Parker Hannifin GEM6K Networking with Other 6K or Gem6K Products Peer-to-Peer, Milliseconds

Networking with Other 6K or Gem6K Products (Peer-to-Peer)

You can communicate information between 6Ks and Gem6Ks over Ethernet. This feature uses UDP broadcasting over the subnet to transfer data, so no client/server connection is needed.

Up to 8 different 6K or Gem6K devices can share information, with each device having access to shared data from the 7 other devices. Each device can broadcast 8 pieces of information using “shared output” variables (VARSHO1 through VARSHO8). The following table lists the information you can assign to a “shared output” variable.

A	Acceleration	NMCY...	Master cycle number
AD	Deceleration	OUT	Output status
ANI	Analog input voltage	PANI...	Analog input position
ANO	Analog output voltage	PC	Commanded position
AS	Axis status	PCC	Captured command pos.
ASX	Extended axis status	PCE	Captured encoder pos.
D	Distance	PCME...	Captured master enc. pos.
DAC	DAC output value	PE	Encoder position
DKEY ...	RP240 keypad value	PER	Position error
ER	Error status	PMAS...	Position of Master
FB	Feedback device pos.	PME	Master encoder pos.
FS	Following status	PSHF...	Net position shift
IN	Input status	PSLV...	Follower pos. command
INO	Enable input status	SC	Controller status
LIM	Limit input status	SCAN...	PLC scan time
MOV	Axis moving status	SEG	Free segment buffers

SS..........System status

SWAP	......Task swap assignment
TASK	......Task number
TIM	Timer value
TRIG	......Trigger interrupt status
US	User-defined status

V............Velocity

VARI	Integer variable
VARB	Binary variable
VEL	Commanded velocity
VELA	Actual velocity
VMAS	Velocity of the master

VARSHI .Shared input variable

	The data can be either binary, as in the AS (axis status) operand, or a 32-bit unscaled integer, as
	in PE (encoder position) operand. The data stored in the VARSHO is not scaled.
	The NTRATE command sets the rate at which each controller broadcasts its updated VARSHO
	data. RECOMMENDATION: Set all devices to broadcast at the same NTRATE rate of 50
	milliseconds.
Setup	For 6K or Gem6K sending and/or receiving information via the Peer to Peer feature:

1.Connect the 6K/Gem6K products to the network and configure each 6K/Gem6K for Ethernet communication according to the procedures on page 4.

2.Set the broadcasting rate with NTRATE command, preferably the same for each unit.

3.If the unit is to receive data only (not send) you are finished with the setup for that unit. If the unit is to send also, complete steps 4 and 5.

4.Assign a unique unit number (1-8) with the NTID command.

5.Assign data to the eight broadcast variables with the VARSHO command.

6.Repeat steps 2-5 for each unit in the peer-to-peer network.

Example	First 6K or Gem6K:
	NTID1	; Assign this unit a				peer-to-peer unit			number of 1
	VARSHO1 = 1A	;	Shared	variable	#1	contains	axis	1's	acceleration
	VARSHO2 = 1PE	;	Shared	variable	#2	contains	axis	1's	encoder position

;***********************************************************************

;* Use this space to define shared output variables VARSHO3 – VARSHO7. *

;***********************************************************************

VARSHO8 = VARI1 ; Shared variable #8 contains the value of VARI1

NTRATE50 ; Set the broadcasting rate to 50 milliseconds

Second 6K or Gem6K:

NTID2	; Assign this unit an ID of 2						1's	programmed distance
VARSHO1 = 1D	;	Shared	variable	#1	contains axis
VARSHO2 = 3PE	;	Shared	variable	#2	contains	axis	3's	encoder position

;***********************************************************************

;* Use this space to define shared output variables VARSHO3 – VARSHO7. *

;***********************************************************************

VARSHO8 = 1ANI.1 ; Shared variable #8 contains the voltage value at analog

page 8