Integrating IO-Link Devices into
CIP Networks
Pat Telljohann
Rockwell Automation
Technical Trackwww.odva.org

AgendaIntroduction
 CIP Integration Objectives
 CIP IO-Link Master Models
• Virtual CIP router• Mixed• Scanner

CIP IO-Link Definition• New/Changed objects• Identity Object• Keying• Parameter addressing• Data Types conversion• IODD to EDS conversion• Others

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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AgendaIntroduction
 CIP Integration Objectives
 CIP IO-Link Master Models• Virtual CIP router• Mixed• Scanner

CIP IO-Link Definition• New/Changed objects• Identity Object• Keying• Parameter addressing• IO-Link Data Types to/from CIP Data Types• IODD to EDS conversion• Others

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
All rights reserved.

page 3www.odva.org

IO-Link IntroductionIO-Link is an extension of the 24 VDC interface• Roughly analogous to HART over 4-20mA interface

Point-to-point physical connection between IOLink Master and IO-Link Target device
Real-time data and parameter data
Device configuration support in IO-Link

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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IO-Link Introduction
Microcontroller-based intelligent small sensors
and actuators (devices) have a lot of built-inparameters, however the IO-Link protocol isdifferent than CIP.
Users are asking for CIP access to: Parameter monitoring and expanded diagnostics
 Setting configuration parameters
 Automatic device replacement Real time I/O data

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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IO-Link Technology Domain

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2014 Industry Conference & 16th Annual Meeting
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Why IO-Link?
Target use cases

Replacement of analog 4..20mA interfaces
Parameterization of small devices (sensors andactuators)
Getting detailed diagnostic data
Monitoring of device conditions
Low cost "dumb" sensor concentration - an IOLink "hub" costs less than an equivalent fieldbusdevice

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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page 7www.odva.org

AgendaIntroduction
 CIP Integration Objectives
 CIP IO-Link Master Models
• Virtual CIP router• Mixed• Scanner

CIP IO-Link Definition• New/Changed objects• Identity Object• Keying• Parameter addressing• Data Types conversion• IODD to EDS conversion• Others

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
All rights reserved.

page 8www.odva.org

Key ObjectivesThe IO-Link Master device shall support IO-Linkprocess data and parameter access
CIP I/O communications RPI times shall meet or
be faster than IO-Link process data exchangetimes
IO-Link integration shall be defined for most CIP
networks (excludes CompoNet)
Support for IO-Link types conversion to/from CIP
types for both process and parameter data

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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page 9www.odva.org

Easy Integration


IO-Link Target devices should appear as much
like CIP devices as possible
The IO-Link Master device standard should haveno restrictions and be open to any vendor orsupplier
IO-Link Master and Target device replacement
should only require the typical steps for CIP
device replacement• CIP originator holds the configuration for the master andtarget devices

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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page 10www.odva.org

Timeline

9/2012 – Project plan (completed)
1/2013 – Requirements (completed)
1/2014 – Specification (in progress)
12/2014 – Publication and Conformance Test Plan(not started)

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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AgendaIntroduction
 CIP Integration Objectives
 CIP IO-Link Master Models• Virtual CIP router• Mixed• Scanner

CIP IO-Link Definition• New/Changed objects• Identity Object• Keying• Parameter addressing• Data Types conversion• IODD to EDS conversion• Others

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
All rights reserved.

page 12www.odva.org

IO-Link Master Models
Virtual CIP Router – IO-Link Master device provides IO-Link
Target I/O and parameter access (explicit messaging) via aport segment (IO-Link Master models IO-Link as a CIPsubnet)
 Mixed - IO-Link Master device accumulates I/O to/from IOLink Target devices and provides parameter access via aport segment
 Scanner – IO-Link Master device accumulates I/O to/fromIO-Link Target devices and provides an object for accessing
IO-Link Target device parameters. The SIG is working todetermine if this model needs to be defined
NOTE: The Virtual CIP Router and Mixed models present IOLink Target devices as if they are on a CIP bus
Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Virtual CIP Router Model
CIP Network

CIP to IO-Link
Router
Virtual IO-Link
Network

IO-Link
Slave#1
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Scanner Model
CIP Network

CIP Interface
IO-Link Master

IO-Link
Slave#1
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Justification for multiple models
Virtual CIP router model – preferred, IO-Link
Target devices look like CIP devices
Mixed model - some systems can’t support or
can’t afford a connection for each IO-Link Targetdevice• For a network like DeviceNet existing implementations
are limited to the predefined master/slave connection set
which limits the number of connections• For other networks opening one connection per IO-Link
target consumes too many resourcesScanner model – some originators systems don’t
support configuration of routed communications

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual MeetingAll rights reserved.

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AgendaIntroduction
 CIP Integration Objectives
 CIP IO-Link Master Models
• Scanner• Virtual CIP router• Mixed

CIP IO-Link Definition• New/changed objects• Identity Object• Keying• Parameter addressing• Data Types conversion• IODD to EDS conversion• Others

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
All rights reserved.

page 17www.odva.org

New/Changed objectsNew objects• IO-Link Device Parameter Object• IO-Link Link Object (Virtual CIP router and Mixed models)• IO-Link Master Object (Mixed and Scanner models)Changed objects• Identity Object• Port Object

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2014 Industry Conference & 16th Annual Meeting
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Identity Object and Keying

New attribute(s) defined to provide IO-Link
Target device identity
New information defined in Get_Attributes_All
response data to indicate device supports
additional identity information• New Get_Additional_Attributes service defined that
returns additional identity attributes, including IO-Link
Target device identity attribute(s)New electronic key segment type defined to key
IO-Link identity

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2014 Industry Conference & 16th Annual Meeting
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Parameter addressing

An IO-Link Device Parameter Object will bedefined to support IO-Link Parameter access
IO-Link Parameters are addressed by Index andSub-Index
For CIP Explicit Message requests (connected orunconnected), Index will be provided as theInstance and Sub-index will be provided as theAttribute
For Scanner model the IO-Link channel will bespecified in the Explicit Message data field

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Parameter addressing
Unconnected Request
Timing & Size

“Inner“ Message

Content modified
at every hop

Executed intarget network

Routing
One segment
cut off in every hop

ServiceClass

Instance

AttributeStandard CIP
Services, e.g.
Get/SetIO-Link Device
Parameter
Object= IO-Link
Index= IO-Link
Sub-Index

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Data Type ConversionIO-Link data types are different than CIP datatypes (e.g. IO-Link defines 12 bit integers)
IO-Link data is transmitted in big endian orderversus little endian for CIP data
IO-Link Master device will convert between IOLink and CIP data types
IO-Link Master will be provided IO-Link data type
information for the I/O or attributes being
accessedRules will be defined for converting IO-Link datatypes to/from CIP data types

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Data Type Conversion
For direct I/O connections, IO-Link data type format
will be provided in the forward open data segment(Virtual CIP router IO-Link Master) For consolidated I/O connections, IO-Link data typeformat will be provided as part of the scanlist
configuration (Scanner and Mixed IO-Link Master) For parameter access, new services will be definedthat provide the IO-Link data type format information• Access to untranslated data might be defined using newservices


Existing Get/Set services could be used if IO-Link
Master already has IO-Link data type translation
information

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Data Type Conversion example
Given the following IO-Link types and data information:
IO-Link Data Types (andvalues)
Integer12 (0xCD7)
Integer4 (0x8)
Uinteger17 (0x13286)
Uinteger15 (0x23B9)
Float32 (0xE7FC0453)

Highest 17 bits of 0x994323B9 =b1 0011 0010 1000 0110 =0x13286

IO-Link Data Values
0xCD
0x78
0x99
0x43
0x23
0xB9
0xE7
0xFC0x040x53

The following CIP types and data will result:
CIP Data Types (and value)
INT (0x0CD7)
SINT (0x08)
8 bit pad
UDINT (0x00013286)
UINT (0x023B9)
16 bit pad
REAL (0xE7FC0453)

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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CIP Data Values
0xD7
0x0C
0x08
Pad
0x86
0x32
0x01
0x00
0xB9
0x23
Pad
Pad
0x53
0x04
0xFC
0xE7
page 24www.odva.org

IODD to EDS conversion
IODD files provide the “device class” information
for IO-Link target devices• This information includes device identity, I/O data
information and parameter information



EDS files provide the “device class” information
for CIP devices
Rules will be defined to convert IODD content
into its EDS equivalent
The expectation is that CIP configuration tools
will convert IODD files to their EDS equivalent on
the fly

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Others

Two or three IO-Link Master device profiles will be created
The Port Object definition will be updated to define an IOLink port type for an IO-Link subnet
IO-Link Link Object will be defined for Virtual CIP routerand Mixed models
IO-Link Master startup behavior will be defined, thisincludes dependence on CIP client and configuration
handling
IO-Link Master configuration mechanism will be defined for
the Scanner and Mixed models
IO-Link Master Object for Mixed and Scanner models

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
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Questions?

Technical Track© 2014 ODVA, Inc.

2014 Industry Conference & 16th Annual Meeting
All rights reserved.

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