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

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Image 12
Parker Hannifin GEM6K manual Networking with Other 6K or Gem6K Products Peer-to-Peer, Milliseconds