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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
SS
..........System status
AD
........Deceleration
OUT
.....Output status
SWAP
......Task swap assignment
ANI
.....Analog input voltage
PANI
...Analog input position
TASK
......Task number
ANO
.....Analog output voltage
PC
.......Commanded position
TIM
........Timer value
AS
........Axis status
PCC
.....Captured command pos.
TRIG
......Trigger interrupt status
ASX
.....Extended axis status
PCE
.....Captured encoder pos.
US
..........User-defined status
D
..........Distance
PCME
...Captured master enc. pos.
V
............Velocity
DAC
.....DAC output value
PE
.......Encoder position
VARI
......Integer variable
DKEY
...RP240 keypad value
PER
.....Position error
VARB
......Binary variable
ER
........Error status
PMAS
...Position of Master
VEL
........Commanded velocity
FB
........Feedback device pos.
PME
.....Master encoder pos.
VELA
......Actual velocity
FS
........Following status
PSHF
...Net position shift
VMAS
......Velocity of the master
IN
........Input status
PSLV
...Follower pos. command
VARSHI
.Shared input variable
INO
.....Enable input status
SC
.......Controller status
LIM
.....Limit input status
SCAN
...PLC scan time
MOV
.....Axis moving status
SEG
.....Free segment buffers
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
VARSHO1 = 1D ; Shared variable #1 contains axis 1's programmed distance
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