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PROFIBUS_ADDRESS n

Specifies the PROFIBUS address of the Robox board. It has higher priority than the value detected by the configuration switches.

NOTE: The value of this keyword is replaced in case of address change via OVERRIDE_PROFI_ADDR parameter.

STATION_NAME name

Specifies the name of the PROFINET station.

NOTE: Only for RP-2 profinet communication with FBSLAVE interface and BIOS > 3.4.1.

IPADDR aaa.aaa.aaa.aaa

NETMASK nnn.nnn.nnn.nnn

GATEWAY ggg.ggg.ggg.ggg

Specifies the IP address of the PROFINET node.

NOTE: The lower part of the IP address specified by the keyword IPADDR is replaced in case of Profinet node address change via parameter OVERRIDE_PROFI_ADDR.

USE_MULTISLOT

Allows communications with the master to be handled in multislot mode. If omitted, single-slot communications are used.

NOTE: The appropriate version of bios for multislot mode must be installed on uRMC3.

DISABLE_COM_ALARM

Disables alarm generation on lack of profibus communication(9201 PFB.INT. No Profibus Communic.(code))

ENABLE_RESET

Enables the reset of the PROF.INT board in case of DP dropout. The reset occurs after a preset time of about 4 seconds from the last message received

REAL_AS_DOUBLE

REAL_AS_FLOAT

Indicates how REAL type data should be treated (where not explicitly stated). The default is REAL_AS_FLOAT

LITTLE_ENDIAN

BIG_ENDIAN

MIDDLE_LITTLE_ENDIAN

MIDDLE_BIG_ENDIAN

LITTLE_ENDIAN_DWX

BIG_ENDIAN_DWX

MIDDLE_LITTLE_ENDIAN_DWX

MIDDLE_BIG_ENDIAN_DWX

Selects the mode of handling data in communication packets.

Since RTE 34.21.1, commands ending with _DWX have been added, which cause DWORDs to swap for 64-bit data (REAL, I64, or U64).

Default BIG_ENDIAN.

Assuming a word=0x0102 (2 bytes) a dword=0x01020304 (4 bytes) and a real=0x0102030405060708 (8 bytes):

ID_CODE

Specifies the PROFIBUS code of the Robox board. It replaces the default value. The allowable range is -32768 ÷ 65535.

RUN_ALWAYS

Enables transmission over PROFIBUS in any mode. By default, transmission occurs only in execution mode

DIAGNO_R idx [-Rn]

Enables writing PROFIBUS diagnostics to R registers. You can specify the number of registers to use. The default is 4 registers. Only values between 1 and 4 will be taken into account.

See diagnostics

BLOCK_TO_RBX n

Command to start the definition of a data block transmitted from the outside to Robox. Blocks should be numbered from 1 to 6 and be defined sequentially (first 1, then 2, 3, ...).

BLOCK_FROM_RBX n

Command to start the definition of a data block transmitted from Robox to the outside. Blocks should be numbered from 1 to 6 and be defined sequentially (first 1, then 2, 3, ...).

BLOCK_STATUS n

Defines the congruence type on the block data in which it is specified. The meaning of the bits is as indicated by the DIN 19245-3 profibus standards (see word CONFIGURATION DATA).

If not specified, the default value is 0x7F.

Example of values to be imposed for communication:

The value imposed here MUST be consistent with the value defined in the board configuration in the Profibus chain.

NOTE: Currently the value imposed on the to and from blocks must be the same for the same block index.

O-offs itemDefinition ...

Indicates with what offset to enter the unit in the data block (offset expressed in bytes). The value must be in the range 0 ÷ 31 and must not point to a data area already, fully or partially, defined.

O-offs R_16 idx [-RnRip]

Defines the use of the low 16 bits (2 bytes) of the indicated integer register.

In case of register assignment r, bit 15 (0x8000) will not be extended in the high word of the register

Ex.

O-offs R_16_I idx [-RnRip]

Defines the use of the low 16 bits (2 bytes) of the indicated integer register.

In case of register assignment r, bit 15 (0x8000) will be extended in the high word of the register.

Ex.

O-offs R_32 idx [-RnRip]

Defines the use of the integer register r (4 bytes) indicated.

O-offs NVR_16 idx [-RnRip]

Defines the use of the low 16 bits (2 bytes) of the indicated retentive integer register nvr.

In case of nvr register assignment bit 15 (0x8000) will not be extended in the high word of the register.

Ex.

O-offs NVR_16_I idx [-RnRip]

Defines the use of the low 16 bits (2 bytes) of the indicated retentive integer register nvr.

In case of nvr register assignment bit 15 (0x8000) will be extended in the high word of the register.

Ex.

O-offs NVR_32 idx [-RnRip]

Defines the use of the indicated integer retentive register nvr (4 bytes).

O-offs RR idx [-RnRip]

Defines the use of the indicated real register rr. If REAL_AS_FLOAT the value is received/sent as float (4 bytes), with limitation to maximum float if the value of REAL is greater; if REAL_AS_DOUBLE the value is received/sent as double (8 bytes).

O-offs RR_F idx [-RnRip]

Defines the use of the indicated real register rr. The value is received/sent as float (4 bytes), with limitation to maximum FLOAT if the value of the REAL is greater.

O-offs NVRR idx [-RnRip]

Defines the use of the indicated real retentive register nvrr. If REAL_AS_FLOAT the value is received/sent as float (4 bytes), with limitation to maximum float if the value of REAL is greater; if REAL_AS_DOUBLE the value is received/sent as double (8 bytes).

O-offs NVRR_F idx [-RnRip]

Defines the use of the indicated real retentive register nvrr. The value is received/sent as float (4 bytes), with limitation to maximum float if the value of the REAL is greater.

O-offs INP_W idx [-RnRip]

Defines the use of the specified input word image. It can be used only in BLOCK_FROM_RBXs.

O-offs INP_DW idx [-RnRip]

Defines the use of the specified input dword image. It can be used only in BLOCK_FROM_RBXs.

O-offs OUT_W idx [-RnRip]

Defines the use of the specified output word image. It can be used only in BLOCK_FROM_RBXs.

O-offs OUT_DW idx [-RnRip]

Defines the use of the specified output dword image. It can be used only in BLOCK_FROM_RBXs.

O-offs SEM dim

Defines the use of a semaphore for data exchange.

The semaphore delimits the beginning of a subset of definitions beginning at the offset following the semaphore itself and ending at the end of the block or at another semaphore.

If the imposed value is other than 0, all values in the subset are assigned to the defined registers.

If the imposed value is equal to 0, no value of the subset is assigned to the defined registers.

In the FROM_RBX blocks this flag will be set 'true'.

O-offs RES dim

Reserve an area in the block equal to the indicated number of bytes.