note: The Live List is only available on master-slave gateway versions.

Figure 5-10: Input Buffer

5.4.4 Output Buffer

From the AnyBus®-X Profibus Slave Network Interface Addendum: “Depending on how the gateway is configured, the first two bytes consumed by the gateway may be interpreted as control information”.

Note: The Live List is only available on master-slave gateway versions.

Figure 5-11: Output Buffer



5.5 Configuration of the IO Buffer of the Gateway

General Information Generally, the X-gateway requires very little effort to get up and running. However, since all networks are different, certain settings may need to be adjusted slightly to fit a particular application. This is achieved through the Gateway Config Interface, which features a text based user interface that can be accessed using standard terminal emulation software (such as the Microsoft HyperTerminal). From the physical point of view, this is a standard RS232 interface with the following properties:

Baudrate: 57600 Stop bits: 1 Parity: None Flow control: None

Note: This document covers common settings available on all gateway configurations (with some minor exceptions). Network-specific settings are, when applicable, described separately in the interface addendums for your product.

5.5.1 Communication Settings 1. Connect a null-modem cable between the Gateway Config Interface and a COM-port on the PC. 2. Start the Windows HyperTerminal 3. HyperTerminal will prompt for a name to use for the new connection. Name the connection ‘Gateway Config connection’, and click ‘OK’

4. Specify which interface to use for the connection (select the COM port that is connected to the gateway, in this particular case COM1), and click ‘OK’.



5. HyperTerminal will now prompt for the communication properties for the interface. Ensure that the settings match that of the Gateway Config Interface and click ‘OK’.

6. Done. Power up the gateway and proceed with the steps described on the following pages.

5.5.2 5.4.2.3.3 Change Configuration This menu is used when specifying basic operational properties for the gateway and the on-board network interfaces. It may be necessary for the gateway to go offline. In such case, the following message will be appear:

Both networks will go offline Is this OK? (Y/N)

To continue, press ‘Y’. The available settings will now be listed in three sections; settings for the upper network interface, settings for the lower network interface, and general gateway settings.



Use ‘+’ and ‘-’ to toggle between different possible settings. Numerical values are changed by typing the new value in decimal format followed by <Enter>.

---------------------------------------------- Change configuration ---------------------------------------------- Ethernet IP + MBTCP + WEB Slave (Upper) Input I/O data size (bytes): 32 Output I/O data size (bytes): 32 Offline option (+/-): Clear Control / Status word (+/-): Disabled Modbus Address Mode (+/-): Enabled ---------------------------------------------- Modbus RTU Slave (Lower) Input I/O data size (bytes): 32 Output I/O data size (bytes): 32 Input Parameter data size (bytes): 0 Output Parameter data size (bytes): 0 Offline option (+/-): Clear Control / Status word (+/-): Disabled Offline timeout (ms/0=disabled): 0 ---------------------------------------------- Gateway configuration Reboot after disconnection (+/-): Enabled

You need for each camera 32 Byte. When done, the gateway will ask if the changes shall be stored.

Store Configuration (Y/N)? Yes

To store the changes, press ‘Y’. The gateway must be restarted in order for any changes to have effect.

Configuration stored! Do you want to restart gateway to execute all changes (Y/N)? Yes

Press ‘Y’ to restart the gateway. Once the gateway has restarted, the new settings will become active. For more Informations about the Configuration have a look at the User Manual, which you can download from the HMS website (www.hms-networks.com).

5.5.3 Profibus Slave Configuration

Several parameters need to be configured to establish communications with the AnyBus®-X Profibus Slave interface. First, the node address should be configured by using the on board rotary switches as shown in the following figure. In the figure, the Profibus node address is 42 ((4 x 10) & (2 x 1)).

Note: The orientation of the switches are different from this figure depending on if the slave interface is top or bottom mounted.




Figure 5-12: Profibus Node Address

You would also need to install the .GSD file, which you can download from the HMS website (www.hms-networks.com). This file is used to add the AnyBus®-X Gateway Profibus interface as a Profibus slave device on the Profibus network.

In order to configure the input and output buffer size for the Profibus slave interface you need to access the Gateway Configuration Interface. This is done by connecting to the RS-232 programming port on the AnyBus®-X Gateway using any ASCII-capable terminal program such as Microsoft HyperTerminal. For more information refer to Chapter 5 – Gateway Config Interface (RS232) in the AnyBus®-X Generic Gateway User Manual. You would also use this interface to configure the Modbus interface parameters.




5.6 Hardware Configuration

5.6.1 Slave/Master Configuration

In this example, where there is only 1 PLC (Master) in the installation, the VS Gateway consists of a Slave/Master combination. The PLC is a master and the VS Gateway Profibus interface is a Slave.

On the EtherNet/IP side, the VS Gateway would contain an EtherNet/IP Adapter/Slave interface to which up to 8 VS 72x cameras could then be added.

Each connected camera uses it’s own set of registers, which you allocate from the VS-Gateway settings in Spectation.

Figure 5-13: VS Gateway Configuration

The VS Gateway Ethernet interface consists of an embedded Ethernet 10/100 Mbit/s interface with IT-functionality such as a Web-server, SSI-scripts, Flash file system, FTP-server, e-mail client and Telnet. It is possible to build web pages which display and control a factory floor process with data from the other connected network.



5.6.2 Mechanical Specifications

The following figure shows the VS Gateway features.

Figure 5-14: VS Gateway Features

The mechanical specifications are: Size 126 x 110 x 42mm (L x W x H)

4.96 x 4.33 x 1.65in (L x W x H )

Power Supply 24V ± 10% Consumption: Max 280 mA on 24V Typically 100 mA

Temperature Operating 0°C to + 65°C : Non-Opeating -40°C to + 85°C

Mounting DIN-rail

Protection Class IP20

EMC Certification CE marked, UL,cUL, Haz .Loc and Atex certification

Conformance Tested and verified for Fieldbus/Ethernet conformance



5.7 Installation Instructions

The following installation sheets are included with the Gateway device:

• AnyBus-X Generic Gateway Installation Sheet

• AnyBus-X Ethernet Interface Network Installation Sheet

• AnyBus-X Profibus Slave Network Installation Sheet

These installation sheets provide pinouts, LED display descriptions, switch settings, product diagrams, and installation instructions.

5.8 Connecting the VS Gateway to the Camera

Each camera has to be connected to the VS Gateway using the VS-Gateway setting in Spectation.

To configure the camera, first connect to it using Spectation. Once you have established the connection and presuming you have already programmed the inspection, select the desired product on the camera and proceed to the VDX options setup (I/O > VDX Options). Select the VS Gateway as the Interface Type. Enter the IP address of the AnyBus®-X Ethernet interface, set the poll rate (if the transfer mode includes a polling mechanism), and set the block size. Click the OK button to save the configuration.

Figure 5-15: Connecting the Camera to the Gateway

Once the settings are correct, click the OK button to save the configuration to the camera.



5.9 Additional Information

For further reading and more detailed coverage of the configuration steps and specification of the AnyBus®-X Gateway interfaces, please refer to the following documents accessible through the HMS website (www.hms-networks.com): AnyBus®-X Generic Gateway User Manual, AnyBus®-X Ethernet Network Interface Addendum, AnyBus®-X Ethernet Interface Network Installation Sheet, AnyBus®-X Profibus Slave Network Interface Addendum and the AnyBus®-X Profibus Slave Installation Sheet.


VS72x Communication A5E00285838-05 A-1

Appendix A Important port addresses Port Assignment

23 Standard port for Telnet, e.g. for deleting the Flash memory. 502 Modbus standard for setting of Vision Sensor as Modbus slave. 3246 Port for opening an Ethernet connection to the system. 3247 Data Link for transmitting and receiving data to and from external devices. 5003 VDX port for setting up a TCP / IP server. 5004 VDX port for setting up a TCP / IP client.

7500 VDX Port PROFINET IO

VS72x Communication A5E00285838-05 B-1

Appendix B Windows diagnostic tools

Arp Shows entries of the ARP cache (Address Resolution Protocol), or modifies such entries. This cache contains tables in which IP addresses and their associated physical Ethernet or Token Ring addresses are saved. A separate table exists for each Ethernet or Token Ring network adapter installed in the computer. arp without parameters displays the help text.

Arp -a [IP-Adr] [-N IP-Adr_Schnittst] Shows the current ARP cache tables for all interfaces. If you wish to show the ARP cache entry for a certain IP address, use arp -a with the parameter IP-Adr, where IP-Adr is an IP address. If you wish to show the ARP cache table for a certain interface, use the parameter -N IP-Adr_Schnittst, where IP-Adr_Schnittst is the IP address assigned to the interface. The parameter -N is not case-sensitive.

Ipconfig Shows all current configuration values of the TCP/IP network, and updates DHCP (Dynamic Host Configuration Protocol) and DNS settings (Domain Name System). Without a parameter, ipconfig shows the IP address, the subnet mask, and the standard gateway for each adapter. Adapters can represent physical interfaces such as installed network adapters, or logical interfaces such as data communications connections.

Ipconfig /all Shows the complete TCP/IP configuration for all adapters.

Netstat Shows the following information: active TCP connections, connections at which the computer is ready to receive, Ethernet statistics, the IP routing table, IPv4 statistics (for the IP, ICMP, TCP and UDP protocols) as well as IPv6 statistics (for the IPv6, ICMPv6, TCP over IPv6 and UDP over IPv6 protocols). Without using parameters, netstat shows active TCP connections.

Netstat -a Shows all active TCP connections as well as the TCP and UDP connections at which the computer is ready to receive.

Windows diagnostic tools

VS72x Communication

B-2 A5E00285838-05

Ping A utility for checking connections to one or more remote hosts. The "ping" command uses the echo packets and echo replies of ICMP to check connectivity with an IP system in a network. Ping is useful in troubleshooting the IP network or the router.

Telnet Terminal emulation protocol frequently used on the Internet for logging-on with network computers. Telnet also refers to the application which the Telnet protocol uses for users logging on from remote locations.

Tracert This command defines the path to a target by sending ICMP echo request messages (Internet Control Message Protocol) with incrementally increasing TTL values (time-to-live) to the target. The path shown is a list of adjacent route interfaces of the routers in the path between a source host and a target. The adjacent interface is the interface of the router closest to the sending host in the path. If no parameters are specified, tracert shows the help text.

Note

Detailed descriptions and further information on the Windows commands can be found in the help and support center of the network environment.

VS72x Communication A5E00285838-05 Index-1

Index

A AnyBus® X-Gateway 5-1

B Block name

VS_300_IE 3-17 VS_400_IE 3-17 VS_S7_DP 3-17

Byte access 3-6

C Communication

Enhanced 1-1, 4-13 Ethernet 3-30 PROFIBUS DP 1-1 Simplified 1-1 TCP/IP 1-1

Communication mode 1-2 DP+VS Link via Modbus 1-2 DP+VS Link via VDX 1-2 Ethernet via VDX 1-2 System Terminal / Data Link 1-2

Configuration of connection 1-7, 3-24 Configuring data output 4-21 Configuring I/O areas 1-6, 3-23, 4-16 Configuring the connection 4-8

D Data Link driver 4-20 Decision table for communication mode 1-2 Description of the parameters 4-9 Download project 1-7, 3-24, 4-17

E Enabling inspection mode 4-23 Enhanced communication with Ethernet 4-18 Enhanced functionality 4-1 Example

Ethernet communication 1-4 Ethernet connection 3-30 PROFIBUS DP 1-4, 3-18, 3-26, 4-5

F FB 72 for PROFIBUS DP 3-14, 3-15 FC 72 "VS_300_IE_ for S7-300 3-16 FC 72 "VS_400_IE for S7-400 3-16 Float access 3-6 Frame structure 4-19 Function blocks

Description 3-14 Loading 3-16

H Holding register map 5-4 HW Config 3-19, 3-27 HW-Config 4-13

I Input buffer 5-2 Input register map 5-4 Integer access 3-6 Integration in your STEP 7 Project 3-27 Integration into your STEP 7 project 3-19, 3-31,

4-24 IPConfig 5-2

M Mapping of the virtual inputs 4-10 Master 5-7 Measured value output 3-12, 4-7 Mixed access 3-6 Modbus master 5-6 Modbus register areas 5-7 Modbus TCP 5-3

N Node address 5-5

O Output buffer 5-2

P Profibus 5-1 PROFIBUS DP communication 3-18

Index

VS72x Communication Index-2 A5E00285838-05

Configuration 1-5, 3-22 PROFIBUS DP Communication 3-26

Block overview 3-17 Profibus slave 5-5

R Reloading the test program 4-6 Reloading the test programs 4-20 Request structure 3-2 Requests to VS72x 3-2 Responses of Vision Sensor VS72x 3-8

S Setting of address 1-5 Setting the address 3-22, 4-15 Slave 5-7 Socket objects and background script 4-18 Standard functions 1-1, 3-3

Error feedback / diagnostics 1-1 Import values 1-1 Load (bit 1) 3-3 Output measured value 1-1 Reset (bit 4) 3-3 Run mode (bit 6) 3-3 Save (bit 3) 3-3 Teach-in (bit 2) 3-3 Teach-in / Save 1-1 Trigger (bit 0) 3-3 Trigger mode (bit 5) 3-3

Start/stop inspections 1-1 Status messages

Cycle counter 3-10

Error code 3-10 User Out 1 to 8 3-11 Wrong code 3-9

Status signals 3-9 Pass/Warn/Fail 3-9

String access 3-6 System /Data Link driver 4-18 System driver 4-19

T Technical requirements

Hardware 1-4 Software 1-3

Testing measured value output 4-23 Triggering a measurement 4-6 Triggering the Vision Sensor 4-19

U User data area 3-5, 3-11

V Value import 3-5, 4-7, 4-20 VDX driver 2-3 VS Gateway 5-1

Installing 5-2 Settings 5-1

VS Link PROFIBUS DP 4-8

W Windows diagnostics tools 1

Documents

Spectation Communication Manual En