Parker Hannifin GEM6K - Manual (Page 12)

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
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