Technical Information

SICK
CoLa Communication Function Block
(Only for CLV62x / 65x and RFH6xx devices)

SICK_CCOM_CLV_RFH_EIP Add-On Instruction for

Rockwell Automation Controls
 CoLa EtherNet/IP
Technical Information Add-On Instruction

Version history
Version Date Remarks
V1.0 07.12.2012 Initial version
V1.1 07.11.2013 Fix arithmetic error every 32768 incoming reading results

Table of Contents
1 About this document........................................................................................................ 3
1.1 Function of this document ............................................................................................ 3
1.2 Target group ................................................................................................................ 3
2 General information ......................................................................................................... 4
2.1 Specification of the function block ................................................................................ 4
3 Embedding of AOI in RSLogix5000................................................................................. 5
3.1 SOPAS device configuration........................................................................................ 5
3.2 Hardware configuration ................................................................................................ 6
3.3 AOI Import ................................................................................................................... 8
3.4 Mode of operation ........................................................................................................ 8
3.4.1 Receipt of read results (Read) ............................................................................... 9
3.4.2 Device communication via CoLa commands (Req)................................................ 9
3.4.3 Behaviour in the case of an error........................................................................... 9
4 Parameter.........................................................................................................................10
5 Error Codes .....................................................................................................................13
6 Examples .........................................................................................................................14
6.1 Output of the read results (Read only) ........................................................................14
6.2 Sending of a CoLa command......................................................................................17

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1 About this document

Please read this chapter carefully before you start working with this operating instructions
and the SICK_CCOM_CLV_RFH_EIP Add-On Instruction.

1.1 Function of this document

This operating instructions describes how to use the SICK_CCOM_CLV_RFH_EIP Add-On
Instruction. It is used for guiding technical personnel working for the machine manufacturer /
operator in project planning and commissioning the Add-On Instruction.

1.2 Target group

This operating instructions is aimed for specialists, such as technicians and engineers.

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2 General information
The Add-On Instruction (AOI) is used for the communication between a Rockwell control and
a SICK AutoIdent EtherNet/IP sensor. The sensor has to be embedded into the EtherNet/IP
surrounding of the control. The communication is done cyclically via process data (implies
communication).

The AOI can be used for the following SICK devices:

- RFH62x RFID interrogators
- CLV62x / 65x barcode reader

The AOI supports the following functions:

- Sending of CoLai commands to a SICK sensor
- Receiving of CoLa answers of a SICK sensor
- Receiving of telegrams sent from the device (can be configures in the SOPASii output
format)

Please note:
If you need a PLC solution for a SICK Lector or a RFU device, please use the
SICK_CCOM_EIP AOI.

2.1 Specification of the function block

AOI Name: SICK_CCOM_CLV_RFH_EIP
Version: 1.1
Routine name: Logic
Used UDTs: none
Call up: periodically
Programming language: Structured text (ST)

The SICK_CCOM_CLV_RFH_EIP AOI is an asynchronous working routine which means

that the handling is done over several PLC cycles. The following image shows the AOI in the
view of the function block diagram.

Image 1: Diagram of SICK_CCOM_CLV_RFH_EIP AOI

i
The command language (CoLa) is a SICK internal protocol for the communication with SOPAS devices
ii
SOPAS-ET is an engineering tool for the configuration of SICK sensors

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3 Embedding of AOI in RSLogix5000

AOI can be used with all Rockwell controls using RSLogix5000 V16 or higher.

The implementation of SICK_CCOM_CLV_RFH_EIP function block is done via the Add-On

Instruction (AOI). The AOI contains a program routine, which has to be called up periodically
at any position in the user program.

3.1 SOPAS device configuration

In order to activate EtherNet/IP Bus in a SICK device, the following settings have to be acti-
vated in SOPAS-ET at the menu point Network / Interfaces /IOs
Ethernet
Ether-
Net/IP:
- EtherNet/IP enabled: activate
- Communication Mode: with Handshake

Image 2: Activating EtherNet/IP communication in SOPAS-ET

The AOI communicates via process data with the SICK Sensor (implicit EtherNet/IP commu-
nication). The Input-Assembly and the Output-Assembly contain the process data of the sen-
sor. The length of the assemblies indicates how much data can be transferred in one bus
cycle. At the CLV62x /65x and RFH6xx devices, the assembly sizes are fixed 200 Byte. If the
content of the reading result exceed 200 Byte, the telegram will be fragmented automatically.
The fragments are reassembled by the AOI.

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3.2 Hardware configuration

In order to access the input / output assemblies with RSLogix5000, you first have to project
the used sensor.

Click with the right mouse button the symbol Ethernet and choose the selection New Mod-
ule….

Image 3: Insert new Ethernet module in RSLogix5000

Select the module ETHERNET-MODULE (Generic Ethernet Module) in the dialogue Select
Module and then click Create in order to add the module to the hardware configuration.

Image 4: Selection of the Generic Modules in RSLogix5000

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In the dialogue New Module please insert the settings for Input, Output, and Configura-
tion.

Image 5: Assembly settings of the SICK sensor

Example:
- Name: SICK_DEVICE (name can be selected arbitrarily)
- Comm Format: Data – SINT
- IP Address: 192.168.10.12 (IP-Address of the SICK sensor)
- Input Assembly Instance: 101
- Input Assembly Size: 200
- Output Assembly Instance: 100
- Input Assembly Size: 200
- Configuration Assembly Instance: 1
- Configuration Assembly Size: 0

Please load the configuration into the PLC as follows:

Image 6: Download of the PLC configuration

The status display (Run Mode, Controller OK and I/O) signalises if the connection to the sen-
sor has been done successfully.

Image 7: Control of the communication

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3.3 AOI Import

In order to use SICK_CCOM_CLV_RFH_EIP AOI in the user program, you first have to im-
port the File
Import Component
Add-On Instruction… into an existing project.

Image 8: Import of SICK_CCOM_CLV_RFH_EIP Add-On instruction

3.4 Mode of operation

In order to use SICK_CCOM_CLV_RFH_EIP function block, the following function block pa-
rameters have to be set first:

arrInputAssembly: Reference to the Input Assembly Array, which is created automatically in

the controller tags at the device projection. The Array must have a size of 200 Byte.

arrOutputAssembly: Reference to the Output Assembly Array, which is created automatically

in the controller tag at the device projection. The Array must have a size of 200 Byte.

arrRecord: Reference to the Record-Array. Here, the telegrams sent from the device are
stored. The array from data type SINT has to be set up in the user program and is then trans-
ferred to the AOI. The length of the array depends on the maximal data length. If, e.g. data
with a max. length of 200 Bytes is received, the Record-Array has to be set up with a min.
length of 200 Bytes.

arrCommand: Reference to the command array which contains the CoLa command that has
to be transferred.

iCommandLength: Length of the CoLa command which has to be transferred (e.g. ’sRI0’ =
length 4)

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3.4.1 Receipt of read results (Read)

Mutually sent telegrams (read results) are stored in the array (arrRecord), as soon as the
AOI has received new data. The Bit bReadDone = TRUE shows the receipt of new data for
one PLC cycle. As soon as new data has been received the counter iReadCount will be in-
cremented. The byte length of the last received telegram can be seen in the parameter
iReadLength.

3.4.2 Device communication via CoLa commands (Req)

At the communication via CoLa commands, the command which is defined in the array (arr-
Command) will be transferred to the device. The resulting answer is stored in the data field
defined within the parameter arrRecord.

The transfer is started by triggering the parameter bReq with a positive edge. If no valid an-
swer to the sent CoLa command has been received, this is signalised by the parameter
bReqBusy. If no answer has been received within the Timeout (iTimeout), the handling will
be cancelled with a Timeout error. The output parameter bReqDone = TRUE indicates that
an answer to the CoLa command has been received.

3.4.3 Behaviour in the case of an error

In the case of an error the Errorbit (bError) signalises the error. In this case an error code will
be given out via the parameter iErrorcode. The error bit remains set until a new order has
been started. If the function block is only used for the reading of read results (iCom-
mandLength = 0), the error bit will be set back when receiving new data automatically.

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4 Parameter
Parameter Declara- Type of Description
tion data
arrInputAssembly INPUT SINT[1] Reference to the Input Assembly Array, which
is created automatically in the controller tags
during the configuration. The Array must have a
size of 200 Byte.

Example:
arrInputAssembly:= SICK_DEVICE:I.Data
arrOutputAssembly INPUT SINT[1] Reference to the Output Assembly Array, which
is created automatically in the controller tags
during the configuration. . The Array must have
a size of 200 Byte.

Example:
arrOutputAssembly:= SICK_DEVICE:O.Data
arrRecord INPUT SINT[1] Reference to the Record Array. Here, the tele-
grams sent from the device are stored. The
length of the array depends on the max. data
length.

Example:
The sensor sends max. 50 Byte data (read re-
sult or CoLa telegram answer). In this case the
record has to have a minimal length of 50
bytes.

The content of the record is only valid if

bReadDone or bReqDone signalises an in-
creasing edge. It is recommended to copy
the content of the record as soon as it con-
tains valid data.
arrCommand INPUT SINT[1] Reference to the command-Array which con-
tains the CoLa command that has to be trans-
ferred.
iTimeout INPUT INT Time in [ms], after a Timeout error has oc-
curred.

By default, the Timeout time is set to five sec-

onds.

Please note that some CoLa commands need a

longer time for processing (e.g. storage com-
mands).

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Parameter Declara- Type of Description

tion data
arrControl INPUT SINT[3] Control Array for triggering the sensor via field
bus.

arrControl[0] = Control Byte 1

arrControl[1] = Control Byte 2
arrControl[2] = Status Byte of the CM protocol

Example:
In order to trigger the sensor via field bus, the
Bit arrControl[0].0 has to be set. In order to do
so, the trigger source in SOPAS has to be set
to „fieldbus trigger“.

The definition of further Control-Bits can be

seen in the operating instructions of the respec-
tive sensor.
bReq INPUT BOOL Positive edge: Sends the through the parame-
ters arrCommand and iCommandLength de-
fined CoLa command to the connected SICK
sensor and waits for the corresponding answer.
iCommandLength INPUT INT Character length of the CoLa command which
has to be transferred.

Example:
If the command ’sRI0’ is sent, the iCom-
mandLength has to have the value 4.
bReadDone OUTPUT BOOL Positive edge: A from the device sent read re-
sult has been received (formatting can be seen
in the SOPAS output format).

If a read result has been received, the bit is set

for always one PLC cycle. The read result is
written into the Record-Array.
iReadLength OUTPUT INT Shows the byte length of the read result that
has to be received.
iReadCount OUTPUT INT Counts the number of read results which are
received. The counter counts from 0…32767
(Dec.). In the case of an overflow, the counter
starts at cero once again.
bReqDone OUTPUT BOOL Positive edge: An answer to a sent CoLa com-
mand has been received.

TRUE: Editing is finished

FALSE: Editing is not yet finished

The command answer is written into the record

array.

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Parameter Declara- Type of Description

tion data
bReqBusy OUTPUT BOOL Indicates if a request is in progress.

FALSE: Request is not in progress

TRUE: Request is in progress
iReqLength OUTPUT INT Shows the byte length of the CoLa telegram
answer that has to be received.
bError OUTPUT BOOL Error status:

FALSE: No error
TRUE: Interruption with error
iErrorcode OUTPUT DINT Error status (see error codes).

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5 Error Codes
The parameter iErrorcode contains the following error information:

Error code Short description Description

16#0000 No error No error
16#0001 Timeout The request has not been carried out
within the chosen timeout.

Reasons can be:

- Device is not connected with PLC
- False communication parameter
- Use of CoLa commands that do not send
back an answer (echo)
- Time for editing the commando >
Timeout time
16#0002 arrInputAssembly <> 200 Invalid length of the Input Assembly.

Valid value area:

[200]
16#0003 arrOutputAssembly <> 200 Invalid length of Output Assembly.

Valid value area:

[200]
16#0004 200 < iCommandLength <= Invalid length of the command length.
0 Byte
Valid value area:
[1..200]
16#0005 arrRecord < 4 Byte The length of the Record-Array (arrRe-
cord) is smaller than 4 Bytes.
16#0006 iCommandLength > The command length (iCommandLength)
arrCommand is longer than the Command-Array
(arrCommand).
16#0007 Internal error Fragmentation error. Access to invalid
storage area.
16#0008 Incoming CoLa-Telegram > The incoming CoLa-Telegram is longer
arrRecord than the Record-Array (arrRecord).
iRead- Incoming read result > arrRe- The incoming read result is longer than the
Length = -1 cord Record-Array (arrRecord).

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6 Examples
6.1 Output of the read results (Read only)
Image 10 shows how to receive a read result with SICK_CCOM_CLV_RFH_EIP AOI. This
example can be used for all SICK AutoIdent sensors.

The sensor (in this case CLV620) is directly triggered via the control byte (arrControl[0].0).
The function block can be operated independent from the trigger source.

Image 9: Trigger setting of the CLV in SOPAS-ET

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Image 10: Call of AOI in the Main Program of the PLC

As soon as the variable bReadDone signalises TRUE, the content of the record (arrRecord)
will be copied into the result string (sReadingResult). The direct use of the record as read
result is not recommended since it only contains valid values during bReadDone = TRUE.

Image 11 shows the read result of the CLV. The content of the read result can be configured
via the SOPAS output format (see Image 12).

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Image 11: Call of the read result

Image 12: Configuration of the output format in SOPAS-ET

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6.2 Sending of a CoLa command

Image 13 shows how you can send a device command with SICK_CCOM_CLV_RFH_EIP
AOI parallel to the receipt of read results. This example can only be used in combination with
the devices CLV62x / 65x or RFH6xx.

Image 13: Call up of AOI in the Main Program of the PLC

As soon as the record contains valid data (bReadDone = TRUE / bReqDone = increasing
edge) the content of the records will be copied into the variables sReadingResult or sCom-
mandResult.

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Image 14: RSLogix5000 Tag view

Image 14 shows how to send a CoLa command to a device (here CLV620) via AOI. In this
example the CoLa command ’sRI0’ (device identification) is sent to CLV. In this case the
following parameters have to be set:

sCommand: ’sRI0’
iCommandLength: 4 (can be taken from the string variable sCommand.LEN)

The command is carried out as soon as the variable bReq is triggered with a positive edge.
As soon as the output bit bReqDone signalises a positive edge, the record can be copied
and used.

Parallel to the sending, the AOI can also receive and show read results sent from device.

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