null  User manual
Fieldbus Appendix
Anybus -S Drive Profile ControlNet
®
Rev. 1.00
HMS Industrial Networks AB
Germany + 49 - 721 - 96472 - 0
Japan
+ 81 - 45 - 478 -5340
Sweden
+ 46 - 35 - 17 29 20
U.S.A
+ 1 - 773 - 404 - 3486
UK
+ 44 (0) 1908 - 359301
[email protected]
[email protected]
[email protected]
[email protected]
[email protected]
Table of Contents
Table of Contents
Preface
About This Document
How To Use This Document..............................................................................................................2-1
Important User Information................................................................................................................2-1
Related Documents...............................................................................................................................2-2
Document History ................................................................................................................................2-2
Conventions & Terminology ...............................................................................................................2-3
Support....................................................................................................................................................2-3
Chapter 1
About the Anybus-S Drive Profile ControlNet
General....................................................................................................................................................1-4
Features ...................................................................................................................................................1-4
Fieldbus Conformance Notes .............................................................................................................1-4
Overview.................................................................................................................................................1-5
Configuration Switches ..................................................................................................................1-5
Status Indicators ...........................................................................................................................1-5
Chapter 2
Basic Operation
General....................................................................................................................................................2-1
Bus Config Parameters .........................................................................................................................2-2
Anybus Drive Profile Development Tool .........................................................................................2-3
General.........................................................................................................................................2-3
Specific Fieldbus Configuration......................................................................................................2-3
Vendor Specific Mapping ..............................................................................................................2-3
EDS-file Generation.....................................................................................................................2-3
Chapter 3
ControlNet Object Implementation
Identity Object, Class 01h ....................................................................................................................3-1
Service Details (Reset) ...................................................................................................................3-2
Message Router Object, Class 02h......................................................................................................3-3
Assembly Object, Class 04h.................................................................................................................3-4
Connection Manager Object, Class 06h.............................................................................................3-7
Motor Data Object, Class 28h.............................................................................................................3-8
Control Supervisor Object, Class 29h................................................................................................3-9
AC/DC-Drive Object, Class 2Ah.....................................................................................................3-12
Drive Parameter Object......................................................................................................................3-14
Drive IO Map Object .........................................................................................................................3-15
ABSDP Configuration Object...........................................................................................................3-16
ControlNet Object, Class F0h...........................................................................................................3-17
Table of Contents 2
Chapter 4 Implementation Details
Module Type ..........................................................................................................................................4-1
Application Driver Timeout Behaviour.............................................................................................4-1
Error Code Conversion........................................................................................................................4-1
Appendix A Connector Pinouts
Application Connector ........................................................................................................................A-1
ControlNet Connectors.......................................................................................................................A-1
Network Access Port (NAP) ..............................................................................................................A-1
Appendix B Mechanical Specification
Appendix C Technical Specification
Electrical Specification.........................................................................................................................C-1
Protective Earth (PE) Requirements ............................................................................................C-1
Power Supply ...............................................................................................................................C-1
Environmental Specification ..............................................................................................................C-1
EMC Compliance (CE) .......................................................................................................................C-1
Table of Contents 3
Preface
About This Document
How To Use This Document
This manual provides an overview of the Anybus-S Drive Profile ControlNet module and is intended
to be used in conjunction with the Anybus-S Drive Profile Design Guide.
The reader of this document is expected to have basic knowledge in the ControlNet fieldbus system,
and communication systems in general.
Note: This document describes the functionality provided by the latest firmware release. Some features
may be missing or working somewhat differently in older firmware releases. Please contact HMS to obtain the latest version.
Important User Information
The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB,
reserve the right to modify our products in line with our policy of continuous product development. The
information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for
any errors that may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure
that all the necessary steps have been taken to verify that the application meets all performance and safety requirements including any applicable laws, regulations, codes, and standards.
Anybus® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their respective holders.
The examples and illustrations in this document are included solely for illustrative purposes. Because of
the many variables and requirements associated with any particular implementation, HMS cannot assume responsibility or liability for actual use based on these examples and illustrations.
Warning:
This is a class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.
ESD Note:
This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged
if ESD control procedures are not followed. Static control precautions are required when
handling the product. Failure to observe this may cause damage to the product.
About This Document 2-2
Related Documents
Document name
Anybus-S Drive Profile Design Guide
Author
HMS Industrial Networks AB
Document History
Summary of Recent Changes (v0.90... 1.00)
Change
-
Page(s)
-
Revision List
Revision
1.00
Date
Author(s)
2006-02-27 PeP
Chapter(s) Description
All
First release
About This Document 2-3
Conventions & Terminology
The following conventions are used throughout this document:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The term ‘module’ is used when referring to the Anybus module
•
The term ‘application’ is used when referring to the hardware that is connected to the Anybus
Application Connector
•
Hexadecimal values are written in the format NNNNh, where NNNN is the hexadecimal value.
Support
HMS Sweden (Head Office)
E-mail:
Phone:
Fax:
Online:
[email protected]
+46 (0) 35 - 17 29 20
+46 (0) 35 - 17 29 09
www.anybus.com
HMS America
E-mail:
Phone:
Toll Free:
Fax:
Online:
[email protected]
+1-773-404-2271
888-8-Anybus
+1-773-404-1797
www.anybus.com
HMS Germany
E-mail:
Phone:
Fax:
Online:
[email protected]
+49-721-96472-0
+49-721-964-7210
www.anybus.com
HMS Japan
E-mail:
Phone:
Fax:
Online:
[email protected]
+81-45-478-5340
+81-45-476-0315
www.anybus.com
Chapter 1
About the Anybus-S Drive Profile ControlNet
General
The Anybus-S Drive Profile ControlNet communication module provides instant ControlNet connectivity via the patented Anybus-S Drive Profile application interface. Any device that supports this standard can take advantage of the features offered by the module, providing seamless network integration
regardless of network type. By utilizing the Common Profile Interface (CPI), no network specific software support needs to be implemented in the host application.
The profile implementation can be easily customized to fit the functionality of the drive using the free
Anybus Drive Profile Development Tool, which also permits customization of vendor specific information such as Vendor Name, Device Name etc.
This product conforms to all aspects of the application interface defined in the Anybus-S Drive Profile
Design Guide, making it fully interchangeable with any other device following that specification.
Features
•
Galvanically isolated bus electronics
•
AC Drive Profile (device type 02h)
•
DC Drive Profile (device type 13h)
•
Redundant media support
•
Network Access Port (NAP)
•
Up to 65Kb of vendor specific parameter data
•
Customizable vendor specific object up to 99 instances with up to 256 attributes each
•
Configuration using Anybus Drive Profile Development Tool (free)
•
Unconnected Message Manager (UCMM) support
Fieldbus Conformance Notes
Important Note: The following information is preliminary/pending:
This product is pre-certified for network compliance. While this is done to ensure that the final product
can be certified, it does not necessarily mean that the final product doesn’t need recertification.
Contact HMS for further information.
About the Anybus-S Drive Profile ControlNet 1-5
Overview
#
1
2
3
4
5
Description
Network Access Port (NAP)
ControlNet Channel A
ControlNet Channel B
Configuration Switches
Status Indicators
+RVW&RPP
6WDWXV
&KDQQHO$
0RGXOH
6WDWXV
&KDQQHO%
Notes
Used for temporary connection of configuration tools etc.
For redundant operation, use both channels. Otherwise, use either one.
(see below)
Configuration Switches
[
[
These rotary switches can be used to set the Mac ID of the
module in the range 1-99. The switches are read once during
startup, i.e. if the setting is changed, a reset is required in order
for the change to have effect.
Example:
When the left switch is set to 4 and the right one is set to 2, the final value will be 42.
Status Indicators
These leds indicate run time status and errors to the user.
Led
Host Comm Status
Channel A / Channel B
Module Status
State
Green
Red
Red, flashing
A & B, Off
A & B, Red
A & B, Alt. Red/Green
A & B, Flashing Red
A or B, Off
A or B, Green
A or B, Flashing Green
A or B, Flashing Red
A or B, Flashing Red/Green
Green
Red
Red, flashing
Description
Link OK
Link lost, permanent
Link lost, temporary
Module not initialized
Fault, module must be restarted or repaired
Bus controller self test
Incorrect node config; e.g. duplicate MacID etc.
Channel disabled, depends on network configuration
Normal operation of channel
Temporary error or node not configured to go online
Media fault or no other nodes on the network
Incorrect network configuration
Initialized correctly and is working properly
A hardware error has occurred
Software error
Chapter 2
Basic Operation
General
Software Requirements
The module is based on the Common Profile Interface (CPI), which means that no network specific
software support needs to be implemented on the host application.
Profile Support
The Anybus-S Drive Profile ControlNet implements the following profiles (specified by the ODVA):
•
AC Drive Profile (device type 02h)
•
DC Drive Profile (13h)
Implemented CIP Objects
The following CIP objects are implemented in the module:
Object
Identity Object, Class 01h
Message Router Object, Class 02h
Assembly Object, Class 04h
Connection Manager Object, Class 06h
Motor Data Object, Class 28h
Control Supervisor Object, Class 29h
AC/DC-Drive Object, Class 2Ah
Drive Parameter Object
Drive IO Map Object
ABSDP Configuration Object
ControlNet Object, Class F0h
Page
3-1
3-3
3-4
3-7
3-8
3-9
3-12
3-14
3-15
3-16
3-17
Electronic Data Sheet (EDS) file
On ControlNet, the characteristics of a device is stored in an ASCII data file (a.k.a EDS-file). This file
is used by ControlNet configuration tools when setting up the network.
In case of the Anybus-S Drive Profile ControlNet, the EDS-file is generated automatically by the ABSDP Development Tool. For more information, see 2-3 “EDS-file Generation”.
Basic Operation 2-2
Bus Config Parameters
Bus Config parameters are used for fieldbus-specific settings which are available to the end user. Note
that the these settings are read once during startup, i.e. any changes made during runtime requires a restart in order to have effect.
Default
Min
Max
Description
1
2
3
Namea
Module macid
Module baud rate
HW/SW option
99
5
0
0
5
0
99
5
1
4
5
Stop function
Output instance
0
20
0
20
1
102
6
Input instance
70
70
103
7
Output I/O par 1
0
0
65535
8
Output I/O par 2
0
0
65535
9
Output I/O par 3
0
0
65535
10 Output I/O par 4
0
0
65535
11 Input I/O par 1
0
0
65535
12 Input I/O par 2
0
0
65535
13 Input I/O par 3
0
0
65535
14 Input I/O par 4
0
0
65535
15 Output I/O par 5
0
0
65535
16 Output I/O par 6
0
0
65535
17 Output I/O par 7
0
0
65535
18 Output I/O par 8
0
0
65535
19 Output I/O par 9
0
0
65535
20 Input I/O par 5
0
0
65535
21 Input I/O par 6
0
0
65535
22 Input I/O par 7
0
0
65535
23 Input I/O par 8
0
0
65535
24 Input I/O par 9
0
0
65535
25 VSA I/O size
4
0
32
ControlNet MacID
ControlNet baud rate
Source for MAC ID / Baud rate
0: on-board switches, 1: software
0: Ramp stop, 1: Coast stop
Connection object output assembly instance
Valid settings: 20, 21, 100,102
Connection object input assembly instance
Valid settings: 70, 71, 101, 103
User defined output parameter 1
(Assembly object, Instance 102)
User defined output parameter 2
(Assembly object, Instance 102)
User defined output parameter 3
(Assembly object, Instance 102)
User defined output parameter 4
(Assembly object, Instance 102)
User defined input parameter 1
(Assembly object, Instance 103)
User defined input parameter 2
(Assembly object, Instance 103)
User defined input parameter 3
(Assembly object, Instance 103)
User defined input parameter 4
(Assembly object, Instance 103)
User defined output parameter
(Assembly object, Instance 102)
User defined output parameter 6
(Assembly object, Instance 102)
User defined output parameter 7
(Assembly object, Instance 102)
User defined output parameter 8
(Assembly object, Instance 102)
User defined output parameter 9
(Assembly object, Instance 102)
User defined input parameter 5
(Assembly object, Instance 103)
User defined input parameter 6
(Assembly object, Instance 103)
User defined input parameter 7
(Assembly object, Instance 103)
User defined input parameter 8
(Assembly object, Instance 103)
User defined input parameter 9
(Assembly object, Instance 103)
User defined I/O size for Instances 102 and 103
(Assembly object, size specified in words)
#
a. The names specified in this column are the ones transferred in the ABS_INFO_TEXT message
Basic Operation 2-3
Anybus Drive Profile Development Tool
General
The Anybus Drive Profile Development Tool (from now on referred to as ‘the development tool’) is
used to customize the drive profile implementation to fit a particular type of inverter.
The latest version of the development tool can be downloaded from HMS website, ‘www.anybus.com’.
Specific Fieldbus Configuration
The following fieldbus-specific configuration settings are available:
•
ControlNet Vendor ID
•
ControlNet Product Code
•
ControlNet ID Object Revision
•
ControlNet Product Name (up to 32 characters)
Vendor Specific Mapping
It is possible to map drive parameters to the Drive Parameter Object (see 3-14 “Drive Parameter Object”). This feature is accessed by highlighting the ControlNet module in the list of fieldbus modules,
and clicking ‘Mapping setup...’.
EDS-file Generation
The development tool can create an EDS-file automatically based on the configuration. To do this, select the ‘Generate configuration file’-entry in the Configuration-menu.
Chapter 3
ControlNet Object Implementation
Identity Object, Class 01h
Supported Services
Class services:
Get Attribute All
Reset
Instance services:
Get Attribute All
Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Description
Revision 1
Value
0001h
Type
UINT
Description
Vendor ID
Value
005Ah (HMS Industrial Networks)
Instance Attributes (1)
#
1
Access
Get
Name
Vendor ID
2
Get
Device Typea
UINT
Device type
0002h (AC Drive)
3
Get
Product Codea
UINT
Product Code
001Eh (Anybus-S DP ControlNet)
4
5
6
7
Get
Get
Get
Get
Revision
Status
Serial Number
Revision, major, minor
Device Status
Serial Number
Product Name
(module revision)
(see table below)
(set at production)
‘Anybus-S Drive Profile CNT’
a
Struct of {USINT, USINT}
WORD
UDINT
a SHORT_STRING
Product Name
a. Can be customized, see 2-3 “Specific Fieldbus Configuration”
Device Status
bit(s)
0
1
2
3
4... 7
8
9
10
11
12... 15
Name
Module Owned
(reserved)
Configured
(reserved)
Extended Device Status:
Value: Meaning:
0000b Unknown
0010b Faulted I/O Connection
0011b No I/O connection established
0100b Non-volatile configuration bad
0110b Connection in Run mode
0111b Connection in Idle mode
(other) (reserved)
Set for minor recoverable faults
Set for minor unrecoverable faults
Set for major recoverable faults
Set for major unrecoverable faults
(reserved)
ControlNet Object Implementation 3-2
Service Details (Reset)
The CIP Identity Object provides a reset service. There are two different types of reset requests:
•
Type 0: ‘Power Cycling Reset’
The module issues CPI_CallEmulatePowerCycle (P48).
•
Type 1: ‘Out of Box Reset’
The module resets all internal configuration settings and issues CPI_CallFactoryReset (P49) followed by CPI_CallEmulatePowerCycle (P48).
ControlNet Object Implementation 3-3
Message Router Object, Class 02h
Services
Class services:
-
Instance services:
-
ControlNet Object Implementation 3-4
Assembly Object, Class 04h
Supported Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Description
The Assembly Object binds attributes of multiple objects, which allows data to or from each object to
be sent or received over a single connection. This implementation uses static assemblies, but the content
can be changed. Instance numbers are selected using Bus Config Parameters #5 & #6 (see 2-2 “Bus
Config Parameters”).
Valid combinations of input & output instance numbers are:
Output Instance
20
21
100
102
Input Instance
70
71
103
70
71
103
101
103
101
103
Drive Mode
Drive Profile
Comments
-
Vendor specific
-
In case an invalid combination of input and output instances are selected, the module will attempt to
correct it as follows:
Configured Output Instance
20
21
100
102
Set Input Instance
70
71
101
103
ControlNet Object Implementation 3-5
Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Description
Revision of object
Value
0002h
Type
Array of BYTE
Description
Data produced/consumed by the Anybus module
Value
-
Instance Attributes
#
3
Access
Get/Set
Name
Data
Consuming Instances (Output)
Instance
20
(Profile)
Byte
0
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Fault
Reset
Bit 1
Bit 0
Run
Fwd
1
21
(Profile)
2
Speed Reference (Low Byte)
3
Speed Reference (High Byte)
0
NetRef
NetCtrl
Fault
Reset
Run
Rev
Run
Fwd
1
100
(Transparent)
102a
2
Speed Reference (Low Byte)
3
Speed Reference (High Byte)
0-X
Vendor Specific Control Word (Little endian format)
...
Y-Z
...
Vendor Specific Reference Value (Little endian format for 2 and 4byte parameters)
0-X
User-mapped output parameter #1
...
Y-Z
...
user-mapped output parameter #N
a. The size of this instance depends on Bus Config parameter #25 (VSA I/O Size), see 2-2 “Bus Config Parameters”.
ControlNet Object Implementation 3-6
Producing Instances (Input)
Instance
70
(Profile)
Byte
0
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Running
Fwd
Bit 1
Bit 0
Faulted
1
71
(Profile)
101
(Transparent)
103a
2
Speed Actual (Low Byte)
3
Speed Actual (High Byte)
0
1
At refer- Ref From Ctrl From Ready
ence
Net
Net
Drive State
2
Speed Actual (Low Byte)
3
Speed Actual (High Byte)
0-X
Vendor Specific Status Word (Little endian format)
...
Y-Z
...
Vendor Specific Actual Value (Little endian format for 2 and 4byte parameters)
0-X
User-mapped input parameter #1
...
Y-Z
...
user-mapped input parameter #N
Running Running Warning Faulted
Reverse Forward
a. The size of this instance depends on Bus Config parameter #25 (VSA I/O Size), see 2-2 “Bus Config Parameters”.
Data Definitions
Definitions for the data used in these instances are specified in the table below.
Name
Run Forward
Run Rev
Fault Reset
NetCtrl
NetRef
Speed reference
Faulted
Warning
Running Forward
Running Reverse
Ready
CtrlFromNet
DriveState
RefFromNet
At Reference
Speed Actual
CIP class
Class
Control Supervisor
Control Supervisor
Control Supervisor
Control Supervisor
AC/DC drive
AC/DC drive
Control Supervisor
Control Supervisor
Control Supervisor
Control Supervisor
Control Supervisor
Control Supervisor
Control Supervisor
AC/DC Drive
AC/DC Drive
AC/DC Drive
Instance
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Attribute
3
4
12
5
4
8
10
11
7
8
9
15
6
29
3
7
Name
Run1
Run2
FaultRst
NetCtrl
NetRef
SpeedRef
Faulted
Warning
Running1
Running2
Ready
CtrlFromNet
State
RefFromNet
At Reference
SpeedActual
ControlNet Object Implementation 3-7
Connection Manager Object, Class 06h
Services
Class services:
Forward Open
Forward Close
Instance services:
-
ControlNet Object Implementation 3-8
Motor Data Object, Class 28h
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Description
This object servers as a database for motor parameters. Different motor types require different data to
describe the motor. For example, AC induction motors do not need field current data like a DC motor
to describe the motor. For this reason, motor data attributes that are numbered greater than 5 are described separately for different classes of motors.
•
AC Motor Class Types
3: PM Synchronous
6: Wound Rotor Induction
7: Squirrel Cage Induction Motor
•
DC Motor Class Types
1: PM DC Motor
2: FC DC Motor
Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Description
Revision of object
Value
0001h
Instance Attributes (1)
#
Access
Name
Type
Description
Motor Type
Mapped to...
3
Get/Set
Motor Type
UINT8
Value:
1:
2:
3:
4:
5:
6:
7:
8:
9:
10:
Type:
PM DC
FC DC
PM Synchronous
FC Synchronous
Switched Reluctance
Wound Rotor Induction
Squirrel Cage Induction
Stepper
Sinusoidal PM BL
Trapezoidal PM BL
AC/DC
P22 Motor Type
6
Get/Set
Rated Current
UINT16
Rated Stator Current from motor name plate
AC/DC
P15 Motor Rated Current
7
Get/Set
Rated Voltage
UINT16
Rated Base Voltage from motor name plate
AC/DC
P14 Motor Rated Voltage
8
Get/Set
Rated Power
UINT32
Rated Power at Rated Frequency
AC/DC
P16 Motor Rated Power
9
Get/Set
Rated Frequency
UINT16
Rated Electrical Frequency
AC
P18 Motor Rated Frequency
10
Get/Set
Rated Temperature
UINT16
Rated Winding Temperature
AC/DC
P19 Motor Rated Temperature
11
Get/Set
Max Speed
UINT16
Maximum allowed motor speed
AC/DC
P35 Maximum Positive Motor Speed
12
Get/Set
Pole Count
UINT16
Number of poles in the motor
AC
P25 Motor Pole Number
P20 Motor Rated Torque
13
Get/Set
Torque Constant
UINT32
Motor Torque Constant
AC/DC
14
Get/Set
Inertia
UINT32
Rotor Inertia
AC/DC
15
Get/Set
Base Speed
UINT16
Nominal speed at rated frequency from nameplate AC/DC
P17 Motor Rated Speed
19
Get/Set
Service Factor
UINT8
Service factor of the motor (%)
P21 Motor Cos Phi
AC
P23 Motor Inertia
ControlNet Object Implementation 3-9
Control Supervisor Object, Class 29h
Note: This object is only available in Profile Mode.
Services
Class services:
Get Attribute Single
Reset
Instance services:
Get Attribute Single
Set Attribute Single
Description
This object models all the management functions for devices within the “Hierarchy of Motor Control
Devices”. The behaviour of motor control device is described by the State Transition Diagram (See 311 “State Machine”).
Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max. Instance
Type
UINT
UINT
Description
Revision of object
Highest instance no.
Value
0001h
0001h
Instance Attributes (1)
#
3
4
5
Access
Get/Set
Get/Set
Get/Set
Name
Run 1
Run 2
Net Control
6
Get
State
7
Get
Running 1
8
Get
Running 2
Type
BOOL
BOOL
BOOL
Description
Forward
Reverse
Value: Meaning:
0:
Local Control
1:
Network
UINT Value: State:
1:
Start/up
2:
Not Ready
3:
Ready
4:
Enabled
5:
Stopping
6:
Fault_Stop
7:
Faulted
BOOL Value: Meaning:
1:
(Enabled and Run1) or
(Stopping and Running1) or
(Fault_Stop and Running1)
0:
Other state
BOOL Value: Meaning:
1:
(Enabled and Run2) or
(Stopping and Running2) or
(Fault_Stop and Running2)
0:
Other state
Mapped to...
P0 Control Word (FWD-bit)
P0 Control Word (REV-bit)
P45 Inverter Net Control
State interpreted as described in
3-11 “State Machine”
P1 Status Word (FWD-bit)
P1 Status Word (REV-bit)
ControlNet Object Implementation 3-10
#
9
Access
Get
Name
Ready
10 Get
Faulted
11 Get
Warning
12 Get/Set
FaultRst
13 Get
Fault Code
14 Get
Warning Code
15 Get
16 Get/Set
CtlFromNet
DNFaultMode
17 Get/Set
Force Fault
18 Get
Force Status
20 Get/Set
Idle Action
Type Description
BOOL Value: Meaning:
1:
Ready or Enabled or Stopping
0:
Other state
BOOL Value: Meaning:
1:
Fault occurred
0:
No faults present
BOOL Value: Meaning:
1:
Warning (not latched)
0:
No warnings present
BOOL Value: Action:
0>1:
Fault reset
0:
No action
UINT If in Faulted state, this attribute indicates the
fault that caused the transition to Faulted
state. If not in Faulted state, this attribute
indicates the fault that caused the last transition to the Faulted state.
UINT Code word indicating warning present. If
multiple warnings are present, the lowest
code value is returned
BOOL True if attribute #5 is set, otherwise zero.
UINT Action on loss of CIP network
Value: Meaning:
0:
Fault+Stop
1:
Ignore
2:
Vendor Specific
BOOL Value: Action:
0>1:
Force fault
0:
No action
BOOL Value: Status:
0:
Not forced
>0:
Forced
UINT8 Value: Meaning:
0:
Send stop to drive (default)
1:
Freeze data
2:
Clear FB Running flag
Mapped to...
State machine
P1 Status Word (ALARM-bit)
(internal)
P82... 86 Malfunction Code 1... 5
P77... 81 Alarm Code 1... 5
P1 Status Word (NETCTRL-bit)
P44 Inverter Fault Mode
P0 Control Word (TRIP-bit)
Set when attribute #17 is set and
drive is in state FAULT_STOP or
FAULTED state
(internal, stored in non-volatile
memory)
ControlNet Object Implementation 3-11
State Machine
The state transition flow is defined by the drive profile. Note that the state machine is updated independently of if the drive is controlled locally or remote.
When vendor specific control word is used, the state is presented as ‘Vendor Specific’.
9HQGRUVSHFLILF
5HVHW
The following table shows how the various states relate to the Drive Status word.
Running
0
0
1
1
Netctrl
0
1
RTSO
0
1
1
1
Fault
0
1
0
0
0
1
-
-
1
Corresponding State
Not_Ready
Faulted
Ready
Enabled
If sending FWD or REV in control word: Enabled, else: Stoppinga
Fault_Stop
a. This state cannot be detected during local control, but is fully “legal” according to the ControlNet specification,
since all states do not have to be represented.
ControlNet Object Implementation 3-12
AC/DC-Drive Object, Class 2Ah
Note: This object is only available in Profile Mode.
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Description
This object models the functions specific to an AC or DC drive (e.g. speed ramp, torque control etc.)
Class Attributes
#
1
Access
Get
Name
Revision
Description
Revision of object
Type
UINT
Value
0001h
Description
Value: Meaning:
1:
Drive at reference
0:
Requests torque or speed reference to be
local or from the network.
Value: Meaning:
1:
Network
0:
Local
Value: Meaning:
0:
Vendor Specific Mode
1:
OpenLoop Speed
2:
ClosedLoop Speed
3:
Torque control
4:
Process control
5:
Position control
Actual speed
Units: RPM/2SpeedScale
Reference speed
Units: RPM/2SpeedScale
Actual Motor Phase Current
Units: 100mA/2CurrentScale
Motor Phase current limit
Units: 100mA/2CurrentScale
Actual Torque
Units: Nm/2TorqueScale
Torque Reference
Units: Nm/2TorqueScale
Actual output power
Units: Watts/2PowerScale
Type Mapped to...
BOOL P1 Status Word
Instance Attributes (1)
#
3
Access
Get
Name
At Reference
4
Get/Set
NetRef
6
Get
Drive Mode
7
Get
Speed Actual
8
Get/Set
SpeedRef
9
Get
Current Actual
10 Get/Set
Current Limit
11 Get
Torque Actual
12 Get/Set
Torque Ref
15 Get
Power Actual
BOOL P46 Inverter Net Reference
USINT P43 Inverter Control Mode
INT
P5 Actual Speed Unit 1
P6 Actual Speed Unit 2
INT
P2 Reference Speed Unit 1
P3 Reference Speed Unit 2
INT
P10 Output Current
INT
P24 Motor Phase Current Limit
INT
P7 Actual Torque
INT
P4 Torque Reference
INT
P13 Output Power
ControlNet Object Implementation 3-13
# Access
16 Get
17 Get
18 Get/Set
19 Get/Set
20 Get/Set
21 Get/Set
22
23
24
26
27
28
29
Get/Set
Get/Set
Get/Set
Get/Set
Get/Set
Get/Set
Get
31 Get/Set
Name
Input Voltage
Description
Input voltage
Units: Volts/2VoltageScale
Output Voltage Output voltage
Units: Volts/2VoltageScale
AccellTime
Acceleration time
(time from 0 to HighSpdLimit)
Units: ms/2TimeScale
DecelTime
Deceleration Time
(time from 0 to HighSpdLimit)
Units: ms/2TimeScale
LowSpdLimit
Minimum speed limit.
Units: RPM/2SpeedScale
HighSpeedLimit Maximum speed limit.
Units: RPM/2SpeedScale
Speed Scale
Speed scaling factor
Current Scale Current scaling factor
Torque Scale
Torque scaling factor
Power Scale
Power scaling factor
Voltage Scale Voltage scaling factor
Time Scale
Time scaling factor
Ref From Net Actual torque/speed reference:
Value: Meaning:
1:
Network
0:
Local
Field I or V
Selects field voltage or field current control
for a DC drive.
Value: Meaning:
0:
Voltage Control
1:
Current Control (not supported)
Type
INT
Mapped to...
P12 Input Voltage
INT
P11 Output Voltage
UINT
P26 Acceleration Time
UINT
P29 Deceleration Time
UINT
P41 Minimum Positive Speed
UINT
P39 Maximum Positive Speed
SINT
(Internal)
BOOL P1 Status Word
BOOL -
Note: Since the resolution of AccellTime and DecelTime are 1ms and the data type is 16 bit unsigned,
use the Time Scale for other resolutions if necessary.
ControlNet Object Implementation 3-14
Drive Parameter Object
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Description
This is a vendor specific object where drive parameters can be accessed over ControlNet. Parameters
are mapped as specified in the development tool, or in case no mapping has been defined, using a default
mapping method. Parameters can be mapped to instances 1... 255, attributers #1... 255.
The class number for this object is specified in the development tool. Default is 90h.
Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max Instance
Type
UINT
UINT
Value
0001h
00FFh
Description
Revision of object
Maximum no. of instances
Instance Attributes, Default Mapping
When using default parameter mapping, drive parameters are represented as follows:
#
0
1
2
...
254
255
Contents
Drive Parameter 0 + ((Instance no. -1) * 255)
Drive Parameter 1 + ((Instance no. -1) * 255)
Drive Parameter 2 + ((Instance no. -1) * 255)
...
Drive Parameter 253 + ((Instance no. -1) * 255)
Drive Parameter 254 + ((Instance no. -1) * 255)
Notes
Note: Data types and access rights
are the same as for the mapped
parameter.
Instance Attributes, Vendor Specific Mapping
It is possible to specify custom mapping information in the development tool.
#
0
1
2
...
N
Contents
Mapped Parameter #1
Mapped Parameter #2
Mapped Parameter #3
...
Mapped Parameter #X
Notes
Note: Data types and access rights
are the same as for the mapped
parameter.
ControlNet Object Implementation 3-15
Drive IO Map Object
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Reset (Causes all attributes within the instance to be cleared, i.e. set to zero)
Description
This object is used when an application needs to handle more I/O data than permitted by the Bus Configuration parameters.
The class number for this object is specified in the development tool. Default is 91h.
Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max Instance
Type
UINT
UINT
Value
0001h
0002h
Description
Revision of object
Maximum no. of instances
Instance Attributes
Two instances are supported:
•
Instance 1 is used for Output parameters
•
Instance 2 is used for Input parameters
Instance # Attribute #
1
1
2
3
...
9
10
11
...
32
2
1
2
3
...
9
10
11
...
32
Access
Get/Set
...
Get/Set
...
Get/Set
Get/Set
...
Get/Set
...
Get/Set
Contents
User Defined Parameter 1
User Defined Parameter 2
User Defined Parameter 3
...
User Defined Parameter 9
User Defined Parameter 10
User Defined Parameter 11
...
User Defined Parameter 32
User Defined Parameter 1
User Defined Parameter 2
User Defined Parameter 3
...
User Defined Parameter 9
User Defined Parameter 10
User Defined Parameter 11
...
User Defined Parameter 32
Note: Values are stored in non-volatile memory.
Type
UINT
...
UINT
UINT
...
UINT
UINT
...
UINT
UINT
...
UINT
Notes
Can also be accessed using Bus
Config parameters 7...10 & 15... 19
Additional output parameters.
Can also be accessed using Bus
Config parameters 11...14 & 20... 24
Additional input parameters.
ControlNet Object Implementation 3-16
ABSDP Configuration Object
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Set Attribute Single
Description
This object contains certain operational parameters for the module.
The class number for this object is specified in the development tool. Default is 92h.
Class Attributes
#
1
Access
Get
Name
Revision
Type
UINT
Value
0001h
Description
Revision of object
Instance Attributes (1)
#
Access
Name
Description
7
Get/Set
Idle Action
Value: Meaning:
0:
Freeze data (default)
1:
Clear FB Running flag
Source/Destination for
Attribute Value
UINT8 (internal, stored in non-volatile memory)
Type
ControlNet Object Implementation 3-17
ControlNet Object, Class F0h
Services
Class services:
Get Attribute Single
Instance services:
Get Attribute Single
Get and Clear
Class Attributes
#
1
2
Access
Get
Get
Name
Revision
Max instance
Type
UINT
UDINT
Value
0001h
0000 0001h
Description
Revision of object
Maximum Instance no.
Type
Struct of 34 bytes
Struct of 42 bytes
Struct of 6 bytes
Struct of 4 bytes
Struct of 10 bytes
Description
-
Instance Attributes (1)
#
81h
82h
83h
84h
86h
Access
Get
Get, Get and Clear
Get
Get
Get
Name
Current Link Config
Diagnostic counters
Station Status
Mac ID
Error log
Chapter 4
Implementation Details
Module Type
When using the parallel application interface, the module type can be extracted from address
7E0h...7E1h. The module type value for this product is 0102h (Anybus-S Drive Profile).
Application Driver Timeout Behaviour
In case of an Application Driver Timeout, the Host Comm Status LED will flash red, and a minor fault
will be indicated in the Identity Object.
Error Code Conversion
CPI error responses are converted to ControlNet standard as follows:
CPI Error Response Code
Command not supported (0x08)
Invalid parameter data error (0x09)
Parameter not settable (0x0E)
Device state conflict (0x10)
Not enough data (0x13)
Parameter not supported (0x14)
Too much data (0x15)
Store operation failure (0x19)
Too high parameter value (0xD0)
Too low parameter value (0xD1)
Vendor specific error (0x1F)
Communication error
Unsupported request
Parameter size mismatch
Non existing function
Any other error
Corresponding Response on ControlNet
Service not supported (0x08)
Invalid attribute error (0x09)
Attribute not settable (0x0E)
Device State Conflict (0x10)
Not enough data (0x13)
Attribute not supported (0x14)
Too much data (0x15)
Store operation failure (0x19)
Bad attribute data value (0x09)
Bad attribute data value (0x09)
Vendor specific error (0x1F)
Embedded service failed (0x1E)
Bad service (0x08)
Bad attribute data value (0x09)
Attribute not supported (0x14)
Embedded service failed (0x1E)
Appendix A
Connector Pinouts
Application Connector
(Consult the general Anybus-S Drive Profile Design Guide for more information)
ControlNet Connectors
Pin
Tip
Casing
Signal
ControlNet
Shield
Network Access Port (NAP)
Pin
1
2
3
4
5
6
7
8
Casing
Signal
GND_REF
NC
TX_H
TX_L
RX_L
RX_H
NC
GND_REF
PE
1
8
Appendix B
Mechanical Specification
PP
Appendix C
Technical Specification
Electrical Specification
Protective Earth (PE) Requirements
All Anybus-S/M modules features a cable shield filter designed according to each network standard. To
be able to support this, the application must provide a connection to PE (Protective Earth) as described
in the general Anybus-S Parallel Design Guide. HMS cannot guarantee proper EMC behaviour unless
this requirement is fulfilled.
Power Supply
Supply Voltage
The module requires a regulated 5V power supply as specified in the Anybus-S Parallel Design Guide.
Power Consumption
The maximum power consumption is 230mA on the bus interface, and 100mA on the module electronics (330mA in total).
Environmental Specification
•
Temperature
Test performed according to IEC-68-2-1 and IEC 68-2-2.
Operating:
Storage:
•
0 to 70°C
-25 to +85°C
(32 to 158°F)
(-13 to 185°F)
Humidity
The product is designed for a relative humidity of 5 to 95% non-condensing.
Test performed according to IEC 68-2-30.
EMC Compliance (CE)
The EMC pre-testing has been conducted according to the following standards:
•
Emission: EN 50 081-2:1993
Tested per
•
EN 55011:1990, class A, radiated
Immunity: EN 61000-6-2: 1999
Tested per
EN 61000-4-2:1995
EN 61000-4-3:1996
EN 61000-4-4:1995
EN 61000-4-5:1995
EN 61000-4-6:1996
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