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 |
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 |
| 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
5.Assign data to the eight broadcast variables with the VARSHO command.
6.Repeat steps
Example | First 6K or Gem6K: |
|
|
|
|
|
|
|
|
| NTID1 | ; Assign this unit a | 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