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JTEKT Toyopuc PC10G controllers over Ethernet
- Name: Toyopuc
- Version: 1.0.0.0
- Protocol: Computer Link (binary, Ethernet)
- Interface: TCP/IP
- Runtime: Multiplatform
- Configuration:
- Devices / Protocols
Overview
The Toyopuc driver reads and writes controller registers on JTEKT Toyopuc PC10G devices using the Computer Link protocol over the controller built-in Ethernet port. Communication blocks are dynamically created according to the polling cycle defined on the AccessType for each Device Point.
The driver addresses data registers, link registers, present-value and special registers, the relay areas at word granularity, and the expansion data register area. Individual programs on a multi-program controller can be addressed explicitly.
This connector uses the binary command set of the Ethernet port. It is not the ASCII frame used by the RS-422 serial Computer Link, which is a separate protocol on the same controller family.
Controller Configuration
Before connecting, the controller built-in Ethernet port must be configured in PCWin with an IP address and a listening port:
- Own Node IP Address: the IP address the driver will connect to.
- Own Node Port No.: the TCP port the controller listens on.
- Open Protocol: the connection must be set to a TCP passive open so the controller accepts the incoming connection.
A connection configured as a non-specified passive open accepts one client at a time. If another node is already connected on that port, the existing connection is reset.
Channel Configuration
Protocol Options
- BlockSize: maximum bytes per request, two bytes per word. Default is 240, which is 120 words. The limit is 1018 bytes on the PC10G built-in Ethernet port. An FL/ET-T-V2 module on a PC3J or PC2J CPU caps at 512 bytes, so lower this value if the controller reports error 0x41.
- TraceFrames: when enabled, every transmitted and received frame is written to the Trace Window as hexadecimal. Intended for diagnostics. Default is false, and it should be left disabled in production.
Node Configuration
Station Configuration
Station syntax: <IP address> ; <Port number>
Where:
- <IP address>: IP address of the controller built-in Ethernet port, matching Own Node IP Address in PCWin.
- <Port number>: TCP port the controller is listening on, matching Own Node Port No. in PCWin.
E.g.: 192.168.1.10; 2000
This protocol carries no station number, so the node requires only the address and port.
Points Configuration
The syntax for the Toyopuc communication points is: <Operand><Address>, written as a single token with no separator.
Where:
- <Operand>: the memory area, optionally prefixed with a program number.
- <Address>: the word offset within the area, written in hexadecimal, exactly as displayed in PCWin.
Program Prefix
Prefix | Description |
|---|---|
none | The program selected by the controller link parameters. The most efficient option, and the default. |
P1- | Program 1, addressed explicitly. |
P2- | Program 2, addressed explicitly. |
P3- | Program 3, addressed explicitly. |
On a controller running a single program, an unprefixed address and the matching program prefix return the same data. The U area is shared rather than per-program and therefore takes no prefix.
Memory Areas
Area | Description | Address range (hex) |
|---|---|---|
D | Data register | 0 to 2FFF |
R | Link register | 0 to 7FF |
N | Present value register | 0 to 1FF |
S | Special register | 0 to 3FF |
M | Internal relay, word access | 0 to 7F |
XY | Input and output relay, word access | 0 to 7F |
L | Link relay, word access | 0 to 7F |
T | Timer and counter, word access | 0 to 1F |
V | Special relay, word access | 0 to F |
K | Keep relay, word access | 0 to 2F |
U | Expansion data register | 0 to 7FFF |
The relay areas are accessed one word at a time, matching the word-address notation used by PCWin. A relay word address shown as M20W in the programming software is written as M20 here.
Referencing the Node
In the Devices Points table the Node column takes the fully qualified node reference, Node.<NodeName>, not the bare node name. A node called ToyopucNode1 is referenced as Node.ToyopucNode1. This matters when points are imported from a file rather than picked in the editor.
Examples
Address | Reads |
|---|---|
D0 | Data register D0000 in the link-parameter program |
D100 | Data register D0100, hexadecimal offset |
P1-D160 | Data register D0160 in program 1 |
P2-R0 | Link register R0000 in program 2 |
M20 | Internal relay word M20W |
U106 | Expansion data register U0106 |
Bit Access
Individual bits are addressed through the Modifiers column of the Devices Points table, not through the address itself. Set Bit to a value from 0 to 15 and leave the address as the enclosing word.
| Where it works | How it works |
|---|---|---|
Bit read | Every memory area | The connector reads the enclosing word as part of its normal block poll and the bit is taken from it. No extra request is sent, so a bit read costs nothing beyond the word read that was already happening. |
Bit write | M, XY, L, T, V and K only, and only on an operand with no program prefix | A dedicated single-bit command sets or clears one bit in the controller. The other fifteen bits of the word are never touched, so there is no read-modify-write cycle that could overwrite a bit the ladder program changed in the meantime. |
Two restrictions follow from the protocol itself:
- The registers D, R, N, S and the expansion register U have no bit addresses, so they cannot be bit-written. Use a word-level tag on those areas.
- There is no program-scoped single-bit command, so P1-, P2- and P3- prefixed operands cannot be bit-written. Use the unprefixed form, which addresses the program selected by the controller link parameters. Confirm that this is the program you intend before substituting one form for the other.
A bit write carries exactly one bit per request, so a bit-modified point must be the only item in its write block. If another writable point in the same area falls inside the BlockSize window, the write is refused. Keep bit-modified points clear of other writable points in the same area, or write them in separate scans.
Every refused bit write names its reason in the Trace Window and sends nothing to the controller.
Troubleshooting
When a request is rejected, the controller returns an error code that is written to the Trace Window together with its description. The most frequently seen codes are:
Code | Meaning | Usual cause |
|---|---|---|
0x40 | Address, or address plus data count, out of range | The point address exceeds the area, or a block runs past the end of the area. Check the address range table above. |
0x41 | Word or byte count out of range | BlockSize is larger than the controller accepts. Reduce it. |
0x34 | Access prohibited by configuration | The controller is configured to deny access to that area. |
0x31 | Write prohibited during sequence operation | A write was attempted against a region the running program protects. |
If no reply is received at all, confirm the controller port is open and that no other client is holding the connection.
Enable TraceFrames on the channel to capture the exact bytes exchanged when reporting a communication problem.
Driver Revision History
Toyopuc Revision History | |
|---|---|
Version | Notes |
1.0.0.0 | Initial release. Word read and write over the Ethernet Computer Link binary command set, with per-program scope and expansion data register support. |