Rockwell Automation DEVICENET 1771-SDN User manual

DeviceNet
Adapter
22-COMM-D
FRN 1.xxx
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. “Safety Guidelines for the Application, Installation
and Maintenance of Solid State Controls” (Publication SGI-1.1 available from
your local Rockwell Automation Sales Office or online at http://www.ab.com/
manuals/gi) describes some important differences between solid state equipment
and hard-wired electromechanical devices. Because of this difference, and also
because of the wide variety of uses for solid state equipment, all persons
responsible for applying this equipment must satisfy themselves that each intended
application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or
consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written
permission of Rockwell Automation, Inc. is prohibited.
Throughout this manual we use notes to make you aware of safety considerations.
!
ATTENTION: Identifies information about practices or circumstances
that can lead to personal injury or death, property damage, or economic
loss.
Attentions help you:
•
•
•
identify a hazard
avoid the hazard
recognize the consequences
Important: Identifies information that is especially important for successful
application and understanding of the product.
Shock Hazard labels may be located on or inside the drive to alert
people that dangerous voltage may be present.
Allen-Bradley, DriveExplorer, DriveTools 2000, PLC-5, PowerFlex, SCANport, and SLC are trademarks of Rockwell
Automation, Inc.
RSLinx, RSLogix, and RSNetWorx are trademarks of Rockwell Software.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
Windows, Windows CE, Windows NT, and Microsoft are either registered trademarks or trademarks of Microsoft Corporation.
Summary of Changes
This is the first release of the DeviceNet adapter FRN 1.xxx.
S-ii
Summary of Changes
Table of Contents
Preface
About This Manual
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . P-2
Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . P-2
Chapter 1
Getting Started
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2
Installing the Adapter
Preparing for an Installation. . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Adapter to the Network . . . . . . . . . . . . . . . .
Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . .
Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3
1-1
1-2
1-3
1-3
1-4
1-5
1-6
2-1
2-1
2-4
2-5
2-7
Configuring the Adapter
Configuration Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Using the PowerFlex 4-Class HIM . . . . . . . . . . . . . . . . . . . . 3-2
Using RSNetWorx for DeviceNet . . . . . . . . . . . . . . . . . . . . . 3-3
Setting the Node Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setting the Data Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setting the I/O Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Selecting COS, Cyclic, or Polled I/O. . . . . . . . . . . . . . . . . . . 3-8
Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Resetting the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Viewing the Adapter Configuration . . . . . . . . . . . . . . . . . . . 3-12
Chapter 4
Configuring the Scanner
Example Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting Up the Scan List. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mapping the Drive Data in the Scanner . . . . . . . . . . . . . . . . .
Saving the Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1
4-2
4-5
4-7
ii
Table of Contents
Chapter 5
Using I/O Messaging
About I/O Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . .
Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . .
Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . .
Example Ladder Logic Programs . . . . . . . . . . . . . . . . . . . . .
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6
5-1
5-2
5-2
5-3
5-3
5-4
5-7
5-9
Using Explicit Messaging
About Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Formatting Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Running Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
Chapter 7
Using Multi-Drive Mode
Single Mode vs. Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . 7-1
System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Configuring the RS-485 Network . . . . . . . . . . . . . . . . . . . . . 7-5
Multi-Drive Ladder Logic Program Example . . . . . . . . . . . . 7-6
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Multi-Drive Mode Explicit Messaging . . . . . . . . . . . . . . . . 7-20
Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
Chapter 8
Troubleshooting
Locating the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . .
PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Net A Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Diagnostic Items in Single Drive Mode . . . . . . . . . .
Module Diagnostic Items in Multi-Drive Mode . . . . . . . . . .
Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A
8-1
8-2
8-3
8-4
8-4
8-5
8-6
Specifications
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A-1
A-1
A-2
A-2
Table of Contents
Appendix B
iii
Adapter Parameters
About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Appendix C
DeviceNet Objects
Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Connection Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Register Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
Parameter Group Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11
PCCC Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13
Appendix D
Logic Command/Status Words
PowerFlex 4 and PowerFlex 40 Drives . . . . . . . . . . . . . . . . D-1
Glossary
Index
iv
Table of Contents
Preface
About This Manual
Topic
Related Documentation
Conventions Used in this Manual
Rockwell Automation Support
Page
P-1
P-2
P-2
Related Documentation
For:
DeviceNet™ Cables
and Components
DeviceNet Network
Installation
DeviceNet Networks
DriveExplorer™
DriveTools 2000™
HIM
Logix 5550
PowerFlex™ 4
Drive
PowerFlex™ 40
Drive
RSLinx™
RSLogix™ 5
RSLogix 500
RSLogix 5000
RSNetWorx™ for
DeviceNet
SLC 500™ and
1747-SDN
PLC-5™ and
1771-SDN
Refer to:
DeviceNet Product Overview
Publication
DN-2.5
DeviceNet Cable System Planning and Installation
Manual
DeviceNet Starter Kit
DriveExplorer Getting Results Manual
Online help (installed with the software)
DriveTools 2000 Online Help
HIM Quick Reference
ControlLogix DeviceNet Scanner Installation Instructions
PowerFlex 4 User Manual
PowerFlex 4 Quick Start
PowerFlex 40 User Manual
PowerFlex 40 Quick Start
Getting Results with RSLinx
Online help (installed with the software)
RSLogix 5 Getting Results Guide
Online help (installed with the software)
RSLogix 500 Getting Results Guide
Online help (installed with the software)
RSLogix 5000 Getting Results Guide
Online help (installed with the software)
RSNetWorx for DeviceNet Getting Results Guide
Online help (installed with the software)
DeviceNet Scanner Module Installation Instructions
DeviceNet Scanner Module Configuration Manual
DeviceNet Scanner Module Installation Instructions
DeviceNet Scanner Module Configuration Manual
DN-6.7.2
DN-6.5.16
9306-5.2
–
22HIM-QR001…
1756-5.66
22A-UM001…
22A-QS001…
22B-UM001…
22B-QS001…
9399-WAB32GR
9399-RL53GR
9399-RL50GR
9399-RLD300GR
9398-DNETGR
1747-5.8
1747-6.5.2
1747-5.14
1771-6.5.118
Documentation can be obtained online at http://www.ab.com/manuals.
P-2
About This Manual
Conventions Used in this Manual
The following conventions are used throughout this manual:
•
Parameter names are shown in the following format Parameter
xx - [*]. The xx represents the parameter number. The * represents
the parameter name. For example Parameter 01 - [Mode].
•
Menu commands are shown in bold type face and follow the format
Menu > Command. For example, if you read “Select File > Open,”
you should click the File menu and then click the Open command.
•
RSNetWorx for DeviceNet (version 4.01), RSLinx (version 2.40),
and RSLogix5000 (version 11) were used for the screen shots in this
manual. Different versions of the software may differ in appearance
and procedures.
•
The firmware release is displayed as FRN X.xxx. The “FRN”
signifies Firmware Release Number. The “X” is the major release
number. The “xxx” is the minor update number. This manual is for
Firmware release 1.xxx.
•
This manual provides information about the DeviceNet adapter and
using it with PowerFlex 40 drives. The adapter can be used with other
products that support an internal DSI adapter. Refer to the
documentation for your product for specific information about how it
works with the adapter.
Rockwell Automation Support
Rockwell Automation, Inc. offers support services worldwide, with over
75 sales/support offices, over 500 authorized distributors, and over 250
authorized systems integrators located through the United States alone.
In addition, Rockwell Automation, Inc. representatives are in every
major country in the world.
Local Product Support
Contact your local Rockwell Automation, Inc. representative for sales
and order support, product technical training, warranty support, and
support service agreements.
Technical Product Assistance
If you need to contact Rockwell Automation, Inc. for technical assistance,
please review the information in Chapter 8, Troubleshooting first. If you
still have problems, then call your local Rockwell Automation, Inc.
representative.
Chapter 1
Getting Started
The 22-COMM-D DeviceNet adapter is a communication option
intended for installation into a PowerFlex 40 drive. It can also be used
with other Allen-Bradley products that support an internal DSI adapter.
The Multi-Drive feature (Chapter 7) also provides a means for
PowerFlex 4 drives and other DSI Hosts to connect to DeviceNet.
Topic
Components
Features
Compatible Products
Required Equipment
Page
1-1
1-2
1-3
1-3
Topic
Safety Precautions
Quick Start
Modes of Operation
Page
1-4
1-5
1-6
Components
Figure 1.1 Components of the Adapter
➊
➎
➋
➍
➌
Item
➊
➋
➌
➍
➎
Part
Status
Indicators
DSI Connector
DeviceNet
Connector
Node Address/
Rate Switches
Mode Jumper
(J2)
Description
Three LEDs that indicate the status of the connected drive,
adapter, and network. Refer to Chapter 8, Troubleshooting.
A 20-pin, single-row shrouded male header. An Internal
Interface cable is connected to this connector and a connector
on the drive.
A 5-pin connector to which a 5-pin linear plug can be connected.
Switches for setting the node address and network data rate.
Refer to Chapter 2, Installing the Adapter.
Selects Single or Multi-Drive mode of operation. Refer to
Chapter 2, Installing the Adapter.
1-2
Getting Started
Features
The DeviceNet adapter features the following:
•
The adapter is mounted in the PowerFlex 40 drive. It receives the
required power from the drive and from the DeviceNet network.
•
Switches let you set a node address and network data rate before
applying power to the PowerFlex drive. Alternately, you can disable
the switches and use parameters to configure these functions.
•
A jumper lets you select between Single or Multi-Drive mode of
operation. In Single mode, the adapter represents a single drive on
one node. In Multi-Drive mode, the adapter represents up to 5 drives
on one node.
•
A number of configuration tools can be used to configure the adapter
and connected drive. The tools include an external PowerFlex
4-Class HIM (22-HIM-*), network software such as RSNetWorx for
DeviceNet, or drive-configuration software such as DriveExplorer
(version 3.01 or higher) or DriveTools 2000 (version 1.01 or higher).
•
Status indicators report the status of the drive communications,
adapter, and network.
•
I/O, including Logic Command/Reference, may be configured for
your application using a parameter.
•
Explicit and UCMM (Unconnected Message Manager) Messages are
supported.
•
Multiple data exchange methods, including Polled, Cyclic, and
Change of State (COS), can be used to transmit data between the
network and adapter.
•
User-defined fault actions determine how the adapter and PowerFlex
drive respond to communication disruptions on the network and
controllers in idle mode.
•
Faulted node recovery is supported. You can configure a device even
when it is faulted on the network if you have a configuration tool that
uses faulted node recovery and have properly set the adapter node
address switches and data rate switches.
Getting Started
Compatible Products
The DeviceNet adapter is compatible with Allen-Bradley PowerFlex
drives and other products that support an internal DSI adapter. At the
time of publication, compatible products include:
•
PowerFlex 40 drives
The Multi-Drive feature (Chapter 7) also provides a means for
PowerFlex 4 drives and other DSI Hosts to connect to DeviceNet.
Required Equipment
Equipment Shipped with the Adapter
When you unpack the adapter, verify that the package includes:
❑ One DeviceNet adapter
❑ One five-pin linear DeviceNet plug
(connected to the DeviceNet connector on the adapter)
❑ A 15.24 cm (6 in.) Internal Interface Cable
❑ One grounding wrist strap
❑ This manual
User-Supplied Equipment
To install and configure the DeviceNet adapter, you must supply:
❑ A small flathead screwdriver
❑ DeviceNet cable
– Thin cable with an outside diameter of 6.9 mm (0.27 in.) is
recommended
❑ Configuration tool, such as:
– PowerFlex 4-Class HIM (22-HIM-*)
– DriveExplorer (version 3.01 or higher)
– DriveTools 2000 (version 1.01 or higher)
– RSNetWorx for DeviceNet
– Serial Converter (22-SCM-232)
❑ Computer with a DeviceNet communications adapter installed
(Examples: 1784-PCD, 1784-PCID, 1784-PCIDS, or 1770-KFD)
❑ Controller configuration software
(Examples: RSLogix5, RSLogix500, or RSLogix 5000)
1-3
1-4
Getting Started
Safety Precautions
Please read the following safety precautions carefully:
!
!
!
!
!
!
ATTENTION: Risk of injury or death exists. The PowerFlex drive
may contain high voltages that can cause injury or death. Remove all
power from the PowerFlex drive, and then verify power has been
removed before installing or removing an adapter.
ATTENTION: Risk of injury or equipment damage exists. Only
personnel familiar with drive and power products and the associated
machinery should plan or implement the installation, start-up,
configuration, and subsequent maintenance of the product using a
DeviceNet adapter. Failure to comply may result in injury and/or
equipment damage.
ATTENTION: Risk of injury or equipment damage exists. If the
DeviceNet adapter is transmitting control I/O to the drive, the drive may
fault when you reset the adapter. Determine how your drive will
respond before resetting an adapter.
ATTENTION: Risk of injury or equipment damage exists.
Parameters 7 - [Comm Flt Action] and 8 - [Idle Flt Action] let you
determine the action of the adapter and connected PowerFlex drive if
communications are disrupted. By default, these parameters fault the
PowerFlex drive. You can set these parameters so that the PowerFlex
drive continues to run. Precautions should be taken to ensure that the
settings of these parameters do not create a hazard of injury or
equipment damage.
ATTENTION: Hazard of injury or equipment damage exists. When a
system is configured for the first time, there may be unintended or
incorrect machine motion. Disconnect the motor from the machine or
process during initial system testing.
ATTENTION: Hazard of injury or equipment damage exists. The
examples in this publication are intended solely for purposes of
example. There are many variables and requirements with any
application. Rockwell Automation, Inc. does not assume responsibility
or liability (to include intellectual property liability) for actual use of
the examples shown in this publication.
Getting Started
1-5
Quick Start
This section is designed to help experienced users start using the
DeviceNet adapter. If you are unsure how to complete a step, refer to the
referenced chapter.
Step
1 Review the safety precautions for the adapter.
2
Verify that the PowerFlex drive is properly installed.
3
Commission the adapter.
Set a unique node address and the appropriate data rate using
the switches on the adapter. If desired, you can disable the
switches and use parameter settings instead.
Install the adapter.
Verify that the PowerFlex drive and DeviceNet network are not
powered. Then, connect the adapter to the network using a
DeviceNet cable and to the drive using the Internal Interface
cable. Use the captive screws to secure and ground the adapter
to the drive.
Apply power to the adapter.
The adapter receives power from the drive and network. Apply
power to the network and to the drive. The status indicators
should be green. If they flash red, there is a problem. Refer to
Chapter 8, Troubleshooting.
Configure the adapter for your application.
Set the following parameters for the adapter as required by your
application:
• Node address and data rate.
• I/O configuration.
• Change of State, Cyclic, or polled I/O data exchange.
• Fault actions.
Apply power to the DeviceNet master and other devices on
the network.
Verify that the master and network are installed and functioning in
accordance with DeviceNet standards, and then apply power to
them.
Configure the scanner to communicate with the adapter.
Use a network tool such as RSNetWorx for DeviceNet to
configure the scanner on the network. Make sure to:
• Set up the scan list.
• Map the adapter data to the scan list.
• Save your DeviceNet configuration to the scanner and a file.
Create a ladder logic program.
Use a programming tool such as RSLogix to create a ladder logic
program that enables you to do the following:
• Control the adapter and connected drive.
• Monitor or configure the drive using Explicit Messages.
4
5
6
7
8
9
Refer to
Throughout This
Manual
Drive User
Manual
Chapter 2,
Installing the
Adapter
Chapter 3,
Configuring the
Adapter
DeviceNet
Cable System
Planning and
Installation
Manual
Chapter 4,
Configuring the
Scanner
Chapter 5,
Using I/O
Messaging
Chapter 6,
Using Explicit
Messaging
1-6
Getting Started
Modes of Operation
The adapter uses three status indicators to report its operating status.
They can be viewed through the drive cover. See Figure 1.2.
Figure 1.2 Status Indicators (location on drive may vary)
➊
➋
➌
➊
➋
➌
➍
Item Status
Indicator
➊ PORT
Status(1)
Description
Green
Normal Operation. The adapter is properly connected and
is communicating with the drive.
The adapter is in the process of establishing a connection
to the drive. This status indicator will turn solid green or
red.
Normal Operation. The adapter is operational and is
transferring I/O data.
Normal Operation. The adapter is operational but is not
transferring I/O data.
Normal Operation. The adapter is properly connected and
communicating on the network.
The adapter is properly connected but is not
communicating with any devices on the network.
Not used for DeviceNet.
Flashing
Green
➋
➌
➍
(1)
MOD
Green
NET A
Flashing
Green
Green
NET B
Flashing
Green
Off
If all status indicators are off, the adapter is not receiving power. Refer to Chapter 2,
Installing the Adapter, for instructions on installing the adapter. If any other conditions
occur, refer to Chapter 8, Troubleshooting.
Chapter 2
Installing the Adapter
Chapter 2 provides instructions for installing the adapter in a
PowerFlex 40 drive.
Topic
Preparing for an Installation
Commissioning the Adapter
Connecting the Adapter to the Network
Connecting the Adapter to the Drive
Applying Power
Page
2-1
2-1
2-4
2-5
2-7
Preparing for an Installation
Before installing the DeviceNet adapter:
•
•
Read the DeviceNet Product Overview Manual, Publication DN-2.5,
and the DeviceNet Cable System Planning and Installation Manual,
Publication DN-6.7.2. These manuals will provide information on
selecting cables, setting up a network, and network basics.
Verify that you have all required equipment. Refer to Chapter 1,
Getting Started.
Commissioning the Adapter
To commission the adapter, you must set a unique node address and the
data rate that is used by the network. (Refer to the Glossary for details
about data rates and node addresses.)
Important: New settings are recognized only when power is applied to
the adapter. If you change a setting, cycle power.
!
ATTENTION: Risk of equipment damage exists. The DeviceNet
adapter contains ESD (Electrostatic Discharge) sensitive parts that can
be damaged if you do not follow ESD control procedures. Static control
precautions are required when handling the adapter. If you are
unfamiliar with static control procedures, refer to Guarding Against
Electrostatic Damage, Publication 8000-4.5.2.
2-2
Installing the Adapter
1. Set the adapter node address and data rate switches (see Figure 2.1,
Figure 2.2, and Figure 2.3).
Figure 2.1 Setting Node Address/Data Rate Switches and Single/Multi-Drive
Operation Jumper
J2
J2
Single Drive
Operation
Multi-Drive
Operation
NODE
RATE
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
UP = OPEN = 1
Switches
SW 1
SW 2
SW 3
SW 4
SW 5
SW 6
SW 7
SW 8
Description
Default
Least Significant Bit (LSB) of Node Address 1
Bit 1 of Node Address
1
Bit 2 of Node Address
1
Node 63
Bit 3 of Node Address
1
Bit 4 of Node Address
1
Most Significant Bit (MSB) of Node Address 1
Least Significant Bit (LSB) of Data Rate
1
Autobaud
Most Significant Bit (MSB) of Data Rate
1
Figure 2.2 Node Address Switch Settings (UP = OPEN = 1)
Switch Setting
Node
Switch Setting
Node
SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address
0
0
0
0
0
0
0
1
0
1
1
0
0
13
1
0
0
0
0
0
1
0
1
1
1
0
0
14
0
1
0
0
0
0
2
1
1
1
1
0
0
15
1
1
0
0
0
0
3
0
0
0
0
1
0
16
0
0
1
0
0
0
4
1
0
0
0
1
0
17
1
0
1
0
0
0
5
0
1
0
0
1
0
18
0
1
1
0
0
0
6
1
1
0
0
1
0
19
1
1
1
0
0
0
7
0
0
1
0
1
0
20
0
0
0
1
0
0
8
1
0
1
0
1
0
21
1
0
0
1
0
0
9
0
1
1
0
1
0
22
0
1
0
1
0
0
10
1
1
1
0
1
0
23
1
1
0
1
0
0
11
0
0
0
1
1
0
24
0
0
1
1
0
0
12
1
0
0
1
1
0
25
Installing the Adapter
2-3
Figure 2.2 Node Address Switch Settings (UP = OPEN = 1) (Continued)
Switch Setting
Node
Switch Setting
Node
SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address
0
1
0
1
1
0
26
1
0
1
1
0
1
45
1
1
0
1
1
0
27
0
1
1
1
0
1
46
0
0
1
1
1
0
28
1
1
1
1
0
1
47
1
0
1
1
1
0
29
0
0
0
0
1
1
48
0
1
1
1
1
0
30
1
0
0
0
1
1
49
1
1
1
1
1
0
31
0
1
0
0
1
1
50
0
0
0
0
0
1
32
1
1
0
0
1
1
51
1
0
0
0
0
1
33
0
0
1
0
1
1
52
0
1
0
0
0
1
34
1
0
1
0
1
1
53
1
1
0
0
0
1
35
0
1
1
0
1
1
54
0
0
1
0
0
1
36
1
1
1
0
1
1
55
1
0
1
0
0
1
37
0
0
0
1
1
1
56
0
1
1
0
0
1
38
1
0
0
1
1
1
57
1
1
1
0
0
1
39
0
1
0
1
1
1
58
0
0
0
1
0
1
40
1
1
0
1
1
1
59
1
0
0
1
0
1
41
0
0
1
1
1
1
60
0
1
0
1
0
1
42
1
0
1
1
1
1
61
1
1
0
1
0
1
43
0
1
1
1
1
1
62
0
0
1
1
0
1
44
1
1
1
1
1
1
63
Figure 2.3 Data Rate Switch Settings (UP = OPEN = 1)
Switch Setting
SW 7 SW 8
0
0
1
0
0
1
1
1
Data
Rate
125 kbps
250 kbps
500 kbps
Autobaud
If all switches are in the CLOSED position (all 0’s), then the Node
Address and Data Rate are determined by parameter settings
(Parameter 02 - [DN Addr Cfg] and Parameter 04 - [DN Rate Cfg]).
2. Set the adapter mode jumper for Single or Multi-Drive operation (see
Figure 2.1 and these setting descriptions).
Jumper Setting Description
Right position or Sets the adapter for Single drive mode (default setting) using a
jumper missing single drive connection.
Left position
Important: In this mode, connections to multiple drives
must be removed since all powered and connected hosts
will respond to any message sent by the adapter.
Sets the adapter for Multi-Drive operation mode using up to 5
different drives. DSI peripherals do not operate with the adapter in
this mode.
2-4
Installing the Adapter
Connecting the Adapter to the Network
!
ATTENTION: Risk of injury or death exists. The PowerFlex drive
may contain high voltages that can cause injury or death. Remove all
power from the PowerFlex drive, and then verify power has been
removed before installing or removing an adapter.
1. Remove power from the drive.
2. Use static control precautions.
3. Remove the drive cover.
4. Connect a DeviceNet cable to the network, and route it through the
bottom of the PowerFlex drive. DeviceNet Thin cable with an outside
diameter of 6.9 mm (0.27 in.) is recommended. (See Figure 2.6.)
Important: Maximum cable length depends on data rate. Refer to
the Glossary, Data Rate.
5. Connect a 5-pin linear plug to the DeviceNet cable.
A 10-pin linear plug is not supported. A 5-pin linear plug is shipped
with the adapter.
Figure 2.4 Connecting a 5-Pin Linear Plug to the Cable
5
4
3
2
1
Red
White
Bare
Blue
Black
Terminal
5
4
3
2
1
Color
Red
White
Bare
Blue
Black
Signal
V+
CAN_H
SHIELD
CAN_L
V–
Function
Power Supply
Signal High
Shield
Signal Low
Common
6. Insert the DeviceNet cable plug into the mating adapter receptacle,
and secure it with the two screws. (See Figure 2.5, item 2.) Verify
that the colors of the wires on the plug match up with the color codes
on the receptacle.
Installing the Adapter
2-5
Connecting the Adapter to the Drive
1. Remove power from the drive.
2. Use static control precautions.
3. Mount the adapter on the cover, using the screw on the adapter to
secure it in place.
Important: Tighten the screw in the lower left hole to ground the
adapter (see Figure 2.6).
4. Connect the Internal Interface cable to the DSI port on the drive and
then to the mating DSI connector on the adapter.
Figure 2.5 DSI Ports and Internal Interface Cables
DeviceNet Adapter
➊
➋
PowerFlex 40 Drive
B and C Frames
(cover removed)
➌
Back of Cover
#
➊
➋
➌
Description
DSI Connector
15.24 cm (6 in.) Internal Interface cable
DeviceNet cable
2-6
Installing the Adapter
Figure 2.6 Mounting the Adapter
Adapter Mounted
on Back of Cover
PowerFlex 40 Drive
B and C Frames
(cover removed)
Installing the Adapter
2-7
Applying Power
!
ATTENTION: Risk of equipment damage, injury, or death exists.
Unpredictable operation may occur if you fail to verify that parameter
settings and switch settings are compatible with your application.
Verify that settings are compatible with your application before
applying power to the drive.
1. Reinstall the cover on the drive. The status indicators can be viewed
on the front of the drive after power has been applied.
2. Ensure that the adapter will have a unique address on the network
and is set at the correct data rate or to autobaud. If a new data rate or
address is needed, reset its switches (refer to Commissioning the
Adapter in this chapter).
3. Apply power to the PowerFlex drive. The adapter receives its power
from the connected drive and network. When you apply power to the
product and network for the first time, the status indicators should be
green after an initialization. If the status indicators go red, there is a
problem. Refer to Chapter 8, Troubleshooting.
4. If the software settings for the data rate and node address are to be
used, a configuration tool such as DriveExplorer can be used to
adjust the respective parameters in the adapter.
2-8
Notes:
Installing the Adapter
Chapter 3
Configuring the Adapter
Chapter 3 provides instructions and information for setting the
parameters in the adapter.
Topic
Configuration Tools
Using the PowerFlex 4-Class HIM
Using RSNetWorx for DeviceNet
Setting the Node Address
Setting the Data Rate
Page
3-1
3-2
3-3
3-7
3-7
Topic
Setting the I/O Configuration
Selecting COS, Cyclic, or Polled I/O
Setting a Fault Action
Resetting the Adapter
Viewing the Adapter Configuration
Page
3-8
3-8
3-10
3-11
3-12
For a list of parameters, refer to Appendix B, Adapter Parameters. For
definitions of terms in this chapter, refer to the Glossary.
Configuration Tools
The DeviceNet adapter stores parameters and other information in its
own non-volatile memory. You must, therefore, access the adapter to
view and edit its parameters. The following tools can be used to access
the adapter parameters:
Tool
DriveExplorer Software
(version 3.01 or higher)
DriveTools 2000 Software
(version 1.01 or higher)
PowerFlex 4-Class HIM (22-HIM-*)
RSNetWorx for DeviceNet Software
Refer To:
DriveExplorer Getting Results Manual,
Publication 9306-5.3, or the online help
DriveTools 2000 Online Help
page 3-2
page 3-3
RSNetWorx for DeviceNet (version 4.01) and RSLinx (version 2.40)
were used for examples in this manual. Different versions of software
may differ in appearance and procedures.
TIP: Explicit Messaging can also be used to configure an adapter and
drive. Refer to Chapter 6, Using Explicit Messaging.
3-2
Configuring the Adapter
Using the PowerFlex 4-Class HIM
The PowerFlex 4-Class HIM (Human Interface Module) can be used to
access parameters in the adapter (see basic steps shown below). It is
recommended that you read through the steps for your HIM before
performing the sequence. For additional HIM information, refer to your
HIM Quick Reference card.
Using the HIM
Step
1. Power up the drive.
Then plug the HIM
into the drive. The
Parameters menu
for the drive will be
displayed.
Key(s)
Example Screens
Parameters
Groups
Linear List
Changed Params
DIAG
2.
Press Sel key once
to display the
Device Select
menu.
4.
Press Enter to
display the DSI
Devices menu.
Press Down Arrow
to scroll to
22-COMM-D.
Press Enter to select
the DeviceNet
adapter. The
Parameters menu
for the adapter will
be displayed.
Press Enter to
access the
parameters. Edit the
adapter parameters
using the same
techniques that you
use to edit drive
parameters.
MEM
SEL !
DSEL
MEM
SEL !
MEM
SEL !
DSI Devices
and
PARAM
DSI Devices
PowerFlex 40
22-COMM-D
Parameters
Linear List
Changed Params
DIAG
5.
DSEL
Device Selected
Sel
DIAG
3.
PARAM
PARAM
DSEL
Mode
RO
Parameter:
#
001
Single Drive 0
VALUE
LIMITS
SEL !
Configuring the Adapter
3-3
Using RSNetWorx for DeviceNet
RSNetWorx for DeviceNet is a Rockwell Software application that can
be used to set up DeviceNet networks and configure connected devices.
To set up RSLinx for RSNetWorx for DeviceNet
To use RSNetWorx for DeviceNet, you must first set up a driver in
RSLinx. The driver provides a communications link between the
computer and DeviceNet network.
Step
1. Start RSLinx, and select Communications > Configure
Drivers to display the Configure Drivers dialog box.
2.
In the Available Driver Types box, select DeviceNet
Drivers, and then click Add New. The DeviceNet Driver
Selection dialog box appears.
3.
In the Available DeviceNet Drivers list, select the adapter
connected to your computer, and then click Select. A Driver
Configuration dialog box appears.
4.
Configure the driver for your computer and network
settings, and then click OK. The Configure Drivers dialog
box reports the progress of the configuration. Then, the
Add New RSLinx Driver dialog box appears.
5.
Type a name (if desired), and then click OK. The Configure
Drivers dialog box reappears, and the new driver is in the
Configured Drivers List (Figure 3.1).
6.
Click Close to close the dialog box. Leave RSLinx running.
Icons
Figure 3.1 Configure Drivers Dialog Box with a Configured Driver
Shortcut to
RSLinx
3-4
Configuring the Adapter
To go online with RSNetWorx for DeviceNet
You can view the devices on a DeviceNet network by going online. A
device may appear as an unrecognized device if RSNetWorx for
DeviceNet does not have an EDS file for it.
Step
1. After setting up a driver in RSLinx, start RSNetWorx for
DeviceNet.
2.
Select Network > Online. If the Browse for Network dialog
box appears, RSLinx has multiple drivers configured.
Select your DeviceNet network, and click OK. A prompt
appears.
3.
RSNetWorx browses the network and any devices on the
network appear in the Configuration View. You can select
Graph, Spreadsheet, or Master/Slave views. Figure 3.2
shows an example network in a Graph view.
Figure 3.2 Example DeviceNet Network
Icons
Shortcut to
RSNetWorx
Configuring the Adapter
3-5
To create an EDS file
If the adapter and drive appear as an unrecognized device, create an EDS
file for it.
Step
1. Right-click the “Unrecognized Device” icon, and select
Register Device in the menu. The EDS Wizard (Figure
3.3) appears.
2.
Click Next to display the next step.
3.
Select Upload EDS, and then click Next.
4.
Type a description (if desired), and then click Next.
5.
Under Polled, select Enabled, type 4 in the Input Size and
Output Size boxes, and then click Next. RSNetWorx will
upload the EDS file from the drive and adapter.
6.
Click Next to display the icon options for the node. We
recommend that you use the icon for your product. You can
change icons by clicking Change icon.
7.
Click Next to view a summary, and then click Next again to
accept it.
8.
Click Finish to finish the EDS creation. A new icon
represents the PowerFlex drive and adapter in the
Configuration View.
Figure 3.3 EDS Wizard
Icons
3-6
Configuring the Adapter
To access and edit parameters
Parameters in the drive and adapter can be edited with RSNetWorx. The
adapter parameters are appended to the list of drive parameters.
Step
1. After creating an EDS file, right-click on the icon for the
PowerFlex drive and adapter and select Properties. The
PowerFlex Drive dialog box appears.
2.
Click the Parameters tab (Figure 3.4). If an EDS Editor
message appears, click Upload to load the parameter
values in the drive to the computer.
Parameters are displayed in numerical order. You can
either scroll through the list or select a specific group of
parameters in the Groups box. The available groups and
the numbers of the adapter parameters will vary based on
the type of drive that is connected to the adapter.
3.
In the Current Value column, double-click a value to edit it.
4.
Click Apply to save changes to the device.
Figure 3.4 Example PowerFlex Drive Dialog Box
Icons
Configuring the Adapter
3-7
Setting the Node Address
The value of Parameter 02 - [DN Addr Cfg] determines the node
address if all of the adapter DIP switches are in the CLOSED position
(all 0’s). We recommend that you do not use node address 63 because all
new devices use it as the default address. Address 63 is also used for
Automatic Device Recovery (ADR).
1. Set the value of Parameter 02 - [DN Addr Cfg] to a unique node
address.
Figure 3.5 DeviceNet Node Address Screen on PowerFlex 4-Class HIM (22-HIM-*)
DN Addr Cfg
Default = 63
Parameter:
002
#
63
VALUE
SEL !
LIMITS
2. Reset the adapter. Refer to Resetting the Adapter section in this chapter.
TIP: If you are using RSNetWorx for DeviceNet, select Network >
Single Browse Path to see the new address; then delete the old address.
Setting the Data Rate
The value of Parameter 04 - [DN Rate Cfg] determines the DeviceNet
data rate if all of the adapter DIP switches are in the CLOSED position
(all 0’s). The Autobaud setting will detect the data rate used on the
network if another device is setting the data rate. Your application may
require a different setting.
1. Set the value of Parameter 04 - [DN Rate Cfg] to the data rate at
which your network is operating.
Figure 3.6 DeviceNet Data Rate Screen on PowerFlex 4-Class HIM (22-HIM-*)
DN Rate Cfg
Value Baud Rate
Parameter:
#
Autobaud
VALUE
LIMITS
004
3
SEL !
0
1
2
3
125 kbps
250 kbps
500 kbps
Autobaud (Default)
2. Reset the adapter. Refer to Resetting the Adapter section in this chapter.
3-8
Configuring the Adapter
Setting the I/O Configuration
The I/O configuration determines the number of drives that will be
represented on the network as one node by the adapter. If the Mode
Jumper is set to the Single mode position, only one drive is represented
by the adapter and Parameter 15 - [DSI I/O Cfg] has no effect. If the
Mode Jumper is set to the Multi-Drive position, up to five drives can be
represented as one node by the adapter.
1. Set the value in Parameter 15 - [DSI I/O Cfg]:
Figure 3.7 I/O Configuration Screen on PowerFlex 4-Class HIM (22-HIM-*)
DSI I/O Cfg
Mode Jumper Position
Value Description
015
Parameter:
#
Single Multi-Drive
0
Drive 0 (Default) ✓
✓
Drive 0
0
1
Drives 0-1
✓
2
Drives
0-2
✓
VALUE LIMITS
SEL !
3
Drives 0-3
✓
4
Drives 0-4
✓
Drive 0 is the PowerFlex 40 with the 22-COMM-D adapter installed.
Drive 1 through 4 are PowerFlex 4 and/or 40 drives that multi-drop
to the RJ45 (RS-485) port on Drive 0. Refer to Chapter 7, Using
Multi-Drive Mode for more information.
2. If a drive is enabled, configure the parameters in the drive to accept
the Logic Command and Reference from the adapter. For example,
set Parameters 36 - [Start Source] and 38 - [Speed Reference] in a
PowerFlex 40 drive to “DSI Port 5.”
3. Reset the adapter. Refer to Resetting the Adapter section in this chapter.
Selecting COS, Cyclic, or Polled I/O
The data exchange (sometimes called allocation) is the method that the
adapter uses to exchange data on the DeviceNet network. The adapter
can be configured to use one of the following data exchanges:
•
•
•
COS (Change of State)
Cyclic
Polled
•
•
Polled and COS
Polled and Cyclic
If “Polled and COS” or “Polled and Cyclic” is used, the adapter receives
the I/O from the polled messages. It transmits its Logic Status and
Feedback in COS or Cyclic messages. Other data is transmitted in Polled
messages.
Configuring the Adapter
3-9
Cyclic and Polled data exchanges are configured in the scanner, so you
only need to set the I/O configuration in the adapter. COS data exchange
must be configured in both the adapter and the scanner. You need to set
the I/O configuration and COS parameters in the adapter.
To use COS (Change of State) data exchange
1. Set the bits in the Logic Status word that should be checked for
changes in Parameter 12 - [COS Status Mask]. The bit definitions
for the Status Mask will depend on the drive to which you are
connected. Refer to its documentation.
Figure 3.8 COS Status Mask Configuration Screen on
PowerFlex 4-Class HIM (22-HIM-*)
COS Status Mask
Value Description
Parameter:
#
012
0
VALUE
0
1
Ignore this logic bit. (Default)
Check this logic bit.
SEL !
LIMITS
2. Set the amount of change to the Feedback that is required to trigger a
Change of State message in Parameter 13 - [COS Fdbk Change].
Figure 3.9 COS Fdbk Change Configuration Screen on
PowerFlex 4-Class HIM (22-HIM-*)
COS Fdbk Change
Parameter:
#
013
0
VALUE
LIMITS
SEL !
The adapter is now configured for COS data exchange. You must
configure the scanner to allocate it using COS (Chapter 4, Configuring
the Scanner).
3-10
Configuring the Adapter
Setting a Fault Action
By default, when communications are disrupted (for example, a cable is
disconnected) or the scanner is idle, the drive responds by faulting if it is
using I/O from the network. You can configure a different response to
communication disruptions using Parameter 07 - [Comm Flt Action]
and a different response to an idle scanner using Parameter 08 - [Idle
Flt Action].
!
ATTENTION: Risk of injury or equipment damage exists. Parameters
07 - [Comm Flt Action] and 08 - [Idle Flt Action] let you determine the
action of the adapter and connected drive if communications are
disrupted or the scanner is idle. By default, these parameters fault the
drive. You can set these parameters so that the drive continues to run.
Precautions should be taken to ensure that the settings of these
parameters do not create a hazard of injury or equipment damage.
To change the fault action
•
Set the values of Parameters 07 - [Comm Flt Action] and 08 - [Idle
Flt Action] to the desired responses:
Value
0
1
2
Action
Fault (default)
Stop
Zero Data
3
Hold Last
4
Send Fault Cfg
Description
The drive is faulted and stopped. (Default)
The drive is stopped, but not faulted.
The drive is sent 0 for output data after a
communications disruption. This does not
command a stop.
The drive continues in its present state after a
communications disruption.
The drive is sent the data that you set in the fault
configuration parameters (Parameters 10 - [Flt
Config Logic] and 11 - [Flt Config Ref]).
Figure 3.10 Fault Action Screens on PowerFlex 4-Class HIM (22-HIM-*)
Comm Flt Action
Idle Flt Action
Parameter:
#
Fault
VALUE
LIMITS
007
Parameter:
0
#
Fault
SEL !
VALUE
LIMITS
008
0
SEL !
Changes to these parameters take effect immediately. A reset is not
required.
If Multi-Drive mode is used, the same fault action is used by the adapter
for all of the drives it controls (Drive 0 - Drive 4).
Configuring the Adapter
3-11
To set the fault configuration parameters
If you set Parameter 07 - [Comm Flt Action] or 08 - [Idle Flt Action]
to the “Send Flt Cfg,” the values in the following parameters are sent to
the drive after a communications fault and/or idle fault occurs. You must
set these parameters to values required by your application.
Parameter
10
11
Name
Flt Cfg Logic
Flt Cfg Ref
Description
A 16-bit value sent to the drive for Logic Command.
A 16-bit value (0 – 65535) sent to the drive as a
Reference.
Changes to these parameters take effect immediately. A reset is not
required.
Resetting the Adapter
Changes to switch settings on some adapter parameters require that you
reset the adapter before the new settings take effect. You can reset the
adapter by cycling power to the drive or by using the following
parameter:
!
ATTENTION: Risk of injury or equipment damage exists. If the
adapter is transmitting control I/O to the drive, the drive may fault when
you reset the adapter. Determine how your drive will respond before
resetting a connected adapter.
•
Set the Parameter 06 - [Reset Module] to Reset Module:
Figure 3.11 Reset Screen on PowerFlex 4-Class HIM (22-HIM-*)
Reset Module
Parameter:
#
Ready
VALUE
LIMITS
006
0
Value
0
1
2
Description
Ready (Default)
Reset Module
Set Defaults
SEL !
When you enter 1 = Reset Module, the adapter will be immediately
reset. When you enter 2 = Set Defaults, the adapter will set all adapter
parameters to their factory-default settings. The value of this parameter
will be restored to 0 = Ready after the adapter is reset.
3-12
Configuring the Adapter
Viewing the Adapter Configuration
The following parameters provide information about how the adapter is
configured. You can view these parameters at any time.
Number
01
Name
Mode
03
DN Addr
Actual
05
DN Rate
Actual
09
DN Active
Config
16
DSI I/O
Actual
Description
The mode in which the adapter is set
(0 = Single drive operation, or 2 = Multi-Drive operation).
The node address used by the adapter. This will be one of the
following values:
• The address set by the adapter DIP switches 1 through 6.
• The value of Parameter 02 - [DN Addr Config] if the
switches have been disabled.
• An old address of the switches or parameter if they have
been changed and the adapter has not been reset.
The data rate used by the adapter. This will be one of the
following values:
• The data rate set by the adapter DIP switches 7 and 8.
• The value of Parameter 04 - [DN Rate Config] if the
switches have been disabled.
• An old data rate of the switches or parameter if they have
been changed and the adapter has not been reset.
The source from which the adapter node address and data
rate are taken. This will be either switches or parameters in
EEPROM. It is determined by the settings of the adapter DIP
switches 1 through 8.
Indicating the Drives that make up the node:
Values
0 = Drive 0
1 = Drives 0-1
2 = Drives 0-2
3 = Drives 0-3
4 = Drives 0-4
Chapter 4
Configuring the Scanner
Chapter 4 provides instructions on how to configure a scanner to
communicate with the adapter and connected PowerFlex drive.
Topic
Example Network
Setting Up the Scan List
Page
4-1
4-2
Topic
Mapping the Drive Data in the Scanner
Saving the Configuration
Page
4-5
4-7
Example Network
After the adapter is configured, the connected drive and adapter will be a
single node on the network. This chapter provides the steps that are
needed to configure a simple network like the network in Figure 4.1. In
our example, we will configure the drive for using Logic Command/
Status and Reference Feedback over the network.
Figure 4.1 Example DeviceNet Network
Node 62
Computer with 1784-PCD and
RSNetWorx for DeviceNet
Node 0
SLC 500 Controller with
1747-SDN Scanner
DeviceNet
Node 1
PowerFlex 40 Drive with
DeviceNet Adapter
4-2
Configuring the Scanner
Setting Up the Scan List
For the scanner to communicate with a drive, the scanner must be
configured and the drive’s node number must be added to its scan list.
1. Go online with RSNetWorx for DeviceNet. Refer to the Using
RSNetWorx for DeviceNet section in Chapter 3. The devices on the
network are displayed in the configuration view.
Figure 4.2 Configuration View (Graph)
2. Right-click the DeviceNet scanner (node 00 in Figure 4.2) and select
Properties. The Scanner Module dialog box appears.
Important: If your scanner is an unrecognized device, you must
create an EDS file for it and then configure it. Create an
EDS file by following the instructions in the Using
RSNetWorx for DeviceNet section in Chapter 3.
Configure the scanner using the General and Module
tabs. Click Help or refer to your scanner documentation
if you need more information.
3. Click the Scanlist tab. A message box prompts you to upload.
4. Click Upload. Data is uploaded from the scanner, and then the
Scanlist page (Figure 4.3) appears.
5. Select the Automap on Add box (a check mark will appear).
Configuring the Scanner
4-3
6. Under Available Devices, select the drive, and then click > (Right
Arrow) to add it to the scanlist.
Figure 4.3 Scanlist Page in the Scanner Module Dialog Box
7. Under Scanlist, select the drive, and then click Edit I/O Parameters.
The Edit I/O Parameters dialog box (Figure 4.4) appears.
4-4
Configuring the Scanner
Figure 4.4 Edit I/O Parameters Dialog Box
8. Select the type(s) of data exchange (Polled, Change of State, and /or
Cyclic). In our example, we selected Polled.
9. Type the number of bytes that are required for your I/O in the Input
Size and Output Size boxes. The size will depend on the I/O that you
enabled in the adapter. This information can be found in Parameter
16 - [DSI I/O Actual] in the adapter. Table 4.A shows common
configuration Input/Output sizes.
In our example, we typed 4 in the Input Size and Output Size boxes
because the Mode Jumper on the adapter is set to “Single” (default)
and Parameter 16 - [DSI I/O Active] is set to “Drive 0” (only one
drive being connected). Logic Command/Reference uses 4 bytes and
Logic Status/Feedback uses 4 bytes.
Table 4.A Input/Output Size Configurations
Input
Size
4
8
12
16
20
Output Logic Command/ Reference/ Parameter 16 - Parameter 1 Size
Status
Feedback [DSI I/O Active] [Mode]
4
✔
✔
Drive 0
Single
8
✔
✔
Drives 0-1
12
✔
✔
Drives 0-2
Multi-Drive
16
✔
✔
Drives 0-3
20
✔
✔
Drives 0-4
10. Set the scan rate.
Data Exchange
Polled
Change of State
Cyclic
Rate to set
Polled Rate
Heartbeat Rate
Send Rate
Configuring the Scanner
4-5
11. Click OK. If you changed any settings, a Scanner Applet asks if it is
OK to unmap the I/O. Click Yes to continue. The Edit I/O
Parameters dialog box closes and then the Scanner Module dialog
box (Figure 4.3) re-appears. You will map the I/O in the next section
in this chapter.
Mapping the Drive Data in the Scanner
Data from I/O messages must be mapped in the scanner. This mapping
determines where a ladder logic program can find data that is passed
over the network. You must map both the Input I/O and the Output I/O.
For:
Mapping the Input I/O
Mapping the Output I/O
Refer to:
4-5
4-6
Mapping the Input I/O
1. In the Scanner Module dialog box, click the Input tab. (If necessary,
right-click the scanner in the configuration view (Figure 4.2) to
display this dialog box.)
Figure 4.5 Input Page on the Scanner Module Dialog Box
4-6
Configuring the Scanner
If you selected the Automap on Add box in the Scanlist page (Figure
4.3), RSNetWorx has already mapped the I/O. If it is not mapped, click
Automap to map it. If you need to change the mapping, click Advanced
and change the settings.
2. In the Memory box, select a location in scanner memory.
Scanner
1747-SDN
1756-DNB
1771-SDN
Memory Locations
Discrete or M-File
Assembly Data
Block Xfer 62 – 57
In our example, we are using a 1747-SDN and selected Discrete.
3. In the Start Word box, select the word in memory at which the data
should start. In our example, Logic Status and Speed Feedback
information will be found in I:1.1 and I:1.2, respectively.
Mapping the Output I/O
1. In the Scanner Module dialog box, click the Output tab. To display
this dialog box, right-click the scanner in the configuration view
(Figure 4.2).
Figure 4.6 Output Page on the Scanner Module Dialog Box
Configuring the Scanner
4-7
If you selected the Automap on Add box in the Scanlist page (Figure
4.3), RSNetWorx has already mapped the I/O. If it is not mapped, click
Automap to map it. If you need to change the mapping, click Advanced
and change the settings.
2. In the Memory box, select a location in scanner memory.
Scanner
1747-SDN
1756-DNB
1771-SDN
Memory Locations
Discrete or M-File
Assembly Data
Block Xfer 62 – 57
In our example, we are using a 1747-SDN and selected Discrete.
3. In the Start Word box, select the word in memory at which the data
should start. In our example, Logic Command and Speed Reference
data will be written to O:1.1 and O:1.2, respectively.
Saving the Configuration
After configuring a scanner, you must download it to the scanner. You
should also save it to a file on your computer.
1. In the Scanner Module dialog box (Figure 4.6), click Apply to save
the configuration to the scanner. A Scanner Configuration Applet
appears and asks if it is OK to download the changes.
2. Click Yes to download the changes. The changes are downloaded
and then the Scanner Module dialog box reappears.
3. Click OK to close the Scanner Module dialog box.
4. Select File > Save. If this is the first time that you saved the project,
the Save As dialog box appears. Navigate to a folder, type a file
name, and click Save to save the configuration to a file.
4-8
Configuring the Scanner
Chapter 5
Using I/O Messaging
Chapter 5 provides information and examples that explain how to use
I/O Messaging to control a PowerFlex 40 drive.
Topic
About I/O Messaging
Understanding the I/O Image
Using Logic Command/Status
Using Reference/Feedback
!
Page
5-1
5-2
5-2
5-3
Topic
Example Ladder Logic Programs
ControlLogix Example
PLC-5 Example
SLC Example
Page
5-3
5-4
5-7
5-9
ATTENTION: Hazard of injury or equipment damage exists. The
examples in this publication are intended solely for purposes of
example. There are many variables and requirements with any
application. Rockwell Automation, Inc. does not assume responsibility
or liability (to include intellectual property liability) for actual use of
the examples shown in this publication.
About I/O Messaging
On DeviceNet, I/O Messaging is used to transfer the data which controls
the PowerFlex drive and sets its Reference.
The DeviceNet adapter provides many options for configuring and using
I/O, including the following:
•
The size of I/O can be configured by selecting the number of
attached drives (Single or Multi-Drive mode).
•
Change of State, Cyclic, or Polled data exchange methods can be
used.
Chapter 3, Configuring the Adapter and Chapter 4, Configuring the
Scanner discuss how to configure the adapter and scanner on the network
for these options. The Glossary defines the different options. This
chapter discusses how to use I/O after you have configured the adapter
and scanner.
5-2
Using I/O Messaging
Understanding the I/O Image
The DeviceNet specification requires that the terms input and output be
defined from the scanner’s point of view. Therefore, Output I/O is data
that is output from the scanner and consumed by the DeviceNet adapter.
Input I/O is status data that is produced by the adapter and consumed as
input by the scanner. The I/O image table will vary based on the:
•
Configuration of the Mode Jumper (J2) on the adapter and
Parameter 15 - [DSI I/O Cfg]. The image table always uses
consecutive words starting at word 0.
Figure 5.1 illustrates an example of a Single drive I/O image (16-bit words).
Figure 5.1 Single Drive Example of I/O Image
DSI
DeviceNet
Controller
Scanner
Adapter
Word and I/O
PowerFlex 40 Drive
Output
Image
(Write)
0 Logic Command
1 Reference
Logic Command
Reference
Input
Image
(Read)
0 Logic Status
1 Feedback
Logic Status
Feedback
Message
Handler
Message
Buffer
Message
Handler
Single drive mode is the typical configuration, where one node consists
of a PowerFlex 40 drive with a 22-COMM-D adapter.
For Multi-Drive mode, where one node can consist of up to 5 drives,
refer to Chapter 7, Using Multi-Drive Mode.
Using Logic Command/Status
When enabled, the Logic Command/Status word is always word 0 in the
I/O image. The Logic Command is a 16-bit word of control produced by
the scanner and consumed by the adapter. The Logic Status is a 16-bit
word of status produced by the adapter and consumed by the scanner.
This manual contains the bit definitions for compatible products
available at the time of publication in Appendix D, Logic Command/
Status Words. For other products, refer to their documentation.
Using I/O Messaging
5-3
Using Reference/Feedback
When enabled, Reference/Feedback begins at word 1 in the I/O image.
The Reference (16 bits) is produced by the controller and consumed by
the adapter. The Feedback (16 bits) is produced by the adapter and
consumed by the controller.
Size
16-bit
Valid Values
-32768 to 32767
In I/O Image
Word 1
Example
Figure 5.1
Example Ladder Logic Programs
These example ladder logic programs (Figure 5.3 – Figure 5.6) work
with PowerFlex 40 drives.
Functions of the Example Programs
The example programs enable an operator to perform the following
actions:
•
Obtain status information from the drive.
•
Use the Logic Command to control the drive (for example, start,
stop).
•
Send a Reference to the drive.
Adapter Settings for the Example Programs
•
Node address 1 is set using the switches.
•
The adapter is configured for Single drive mode (mode jumper is set
to “Single”).
•
Polled I/O was enabled during the scanner configuration.
Scanner Settings for the Example Programs
•
The scanner is node 0 on the DeviceNet network.
•
The scanner is in slot 1.
•
The adapter I/O is mapped in word 0 and word 1.
•
Data files, when used, are pointed out in the examples.
5-4
Using I/O Messaging
Logic Command/Status Words
These examples use the Logic Command word and Logic Status word
for PowerFlex 40 drives. Refer to Appendix D, Logic Command/Status
Words to view these. The definition of the bits in these words may vary if
you are using a different DSI product. Refer to the documentation for
your drive.
ControlLogix Example
Figure 5.2 Tags for the Example Program
Tag Name
Local:1:I
Local:1:O
DriveCommandClearFault
DriveCommandJog
DriveCommandStart
DriveCommandStop
Type
DINT[]
DINT[]
BOOL
BOOL
BOOL
BOOL
Tag Name
DriveFeedback
DriveInputImage
DriveOutputImage
DriveReference
DriveStatusFaulted
DriveStatusRunning
Type
INT
INT[2]
INT[2]
INT
BOOL
BOOL
Using I/O Messaging
Figure 5.3 Example ControlLogix Ladder Logic Program
ControlLogix example program with a PowerFlex 40 at node address 1.
This rung enables the scanner (changes the scanner to RUN mode).
Local:3:O.CommandRegister.Run
0
1
scanner,, and moves it to
This section retrieves the Logic Status and Feedbackk data from the sc
specifc tags for use elsewhere in the ladder program.
COP
Copy File
Source Local:3:I.Data[0]
Dest DriveInputImage[0]
Length
2
DriveInputImage[0].0
DriveStatusReady
DriveInputImage[0].1
DriveStatusActive
DriveInputImage[0].3
DriveStatusForward
DriveInputImage[0].7
DriveStatusFaulted
DriveInputImage[0].8
DriveStatusAtReference
2
3
4
5
6
COP
Copy File
Source DriveInputImage[1]
Dest
DriveFeedback
Length
1
7
This section takes the data from specific tags used elsewhere in the ladder program (Logic
Command bits and Reference) and writes them to the scanner for output over the network.
DriveCommandStop
DriveOutputImage[0].0
DriveCommandStart
DriveOutputImage[0].1
DriveCommandJog
DriveOutputImage[0].2
DriveCommandClearFaults
DriveOutputImage[0].3
8
9
10
11
5-5
5-6
Using I/O Messaging
Figure 5.3 Example ControlLogix Ladder Logic Program (Continued)
DriveCommandForward
DriveOutputImage[0].4
DriveCommandForward
/
DriveOutputImage[0].5
12
13
14
15
COP
Copy File
Source
DriveReference
Dest DriveOutputImage[1]
Length
1
COP
Copy File
Source DriveOutputImage[0]
Dest
Local:3:O.Data[0]
Length
1
For the explicit message portion of this ladder example program, see
Figure 6.6.
Using I/O Messaging
5-7
PLC-5 Example
Figure 5.4 Control File for Block Transfers
EN ST DN ER CO EW NR TO RW RLEN DLEN FILE
BT20:0 0 0 0 0 0 0 0 0 0 62
0
9
BT20:1 0 0 0 0 0 0 0 0 0 62
0
10
ELEM R G
0
00 0
0
00 0
Figure 5.5 Example PLC-5 Ladder Logic Program
PLC-5 example program with a PowerFlex 40 at DeviceNet node address 1.
The DeviceNet scanner gathers the drive status data via the network. The BTR in this rung
then moves the drive status data from the scanner to the N9: data file in the PLC, where:
N9:0 = Scanner Status word
N9:1 = PowerFlex 40 (node 1) Logic Status
N9:2 = PowerFlex 40 (node 1) Feedback
0000
Note that the Feedback for the PowerFlex 40 is received in Hz and not in engineering units
like other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is
always implied).
BT20:0
EN
BTR
Block Transfer Read
Module Type 1771-SDN DeviceNet Scanner Module
Rack
000
Group
0
Module
0
Control Block
BT20:0
Data File
N9:0
Length
62
Continuous
No
Setup Screen
This rung enables the DeviceNet scanner.
0001
EN
DN
ER
1771-SDN
Scanner
Enable bit
N10:0
0
S
0
0
5-8
Using I/O Messaging
Figure 5.5 Example PLC-5 Ladder Logic Program (Continued)
The BTR in this rung moves the drive control data to the scanner from the N10: data file in
the PLC, where:
N10:0 = Scanner Control word
N10:1 = PowerFlex 40 (node 1) Logic Command
N10:2 = PowerFlex 40 (node 1) Reference
Note that the Reference for the PowerFlex 40 is set in Hz and not in engineering units like
other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is always
implied).
0002
The scanner then sends the data to the drive over the network.
BT20:1
EN
BTW
Block Transfer Write
Module Type 1771-SDN DeviceNet Scanner Module
Rack
000
Group
0
Module
0
Control Block
BT20:1
Data File
N10:0
Length
62
Continuous
No
Setup Screen
EN
DN
ER
For the explicit message portion of this ladder example program, see
Figure 6.7.
Using I/O Messaging
SLC Example
Figure 5.6 Example SLC Ladder Logic Program
SLC 5/03 example program with a PowerFlex 40 at DeviceNet node address 1.
This rung enables the scanner (changes the scanner to RUN mode).
1747-SDN
Scanner
Enable bit
O:1
0000
0
1747-SDN
This section of rungs control the Logic Command bits for the PowerFlex 40. The
B3:0 bits would be controlled elsewhere in the user program.
Node 1
Node 1
Logic Command
Stop
Command
STOP
O:1
B3:0
0001
0002
0003
0004
0005
0
16
1747-SDN
Node 1
Start
Command
B3:0
Node 1
Logic Command
START
O:1
1
17
1747-SDN
Node 1
Jog
Command
B3:0
Node 1
Stop
Command
B3:0
Node 1
Logic Command
JOG
O:1
2
0
18
1747-SDN
Node 1
Clear Faults
Command
B3:0
Node 1
Logic Command
CLEAR FAULTS
O:1
3
19
1747-SDN
Node 1
Forward
Command
B3:0
Node 1
Logic Command
FORWARD
O:1
4
20
1747-SDN
5-9
5-10
Using I/O Messaging
Figure 5.6 Example SLC Ladder Logic Program (Continued)
0006
0007
Node 1
Forward
Command
B3:0
Node 1
Logic Command
REVERSE
O:1
4
21
1747-SDN
This rung controls the Reference for the PowerFlex 40. N7:0 would be controlled
elsewhere in the user program. Note that the Reference for the PowerFlex 40 is set
in Hz and not in engineering units like other PowerFlex drives. For example, "300"
equates to 30.0 Hz (the decimal point is always implied).
Node 1
REFERENCE
(Hz)
MOV
Move
Source
N7:0
300<
Dest
O:1.2
300<
This section of rungs displays the Logic Status bits for the PowerFlex 40. The B3:1
bits would be used elsewhere in the user program.
Node 1
Node 1
Logic Status
READY
READY
B3:1
I:1
0008
Node 1
Logic Status
ACTIVE
I:1
0009
Node 1
ACTIVE
B3:1
17
1747-SDN
Node 1
Logic Status
ROTATING
FORWARD
I:1
0010
0
16
1747-SDN
19
1747-SDN
1
Node 1
ROTATING
FORWARD
B3:1
3
Using I/O Messaging
5-11
Figure 5.6 Example SLC Ladder Logic Program (Continued)
Node 1
Logic Status
FAULTED
I:1
0011
23
1747-SDN
Node 1
Logic Status
AT REFERENCE
I:1
0012
0013
Node 1
FAULTED
B3:1
24
1747-SDN
7
Node 1
AT REFERENCE
B3:1
8
This rung displays the Feedback word for the PowerFlex 40. N7:1 would be used
elsewhere in the user program. Note that the Feedback for the PowerFlex 40 is set
in Hz and not in engineering units like other PowerFlex drives. For example, "300"
equates to 30.0 Hz (the decimal point is always implied).
Node 1
FEEDBACK
(Hz)
MOV
Move
Source
I:1.2
300<
Dest
N7:1
300<
For the explicit message portion of this ladder example program, see
Figure 6.8.
5-12
Using I/O Messaging
Chapter 6
Using Explicit Messaging
Chapter 6 provides information and examples that explain how to use
Explicit Messaging to monitor and configure the adapter installed and
connected to the PowerFlex 40 drive.
Topic
About Explicit Messaging
Formatting Explicit Messages
Running Explicit Messages
!
!
Page
6-1
6-2
6-7
Topic
ControlLogix Example
PLC-5 Example
SLC Example
Page
6-8
6-11
6-13
ATTENTION: Hazard of injury or equipment damage exists. The
examples in this publication are intended solely for purposes of
example. There are many variables and requirements with any
application. Rockwell Automation, Inc. does not assume responsibility
or liability (to include intellectual property liability) for actual use of
the examples shown in this publication.
ATTENTION: Hazard of equipment damage exists. If Explicit
Messages are programmed to write parameter data to Non-Volatile
Storage (NVS) frequently, the NVS will quickly exceed its life cycle
and cause the drive to malfunction. Do not create a program that
frequently uses Explicit Messages to write parameter data to NVS.
Datalinks do not write to NVS and should be used for frequently
changed parameters.
About Explicit Messaging
Explicit Messaging is used to transfer data that does not require
continuous updates. With Explicit Messaging, you can configure and
monitor a slave device’s parameters on the DeviceNet network.
6-2
Using Explicit Messaging
Formatting Explicit Messages
Explicit Messages for a ControlLogix Controller
ControlLogix scanners accommodate both downloading Explicit
Message Requests and uploading Explicit Message Responses. The
scanner module can accommodate one request or response for each
transaction block. Each transaction block must be formatted as shown in
Figure 6.1.
Figure 6.1 ControlLogix Message Format in RSLogix 5000
➊
➋
➍
➐
➌
➎
➏
➑
➒
Refer to Page 6-3 for a description of the data that is required in each
box (1 – 9).
TIP: To display the Message Configuration dialog box in RSLogix
5000, add a message instruction, create a tag for the message (properties:
base tag, MESSAGE data type, controller scope), and click the blue box
inside the message.
Using Explicit Messaging
6-3
The following table identifies the number of Explicit Messages that can
be executed at a time.
Scanner
Messages at
One Time
1756-DNB 5
Refer To
Figure 6.1
ControlLogix Message Requests and Responses
Box Description
➊ Message Type
The message type must be CIP Generic.
➋ Service Type/Service Code
The service type/code is the requested DeviceNet service. Available services
depend on the class and instance that you are using. Refer to Appendix C,
DeviceNet Objects.
➌ Class
The object type is a DeviceNet class. Refer to Appendix C, DeviceNet Objects, for
available classes.
Instance
➍
The object ID is an instance of a DeviceNet class. Refer to Appendix C, DeviceNet
Objects, for available instances.
➎ Attribute
The attribute is a class or instance attribute. Refer to Appendix C, DeviceNet
Objects, for available attributes.
➏ Source Element
This box contains the name of the tag for any service data to be sent from the
scanner to the adapter and drive. A tag must be specified even if it is not used.
➐ Source Length
This box contains the number of bytes of service data to be sent or received in the
message.
➑ Destination
This box contains the name of the tag that will receive service response data from
the adapter and drive. A tag must be specified even if it is not used.
➒ Path
The path includes the following:
• Name of the DeviceNet scanner.
• Communication port on the front of the 1756-DNB scanner. Always 2.
• Node address of the DeviceNet adapter. This is set with switches or
parameters in the DeviceNet adapter.
Tip: Click Browse to find the path or type in the name of a module that you
previously mapped.
6-4
Using Explicit Messaging
Explicit Messages for a PLC or SLC Controller
Transaction blocks in PLC and SLC scanners accommodate both
downloading Explicit Message Requests and uploading Explicit
Message Responses. The scanner module can accommodate one request
or response for each transaction block. Each transaction block must be
formatted as shown in Figure 6.2 or Figure 6.3.
Figure 6.2 PLC Explicit Message Format
Request
Word 0
Bit 15
TXID
Response
0
Command
15
TXID
Status
Port
Size
Port
Size
Service
Address
Service
Address
Class
0
Service Response Data
Instance
Attribute
Word 6 - 31
Service Data
Word 32
TXID
Command
TXID
Status
Port
Size
Port
Size
Service
Address
Service
Address
Class
Service Response Data
Instance
Attribute
Word 38 - 63 Service Data
Figure 6.3 SLC Explicit Message Format
Request
Word 0
Bit 15
TXID
Response
Command
15
TXID
Status
Port
Size
Port
Size
Service
Address
Service
Address
Class
0
0
Service Response Data
Instance
Attribute
Word 6 - 31
Service Data
Refer to Page 6-5 and Page 6-6 for a description of the data that is
required in each word.
Using Explicit Messaging
6-5
The following table identifies the number of transaction blocks within a
scanner that are reserved for Explicit Messaging.
Scanner
Number of
Transaction Blocks
1747-SDN 10
1771-SDN 10
Words in Each
Refer To
Transaction Block
32
Figure 6.3
32 (two blocks can Figure 6.2
be moved at once)
PLC / SLC Explicit Message Requests
Word
0
1
2
3
4
5
6 – 31
Description
Command (Least Significant Byte)
The Command is a code that instructs the scanner how to administer the
request during each download.
00 = Ignore transaction block (empty)
01 = Execute this transaction block
02 = Get status of transaction TXID
03 = Reset all client/server transactions
04 = Delete this transaction block (available only for SLC)
05 – 255 = Reserved
TXID (Most Significant Byte)
The Transaction ID is a 1-byte integer between 1 and 255. It is assigned in the
ladder logic program when the processor creates and downloads a request to
the scanner. The scanner uses it to track the transaction to completion. It
returns this value with the response that matches the request downloaded by
the processor.
Size (Least Significant Byte)
The size of the service data is in bytes. Service data includes the words for the
class, instance, attribute, and any data. The maximum size is 58 bytes (29
words).
Port (Most Significant Byte)
The port that is used by the message is always zero (Channel A) on an SLC
scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.
Address (Least Significant Byte)
The node address of the slave device to which the transaction is sent. For the
Explicit Message to be successful, the slave device must be in the scanlist of
the scanner, and it must be online.
Service (Most Significant Byte)
Available services depend on the class and instance that you are using.
Refer to Appendix C, DeviceNet Objects.
Class
Refer to Appendix C, DeviceNet Objects, for available classes.
Instance
Refer to Appendix C, DeviceNet Objects, for available instances.
Attribute
Refer to Appendix C, DeviceNet Objects, for available attributes.
Request Data
This is data used for the message. For example, it may be the value written to a
parameter.
6-6
Using Explicit Messaging
PLC / SLC Explicit Message Responses
Word
0
1
2
3 – 31
Description
Status (Least Significant Byte)
One of the following status codes is provided during each upload:
00 = Ignore transaction block (empty)
01 = Transaction completed successfully
02 = Transaction in progress (not ready)
03 = Slave not in scan list
04 = Slave offline
05 = DeviceNet port disabled or offline
06 = Transaction TXID unknown
08 = Invalid command code
09 = Scanner out of buffers
10 = Other client/server transaction in progress
11 = Could not connect to slave device
12 = Response data too large for block
13 = Invalid port
14 = Invalid size specified
15 = Connection busy
16 – 255 = Reserved
TXID (Most Significant Byte)
The transaction ID is a 1-byte integer in word 31 with a range of 1 to 255. It is
assigned in the ladder logic program when the processor creates and
downloads a request to the scanner. The scanner uses it to track the
transaction to completion. It returns this value with the response that matches
the request downloaded by the processor.
Size (Least Significant Byte)
The size of the service data is in bytes. The service data includes words used
for the response data. The maximum size is 58 bytes (29 words).
Port (Most Significant Byte)
The port that is used by the message is always zero (Channel A) on an SLC
scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.
Address (Least Significant Byte)
The node address of the slave device to which the transaction is sent. For the
Explicit Message to be successful, the slave device must be in the scanlist of
the scanner, and it must be online.
Service (Most Significant Byte)
If the message was successful, 0x80 is added to the service. If it is
unsuccessful, 0x94 is returned.
Response Data
This is data used for the message. For example, it may be the value read from a
parameter.
Refer to Page 6-5 for a description of the words in a PLC/SLC Explicit
Message request.
Using Explicit Messaging
6-7
Running Explicit Messages
There are five basic events in the Explicit Messaging process. The details
of each step will vary depending on the controller (ControlLogix, PLC,
or SLC). Refer to the documentation for your controller.
Important: There must be a request message and an response message
for all Explicit Messages, whether you are reading or
writing data.
Figure 6.4 Explicit Message Process
➊
➎
Complete Explicit
Message
➍
Retrieve Explicit
Message Response
Set up and send Explicit
Message Request
➋
➌
1. You format the required data and set up the ladder logic program to
send an Explicit Message request to the scanner module (download).
2. The scanner module transmits the Explicit Message Request to the
slave device over the DeviceNet network.
3. The slave device transmits the Explicit Message Response back to
the scanner. The data is stored in the scanner buffer.
4. The controller retrieves the Explicit Message Response from the
scanner’s buffer (upload).
5. The Explicit Message is complete. If you are using a PLC or SLC,
delete the transaction ID so that it can be reused.
6-8
Using Explicit Messaging
ControlLogix Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to Formatting Explicit Messages in this chapter for a description of
the content in each box.
Configuration
Service Code
Object Type
Object ID
Object Attribute
Example Value
e (hex)
f (hex)
39 (dec)
1 (hex)
Description
Get_Attribute_Single
Parameter Object
Parameter Address
Parameter Value
Refer to . . .
C-10
C-8
C-9
Using Explicit Messaging
Configuration
Service Code
Object Type
Object ID
Object Attribute
Example Value
10 (hex)
f (hex)
39 (dec)
1 (hex)
Description
Set_Attribute_Single
Parameter Object
Parameter Address
Parameter Value
Refer to . . .
C-10
C-8
C-9
Figure 6.5 Tags for the Example Explicit Messaging Program
Tag Names
for Read Message
PerformParameterRead
ParameterRDMessage
ParameterRDValue
Type
BOOL
MESSAGE
INT
Tag Names
for Write Messages
PerformParameterWrite
ParameterWRMessage
ParameterWRVaule
Type
BOOL
MESSAGE
INT
6-9
6-10
Using Explicit Messaging
Figure 6.6 Example ControlLogix Ladder Logic Program
Explicit Messaging Example
PerformParameterRead
16
PerformParameterWrite
17
MSG
Type - CIP Generic
Message Control ParameterRDMessage ...
MSG
Type - CIP Generic
Message Control ParameterWRMessage ...
EN
DN
ER
EN
DN
ER
(End)
For the I/O message portion of this ladder example program, see
Figure 5.3.
Using Explicit Messaging
6-11
PLC-5 Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to Formatting Explicit Messages in this chapter for a description of
the content of the data file.
Request Data for Read of Drive Parameter 39
Address
N11:0
N11:1
N11:2
Value (hex)
0101
0006
0E01
N11:3
N11:4
N11:5
000F
0027
0001
Description
TXID = 01, Command = 01 (execute)
Port = 00, Size = 06 bytes
Service = 0E (Get_Attribute_Single)
Address = 01 (Node Address)
Class = 0F (Parameter Object)
Instance = Parameter 39 (27 hex)
Attribute = 01 (Parameter Value)
Refer to . . .
6-5
6-5
C-10
6-5
C-8
C-9
Response Data for Read of Drive Parameter 39
Address
N11:100
N11:101
N11:102
Value (hex)
0101
0002
8E01
N11:103
0064
Description
TXID = 01, Status = 01 (successful)
Port = 00, Size = 02 bytes
Service = 8E (successful), Address = 01 (Node
Address)
Response Data = 100 (64 hex) = 10.0 seconds
Refer to . . .
6-6
6-6
6-6
Request Data for Write to Drive Parameter 101
Address
N11:0
N11:1
N11:2
Value (hex)
0101
0008
1001
N11:3
N11:4
N11:5
N11:6
000F
0027
0001
0064
Description
TXID = 01, Command = 01 (execute)
Port = 00, Size = 08 bytes
Service = 10 (Set_Attribute_Single)
Address = 01 (Node Address)
Class = 0F (Parameter Object)
Instance = Parameter 39 (27 hex)
Attribute = 01 (Parameter Value)
Data = 100 (64 hex) = 10.0 seconds
Refer to . . .
6-5
6-5
C-10
6-5
C-8
C-9
Response Data for Write to Drive Parameter 101
Address
N11:100
N11:101
N11:102
Value (hex)
0101
0000
9001
Description
TXID = 01, Status = 01 (successful transaction)
Port = 00, Size = 00 bytes
Service = 90 (successful)
Address = 01 (Node Address)
Refer to . . .
6-6
6-6
6-6
6-12
Using Explicit Messaging
Ladder Logic Program
Figure 6.7 Example PLC-5 Ladder Logic Program
Explicit Messaging Example
0003
When B3:0/0 is set to ON, a one-time BTW sends the explicit message data (starts at N11:0)
to the scanner. The MOV instruction then initializes the first word of the data file that is
used by the BTR instruction in the next rung.
Send
Explicit
Message
B3:0
B3:0
ONS
0
1
BTW
Block Transfer Write
Module Type 1771-SDN DeviceNet Scanner Module
Rack
000
Group
0
Module
0
Control Block
BT20:2
Data File
N11:0
Length
64
Continuous
No
Setup Screen
MOV
Move
Source
Dest
0004
DN
ER
0
0<
N11:100
257<
When the BTW is complete (BT20:2.DN = ON), the CMP instruction compares the first
word of data sent from the scanner to the first word of data sent by the program to the
scanner. When the messaging function is complete, the two words will be equal. The explicit
message response data is stored starting at N11:100.
BT20:2
CMP
BT20:3
Comparison
Expression
N11:100 <> N11:0
DN
EN
BTR
Block Transfer Read
Module Type 1771-SDN DeviceNet Scanner Module
Rack
000
Group
0
Module
0
Control Block
BT20:3
Data File
N11:100
Length
64
Continuous
No
Setup Screen
0005
EN
EN
DN
ER
END
For the I/O message portion of this ladder example program, see
Figure 5.5.
Using Explicit Messaging
6-13
SLC Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to Formatting Explicit Messages in this chapter for a description of
the content of the data file.
Request Data for Read of Drive Parameter 101
Address
N9:10
N9:11
N9:12
Value (hex)
0101
0006
0E01
N9:13
N9:14
N9:15
000F
0027
0001
Description
TXID = 01, Command = 01 (execute)
Port = 00, Size = 06 bytes
Service = 0E (Get_Attribute_Single)
Address = 01 (Node Address)
Class = 0F (Parameter Object)
Instance = Parameter 39 (27 hex)
Attribute = 01 (Parameter Value)
Refer to . . .
6-5
6-5
C-10
6-5
C-8
C-9
Response Data for Read of Drive Parameter 101
Address
N9:50
N9:51
N9:52
Value (hex)
0101
0002
8E01
N9:53
0064
Description
TXID = 01, Status = 01 (successful)
Port = 00, Size = 02 bytes
Service = 8E (successful)
Address = 01 (Node Address)
Response Data = 100 (64 hex) = 10.0 seconds
Refer to . . .
6-6
6-6
6-6
Request Data for Write to Drive Parameter 101
Address
N9:10
N9:11
N9:12
Value (hex)
0101
0008
1001
N9:13
N9:14
N9:15
N9:16
000F
0027
0001
0064
Description
TXID = 01, Command = 01 (execute)
Port = 00, Size = 08 bytes
Service = 10 (Set_Attribute_Single)
Address = 01 (Node Address)
Class = 0F (Parameter Object)
Instance = Parameter 39 (27 hex)
Attribute = 01 (Parameter Value)
Data =100 (64 hex) = 10.0 seconds
Refer to . . .
6-5
6-5
C-10
6-5
C-8
C-9
6-14
Using Explicit Messaging
Response Data for Write to Drive Parameter 101
Address
N9:50
N9:51
N9:52
Value (hex)
0101
0000
9001
Description
TXID = 01, Status = 01 (successful transaction)
Port = 00, Size = 00 bytes
Service = 90 (successful)
Address = 01 (Node Address)
Refer to . . .
6-6
6-6
6-6
Program
Important: To originate a scanner transaction, use a copy operation to
M0:[slot number]:224. Then, use a copy operation to read
M1:1.224 for the result. If more than one message is
enabled, use the TXID to determine which message you are
reading.
Using Explicit Messaging
6-15
Figure 6.8 Example SLC Ladder Logic Program
Explicit Messaging Example
0014
When B3:2/0 is set ON, this rung will copy the 32 words of Explicit Message from
the buffer at N9:10 to the M0 File Explicit Message buffer. The scanner will send
the message out over DeviceNet.
B3:2
COP
Copy File
Source
#N9:10
0
Dest
#M0:1.224
Length
32
B3:2
U
0
0015
When I:1.0/15 is ON (response to the explicit message is available), the response
message is copied into N9:50. A "4" command is copied into the M0 file, which
commands the 1747-SDN to discard the response data so that the buffer can be used
for the next message.
I:1
COP
Copy File
Source
#M1:1.224
15
Dest
#N9:50
1747-SDN
Length
32
EQU
Equal
Source A
Source B
N9:10
257<
N9:50
257<
MVM
Masked Move
Source
N9:0
4<
Mask
00FFh
255<
Dest
M0:1.224
?<
0016
END
For the I/O message portion of this ladder example program, see
Figure 5.6.
6-16
Notes:
Using Explicit Messaging
Chapter 7
Using Multi-Drive Mode
Chapter 7 provides information and a ControlLogix ladder example to
explain how to use Multi-Drive mode.
!
Topic
Single Mode vs. Multi-Drive Mode
Page
7-1
System Wiring
Understanding the I/O Image
7-3
7-4
Configuring the RS-485 Network
7-5
Topic
Multi-Drive Ladder Logic Program
Example
ControlLogix Example
Multi-Drive Mode Explicit
Messaging
Additional Information
Page
7-6
7-7
7-20
7-22
ATTENTION: Hazard of injury or equipment damage exists. The
examples in this publication are intended solely for purposes of
example. There are many variables and requirements with any
application. Rockwell Automation, Inc. does not assume responsibility
or liability (to include intellectual property liability) for actual use of
the examples shown in this publication.
Single Mode vs. Multi-Drive Mode
Single mode is a typical network installation, where a single DeviceNet
node consists of a single drive with a 22-COMM-D adapter (Figure 7.1).
Figure 7.1 Single Mode Example for Network
1 drive per node
DeviceNet
PowerFlex 40
with 22-COMM-D
PowerFlex 40
with 22-COMM-D
PowerFlex 40
with 22-COMM-D
Multi-Drive mode is an alternative to the typical network installation,
where a single DeviceNet node can consist of one to five drives (Figure
7.2). The first drive must be a PowerFlex 40 with a 22-COMM-D
adapter. The remaining drives can be PowerFlex 4 or 40 drives and they
are daisy-chained over RS-485 with the first drive.
7-2
Using Multi-Drive Mode
Figure 7.2 Multi-Drive Mode Example for Network
up to 5 drives per node
DeviceNet
Up to 4 PowerFlex 4's or 40's
PowerFlex 40
22-COMM-D
AK-U0-RJ45-TB2P
Connector w/3rd Party
Terminating Resistor
RS-485
AK-U0-RJ45-TB2P
AK-U0-RJ45-TB2P
Connector w/3rd Party
Terminating Resistor
Benefits of Multi-Drive mode include:
•
Lower hardware costs. Only one 22-COMM-D adapter is needed for
up to five drives. PowerFlex 4’s can also be used for the
daisy-chained drives instead of PowerFlex 40’s.
•
Reduces the network node count (DeviceNet is 63 nodes maximum).
For example, in Single mode 30 drives would consume 30 nodes. In
Multi-Drive mode, 30 drives can be connected in 6 nodes.
•
Provides a means to put PowerFlex 4’s on DeviceNet (PowerFlex 4’s
do not have an internal communications adapter slot).
•
Controller can control, monitor, and read/write parameters for all five drives.
The trade-offs of Multi-Drive mode include:
•
If the PowerFlex 40 with the 22-COMM-D adapter is powered down,
then communications with the daisy-chained drives are disrupted and
the drives will take the appropriate communications loss action set in
each drive.
•
Communications throughput to the daisy-chained drives will be
slower than if each drive was a separate node on DeviceNet (Single
mode). This is because the 22-COMM-D adapter must take the
DeviceNet data for the other drives and sequentially send the
respective data to each drive over RS-485. The approximate
additional throughput time for Logic Command/Reference to be
transmitted and received by each drive is:
Drive
PowerFlex 40 w/22-COMM-D
PowerFlex 40 w/22-COMM-D plus 1 drive
PowerFlex 40 w/22-COMM-D plus 2 drives
PowerFlex 40 w/22-COMM-D plus 3 drives
PowerFlex 40 w/22-COMM-D plus 4 drives
Additional Throughput Time
versus Single Mode
0 ms
+24 ms
+48 ms
+72 ms
+96 ms
Using Multi-Drive Mode
7-3
•
Automatic Device Replacement (ADR) cannot be used with any of
the drives.
•
The RSNetWorx Parameter editor cannot be used.
•
Since the RS-485 ports are used for daisy-chaining the drives, there
is no connection for a peripheral device such as a HIM. The
AK-U0-RJ45-SC1 DSI Splitter cable cannot be used to add a second
connection for a peripheral device.
System Wiring
To daisy-chain the drives off the PowerFlex 40 with the 22-COMM-D
adapter (Drive 0), the AK-U0-RJ45-TB2P terminal block connector
(Figure 7.3) can be used for easy installation.
Figure 7.3 AK-U0-RJ45-TB2P Terminal Block Connector
The wiring diagram for using AK-U0-RJ45-TB2P terminal block
connectors is shown in Figure 7.4.
Figure 7.4 AK-U0-RJ45-TB2P Connector Wiring Diagram
PowerFlex 40
with 22-COMM-D
Drive
#2
Drive
#3
Drive
#4
Drive
#5
120 Ω
¼ Watt
Resistor
120 Ω
¼ Watt
Resistor
7-4
Using Multi-Drive Mode
Understanding the I/O Image
The DeviceNet specification requires that the terms input and output be
defined from the scanner’s point of view. Therefore, Output I/O is data
that is output from the scanner and consumed by the DeviceNet adapter.
Input I/O is status data that is produced by the adapter and consumed as
input by the scanner. The I/O image table will vary based on the:
•
Configuration of the Mode Jumper (J2) on the adapter and
Parameter 15 - [DSI I/O Cfg]. The image table always uses
consecutive words starting at word 0.
Figure 7.5 illustrates the Multi-Drive I/O image with 16-bit words.
Figure 7.5 Multi-Drive Example of I/O Image
DSI
DeviceNet
Controller
Scanner
Output
Image
(Write)
Input
Image
(Read)
Adapter
Word and I/O
0 Logic Command
1 Reference
PowerFlex Drive 0
2 Logic Command
3 Reference
PowerFlex Drive 1
4 Logic Command
5 Reference
PowerFlex Drive 2
6 Logic Command
7 Reference
PowerFlex Drive 3
8 Logic Command
9 Reference
PowerFlex Drive 4
0 Logic Status
1 Feedback
PowerFlex Drive 0
2 Logic Status
3 Feedback
PowerFlex Drive 1
4 Logic Status
5 Feedback
6 Logic Status
7 Feedback
8 Logic Status
9 Feedback
Message
Handler
Message
Buffer
PowerFlex Drive 2
PowerFlex Drive 3
PowerFlex Drive 4
Using Multi-Drive Mode
7-5
Configuring the RS-485 Network
The following parameters must be set in the daisy-chained drives:
Parameter
P36 - [Start Source]
P38 - [Speed Reference]
A103 - [Comm Data Rate]
A104 - [Comm Node Addr]
A107 - [Comm Format]
Value
5 (“RS485 [DSI] Port”)
5 (“RS485 [DSI] Port”)
4 (“19.2K”)
1-247 (must be unique)
0 (“RTU 8-N-1”)
Note that the RS-485 network is fixed at 19.2K baud, 8 data bits, no
parity, and 1 stop bit.
Important: Parameters A105 - [Comm Loss Action] and A106 [Comm Loss Time] in the daisy-chained drives are not
used in Multi-Drive mode. If the RS-485 cable is
disconnected or broken, the disconnected drive(s) will fault.
On the DeviceNet side, Parameters 07 - [Comm Flt
Action] and 08 - [Idle Flt Action] in the 22-COMM-D
determine the action taken for ALL of the drives on the
Multi-Drive node.
The following Multi-Drive parameters must be set in the 22-COMM-D:
Parameter
15 - [DSI I/O Cfg]
17 - [Drv 0 Addr]
18 - [Drv 1 Addr]
19 - [Drv 2 Addr]
20 - [Drv 3 Addr]
21 - [Drv 4 Addr]
Value
00010 = Drives 0-1 connected
00100 = Drives 0-2 connected
01000 = Drives 0-3 connected
10000 = Drives 0-4 connected
= Parameter A104 - [Comm Node Address] in Drive 0
= Parameter A104 - [Comm Node Address] in Drive 1
= Parameter A104 - [Comm Node Address] in Drive 2
= Parameter A104 - [Comm Node Address] in Drive 3
= Parameter A104 - [Comm Node Address] in Drive 4
After setting the 22-COMM-D parameters, set the adapter Mode Jumper
from Single drive operation to Multi-Drive operation, and reset the
adapter or cycle power. Refer to Chapter 2, Commissioning the Adapter.
Important: 22-COMM-D parameters can be set using a DSI peripheral
(HIM, DriveExplorer with 22-SCM-232, etc.) ONLY when
the Mode Jumper is in the Single mode position.
7-6
Using Multi-Drive Mode
Multi-Drive Ladder Logic Program Example
The example ladder logic program demonstrates using Multi-Drive
mode with five drives. See Figure 7.2 for a system layout diagram.
Function of the Example Program
The example program provided is for the ControlLogix, but other
controllers can also be used. The following actions can be performed:
•
View status information from the drives such as Ready, Fault, At
Speed, and Feedback.
•
Control the drives using various Logic Command bits (Stop, Start,
etc.) and Reference.
•
Perform a single parameter read and write for each drive. The
example uses drive Parameter 39 - [Accel Time] for both so you
can see (read) the change after a write is performed.
Adapter Settings for the Example Program
•
The Mode Jumper on the adapter is set to the Multi-Drive operation
position. See Chapter 2, Commissioning the Adapter.
•
All DIP switches on the adapter are set to CLOSED (all 0’s). See
Chapter 2, Commissioning the Adapter. The actual node address will
be set via a software parameter.
•
The following adapter parameters are set:
Parameter
02 - [DN Addr Cfg]
15 - [DSI I/O Cfg]
17 - [Drv 0 Addr](1)
18 - [Drv 1 Addr]
19 - [Drv 2 Addr]
20 - [Drv 3 Addr]
21 - [Drv 4 Addr]
(1)
Value
1
4
1
2
3
4
5
Description
DeviceNet node address
“Drives 0-4” — 5 drives on 1 node
Modbus address of Drive 0
Modbus address of Drive 1
Modbus address of Drive 2
Modbus address of Drive 3
Modbus address of Drive 4
The settings for these parameters must match the Parameter A104 [Comm Node Addr] settings in the respective drives.
Using Multi-Drive Mode
7-7
Drive Settings for the Example Program
Parameter
P36 - [Start Source]
P38 - [Speed Reference]
A103 - [Comm Data Rate]
A104 - [Comm Node Addr](1)
A105 - [Comm Loss Action]
A106 - [Comm Loss Time]
A107 - [Comm Format]
(1)
Value
Drive 0 Drive 1 Drive 2 Drive 3 Drive 4
5
5
5
5
5
5
5
5
5
5
4
4
4
4
4
1
2
3
4
5
0
0
0
0
0
5
5
5
5
5
0
0
0
0
0
The settings for these parameters must match the respective parameter
settings in the adapter (Parameter 17 - [Drive 0 Address] through
Parameter 21 - [Drive 4 Address]).
ControlLogix Example
The following common Tags are used:
Tag Name
Local : 3 : I
Local : 3 : O
Local : 3 : 5
Drive Input Image
Drive Output Image
Type
AB: 1756_D...
AB: 1756_D...
AB: 1756_D...
INT [10]
INT [10]
Description
1756-DNB I/O
Input Image Table
Output Image Table
The following Tags are used for Drive 0:
Tag Name
Drive 0 Command Stop
Drive 0 Command Start
Drive 0 Command Jog
Drive 0 Command Clear Faults
Drive 0 Command Forward
Drive 0 Reference
Drive 0 Status Ready
Drive 0 Status Active
Drive 0 Status Forward
Drive 0 Status Faulted
Drive 0 Status At Reference
Drive 0 Feedback
Perform Parameter Read 0
Parameter RD Value 0
Parameter RD Message 0
Type
BOOL
BOOL
BOOL
BOOL
BOOL
INT
BOOL
BOOL
BOOL
BOOL
BOOL
INT
BOOL
INT
MESSAGE
Description
Logic Command bit 0 (STOP)
Logic Command bit 1 (START)
Logic Command bit 2 (JOG)
Logic Command bit 3 (CLEAR FAULTS)
Logic Command bit 4 (FORWARD)
Speed Reference
Logic Status bit 0 (READY)
Logic Status bit 1 (ACTIVE)
Logic Status bit 3 (FORWARD)
Logic Status bit 7 (FAULT)
Logic Status bit 8 (AT SPEED)
Speed Feedback
Initiates the parameter read
Read value of the parameter
Get_Attribute_Single (Read)
7-8
Using Multi-Drive Mode
Tag Name
Perform Parameter Write 0
Parameter WR Value 0
Parameter WR Message 0
Type
BOOL
INT
MESSAGE
Description
Initiates the parameter value
Write value to the parameter
Set_Attribute_Single (Write)
The same type of Tags are also used for Drive 1 through Drive 4.
Main Routine
The Main Routine tells the 1756-DNB scanner to run, reads the network
Input Image from the scanner, calls the various drive control subroutines,
and writes the network Output Image to the scanner. See Figure 7.6.
Using Multi-Drive Mode
Figure 7.6 Main Routine
ControlLogix MultiDrive example program with a PowerFlex 40 at node address 1.
Four PowerFlex 4/40's are daisy-chained to the main PowerFlex 40 via their RJ45
ports (RS-485). In this mode, up to FIVE PowerFlex 4/40's can exist on ONE
DeviceNet node.
This rung enables the scanner (changes the scanner to RUN mode).
Local:3:O.CommandRegister.Run
0
This section retrieves the Logic Status and Feedback data for all five drives from
the scanner, and moves it to specific INT tags for use elsewhere in the ladder
program. The input image is as follows:
1
DriveInputImage[0] and DriveInputImage[1] = Drive 0 Logic Status and Feedback
DriveInputImage[2] and DriveInputImage[3] = Drive 1 Logic Status and Feedback
DriveInputImage[4] and DriveInputImage[5] = Drive 2 Logic Status and Feedback
DriveInputImage[6] and DriveInputImage[7] = Drive 3 Logic Status and Feedback
DriveInputImage[8] and DriveInputImage[9] = Drive 4 Logic Status and Feedback
COP
Copy File
Source Local:3:I.Data[0]
Dest DriveInputImage[0]
Length
10
Drive 0 control subroutine.
JSR
Jump To Subroutine
Routine Name
Drive0
2
Drive 1 control subroutine.
JSR
Jump To Subroutine
Routine Name
Drive1
3
Drive 2 control subroutine.
JSR
Jump To Subroutine
Routine Name
Drive2
4
Drive 3 control subroutine.
JSR
Jump To Subroutine
Routine Name
Drive3
5
Drive 4 control subroutine.
6
JSR
Jump To Subroutine
Routine Name
Drive4
7-9
7-10
Using Multi-Drive Mode
Figure 7.6 Main Routine (Continued)
This section writes the output image to the scanner. The output image is as follows:
DriveOutputImage[0] and DriveOutputImage[1] = Drive 0 Logic Command and Reference
DriveOutputImage[2] and DriveOutputImage[3] = Drive 1 Logic Command and Reference
DriveOutputImage[4] and DriveOutputImage[5] = Drive 2 Logic Command and Reference
Dr e 3 Logic Command and Reference
DriveOutputImage[6] and DriveOutputImage[7] = Drive
DriveOutputImage[8] and DriveOutputImage[9] = Drive 4 Logic Command and Reference
7
(Note the length of the COP instruction is "5" because the Destination address is a DINT)
COP
Copy File
Source DriveOutputImage[0]
Dest
Local:3:O.Data[0]
Length
5
(End)
Drive 0 - Drive 4 Control Routines
The Drive Control routines provide status information (Logic Status and
Feedback), control (Logic Command and Reference), and parameter
read/write for each of the respective drives. See Figure 7.7 for Drive 0,
Figure 7.8 for Drive 1, Figure 7.9 for Drive 2, Figure 7.10 for Drive 3,
and for Drive 4.
Using Multi-Drive Mode
Figure 7.7 Drive 0 Control Routine
Drive 0 Control Subroutine
This section takes the data from the input area and moves it to specific tags
(Logic Status bits and Feedback) for use elsewhere in the ladder program.
DriveInputImage[0].0
Drive0StatusReady
DriveInputImage[0].1
Drive0StatusActive
DriveInputImage[0].3
Drive0StatusForward
DriveInputImage[0].7
Drive0StatusFaulted
DriveInputImage[0].8
Drive0StatusAtReference
0
1
2
3
4
COP
Copy File
Source DriveInputImage[1]
Dest
Drive0Feedback
Length
1
5
This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive0CommandStop
DriveOutputImage[0].0
Drive0CommandStart
DriveOutputImage[0].1
Drive0CommandJog
DriveOutputImage[0].2
Drive0CommandClearFaults
DriveOutputImage[0].3
Drive0CommandForward
DriveOutputImage[0].4
Drive0CommandForward
/
DriveOutputImage[0].5
6
7
8
9
10
11
12
COP
Copy File
Source Drive0Reference
Dest DriveOutputImage[1]
Length
1
7-11
7-12
Using Multi-Drive Mode
Figure 7.7 Drive 0 Control Routine (Continued)
Explicit Messaging Example
Drive 0 parameters are accessed by adding 17408 decimal (4400 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
17447 (17408 + 39) is used.
PerformParameterRead0
13
MSG
Type - CIP Generic
Message Control
ParameterRDMessage0 ...
EN
DN
ER
PerformParameterWrite0
14
MSG
Type - CIP Generic
Message Control
ParameterWRMessage0 ...
RET
15
(End)
Return
EN
DN
ER
Using Multi-Drive Mode
Figure 7.8 Drive 1 Control Routine
Drive 1 Control Subroutine
This section takes the data from the input image area and moves it to specific
tags (Logic Status bits and Feedback) for use elsewhere in the ladder program.
DriveInputImage[2].0
Drive1StatusReady
DriveInputImage[2].1
Drive1StatusActive
DriveInputImage[2].3
Drive1StatusForward
DriveInputImage[2].7
Drive1StatusFaulted
DriveInputImage[2].8
Drive1StatusAtReference
0
1
2
3
4
COP
Copy File
Source DriveInputImage[3]
Dest
Drive1Feedback
Length
1
5
This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to
the scanner.
Drive1CommandStop
DriveOutputImage[2].0
Drive1CommandStart
DriveOutputImage[2].1
Drive1CommandJog
DriveOutputImage[2].2
Drive1CommandClearFaults
DriveOutputImage[2].3
Drive1CommandForward
DriveOutputImage[2].4
Drive1CommandForward
/
DriveOutputImage[2].5
6
7
8
9
10
11
12
COP
Copy File
Source Drive1Reference
Dest DriveOutputImage[3]
Length
1
7-13
7-14
Using Multi-Drive Mode
Figure 7.8 Drive 1 Control Routine (Continued)
Explicit Messaging Example
Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
18471 (18432 + 39) is used.
PerformParameterRead1
13
MSG
Type - CIP Generic
Message Control ParameterRDMessage1 ...
EN
DN
ER
PerformParameterWrite1
14
MSG
Type - CIP Generic
Message Control ParameterWRMessage1 ...
RET
15
(End)
Return
EN
DN
ER
Using Multi-Drive Mode
Figure 7.9 Drive 2 Control Routine
Drive 2 Control Subroutine
This section takes the data from the input image area and moves it to specific
tags (Logic Status bits and Feedback) for use elsewhere in the ladder program.
DriveInputImage[4].0
Drive2StatusReady
DriveInputImage[4].1
Drive2StatusActive
DriveInputImage[4].3
Drive2StatusForward
DriveInputImage[4].7
Drive2StatusFaulted
DriveInputImage[4].8
Drive2StatusAtReference
0
1
2
3
4
COP
Copy File
Source DriveInputImage[5]
Dest
Drive2Feedback
Length
1
5
This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive2CommandStop
DriveOutputImage[4].0
Drive2CommandStart
DriveOutputImage[4].1
Drive2CommandJog
DriveOutputImage[4].2
Drive2CommandClearFaults
DriveOutputImage[4].3
Drive2CommandForward
DriveOutputImage[4].4
Drive2CommandForward
/
DriveOutputImage[4].5
6
7
8
9
10
11
12
COP
Copy File
Source Drive2Reference
Dest DriveOutputImage[5]
Length
1
7-15
7-16
Using Multi-Drive Mode
Figure 7.9 Drive 2 Control Routine (Continued)
Explicit Messaging Example
Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
19495 (19456 + 39) is used.
PerformParameterRead2
13
MSG
Type - CIP Generic
Message Control ParameterRDMessage2 ...
EN
DN
ER
PerformParameterWrite2
14
MSG
Type - CIP Generic
Message Control ParameterWRMessage2 ...
RET
15
(End)
Return
EN
DN
ER
Using Multi-Drive Mode
Figure 7.10 Drive 3 Control Routine
Drive 3 Control Subroutine
This section takes the data from the input image area and moves it to specific
tags (Logic Status bits and Feedback) for use elsewhere in the ladder program.
DriveInputImage[6].0
Drive3StatusReady
DriveInputImage[6].1
Drive3StatusActive
DriveInputImage[6].3
Drive3StatusForward
DriveInputImage[6].7
Drive3StatusFaulted
DriveInputImage[6].8
Drive3StatusAtReference
0
1
2
3
4
COP
Copy File
Source DriveInputImage[7]
Dest
Drive3Feedback
Length
1
5
This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive3CommandStop
DriveOutputImage[6].0
Drive3CommandStart
DriveOutputImage[6].1
Drive3CommandJog
DriveOutputImage[6].2
Drive3CommandClearFaults
DriveOutputImage[6].3
Drive3CommandForward
DriveOutputImage[6].4
Drive3CommandForward
/
DriveOutputImage[6].5
6
7
8
9
10
11
12
COP
Copy File
Source Drive3Reference
Dest DriveOutputImage[7]
Length
1
7-17
7-18
Using Multi-Drive Mode
Figure 7.10 Drive 3 Control Routine (Continued)
Explicit Messaging Example
Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
20519 (20480 + 39) is used.
PerformParameterRead3
13
MSG
Type - CIP Generic
Message Control
ParameterRDMessage3 ...
EN
DN
ER
PerformParameterWrite3
14
MSG
Type - CIP Generic
Message Control
ParameterWRMessage3 ...
RET
15
(End)
Return
EN
DN
ER
Using Multi-Drive Mode
Figure 7.11 Drive 4 Control Routine
Drive 4 Control Subroutine
This section takes the data from the input image area and moves it to specific
tags (Logic Status bits and Feedback) for use elsewhere in the ladder program.
DriveInputImage[8].0
Drive4StatusReady
DriveInputImage[8].1
Drive4StatusActive
DriveInputImage[8].3
Drive4StatusForward
DriveInputImage[8].7
Drive4StatusFaulted
DriveInputImage[8].8
Drive4StatusAtReference
0
1
2
3
4
COP
Copy File
Source DriveInputImage[9]
Dest
Drive4Feedback
Length
1
5
This section takes the data from the specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.
Drive4CommandStop
DriveOutputImage[8].0
Drive4CommandStart
DriveOutputImage[8].1
Drive4CommandJog
DriveOutputImage[8].2
Drive4CommandClearFaults
DriveOutputImage[8].3
Drive4CommandForward
DriveOutputImage[8].4
Drive4CommandForward
/
DriveOutputImage[8].5
6
7
8
9
10
11
12
COP
Copy File
Source Drive4Reference
Dest DriveOutputImage[9]
Length
1
7-19
7-20
Using Multi-Drive Mode
Figure 7.11 Drive 4 Control Routine (Continued)
Explicit Messaging Example
Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
21543 (21504 + 39) is used.
PerformParameterWrite4
13
MSG
Type - CIP Generic
Message Control ParameterRDMessage4 ...
EN
DN
ER
PerformParameterRead4
14
MSG
Type - CIP Generic
Message Control ParameterWRMessage4 ...
EN
DN
ER
RET
15
Return
(End)
Multi-Drive Mode Explicit Messaging
Parameter addressing for Explicit messaging is different in Multi-Drive
than with Single mode. In Single mode, the Instance value in the
message equals the desired parameter number in the drive. In
Multi-Drive mode, an Instance table is used to account for the
parameters in the adapter and up to 5 drives. The parameters in the
adapter and each of the drives are offset by 400 hex (1024 decimal):
Instance
4000h (16384 dec) - 43FFh
4400h (17408 dec) - 47FFh
4800h (18432 dec) - 4BFFh
4000h (19456 dec) - 4FFFh
5000h (20480 dec) - 53FFh
5400h (21504 dec) - 57FFh
Device
22-COMM-D
Drive 0
Drive 1
Drive 2
Drive 3
Drive 4
Parameter
0 - 1023
0 - 1023
0 - 1023
0 - 1023
0 - 1023
0 - 1023
For example, to access Parameter P39 - [Accel Time 1] in each of the
drives, the following Instances would be used:
Drive 0 Instance = 17447 (17408 + 39)
Drive 1 Instance = 18471 (18432 + 39)
Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)
Using Multi-Drive Mode
7-21
Drive 0 Explicit Message Example
The Explicit message examples in the ControlLogix example program
perform a read (Get_Attribute_Single) and a write (Set_Attribute_Single)
to Parameter 39 - [Accel Time 1]. The configuration for the read is
shown in Figure 7.12 and the write is shown in Figure 7.13.
Figure 7.12 Parameter Read Message Configuration
Figure 7.13 Parameter Write Message Configuration
7-22
Using Multi-Drive Mode
The Class Code is “ f ” for the Parameter Object and the Instance
Attribute is “1” to select retrieving the parameter value. See Appendix C,
Parameter Object for more information. The Instance value is “17447” to
access Parameter 39 - [Accel Time 1].
The Explicit messages for Drive 1 to Drive 4 are identical except for the
Instance values:
Drive 1 Instance = 18471 (18432 + 39)
Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)
Additional Information
•
When the PowerFlex 40 with the 22-COMM-D (Drive 0) is powered
up, all configured daisy-chained drives must be present before an I/O
connection is allowed on DeviceNet (i.e. before the drives can be
controlled).
•
If the PowerFlex 40 with the 22-COMM-D adapter (Drive 0) is
powered down, communications with the four daisy-chained drives
(Drive 1 to Drive 4) are disrupted and the drives will fault.
•
If any of the daisy-chained drives (Drive1 to Drive 4) are powered
down, the respective Input Image (Logic Status and Feedback) sent
to the scanner will be zeros, and the NET A and PORT LEDs on the
22-COMM-D adapter will flash red. Status information from the
scanner will not indicate there is a fault at the node.
Chapter 8
Troubleshooting
Chapter 8 contains troubleshooting information.
Topic
Locating the Status Indicators
Page
8-1
PORT Status Indicator
8-2
MOD Status Indicator
Net A Status Indicator
8-3
8-4
Topic
Module Diagnostic Items in
Single Drive Mode
Module Diagnostic Items in
Multi-Drive Mode
Viewing and Clearing Events
Page
8-4
8-5
8-6
Locating the Status Indicators
The DeviceNet adapter has three status indicators. They can be viewed
on the adapter or through the drive cover. See Figure 8.1.
Figure 8.1 Status Indicators (location on drive may vary)
➊
➋
➌
➊
➋
➌
➍
Number
➊
➋
➌
➍
Status Indicator
PORT
Description
DSI Connection Status
Page
8-2
MOD
Adapter Status
8-3
NET A
DeviceNet Status
8-4
NET B
Not Used for DeviceNet
8-2
Troubleshooting
PORT Status Indicator
Status
Off
Cause
Corrective Action
The adapter is not powered or • Securely connect the adapter to the drive
is not connected properly to
using the ribbon cable.
the drive.
• Apply power to the drive.
Flashing The adapter is not receiving • Clear any drive faults.
Red
communication from the drive, • Verify that cables are securely connected.
connected drive is faulted, or
• Cycle power to the drive.
a drive is missing in
Multi-Drive mode.
Solid
The drive has refused an
Important: Cycle power to the product after
Red
I/O connection from the
making the following correction:
adapter.
Verify that all DSI cables are securely
Another DSI peripheral is
connected and not damaged. Replace cables
if necessary.
using the same DSI port as
the adapter.
Flashing The adapter is establishing an • No Action. This status indicator will turn
Green
I/O connection to the drive or
solid green or red.
[DSI I/O Config] is configured • Verify Parameter 15, [DSI I/O Config]
for all I/O disabled.
settings.
• Normal behavior if no DSI I/O is enabled.
Solid
The adapter is properly
No Action.
Green
connected and is
communicating with the drive.
Orange Daisy-chained drives in
Use Allen-Bradley PowerFlex 4/40’s for the
Multi-Drive mode are not all daisy-chained drives.
Allen-Bradley drives
(PowerFlex 4/40).
Troubleshooting
8-3
MOD Status Indicator
Status
Off
Cause
The adapter is not powered.
Corrective Action
• Securely connect the adapter to the drive
using the ribbon cable.
• Apply power to the drive.
Flashing The adapter has failed the
• Clear faults in the drive.
Red
firmware test, connected drive • Cycle power to the drive.
is faulted, or a drive is missing
• If cycling power does not correct the
in Multi-Drive mode.
problem, the parameter settings may have
been corrupted. Reset defaults and
reconfigure the module.
• If resetting defaults does not correct the
problem, flash the adapter with the latest
firmware release.
• For Multi-Drive mode, determine which
drive is missing or faulted. Check cabling
and configuration settings (see Configuring
the RS-485 Network section in Chapter 7).
Solid
The adapter has failed the
• Cycle power to the drive.
Red
hardware test.
• Replace the adapter.
Flashing The adapter is operational,
• Place the scanner in RUN mode.
Green
but is not transferring I/O data. • Program the controller to recognize and
transmit I/O to the adapter.
• Configure the adapter for the program in
the controller.
• Normal behavior if no DSI I/O is enabled.
Solid
The adapter is operational
No Action.
Green
and transferring I/O data.
8-4
Troubleshooting
Net A Status Indicator
Status
Off
Cause
Corrective Actions
The adapter and/or
• Securely connect the adapter to the drive
network is not powered or
using the Internal Interface cable and to the
adapter is not connected
network using a DeviceNet cable.
properly to the network.
• Correctly connect the DeviceNet cable to the
DeviceNet plug.
• Apply power to the drive and network.
Flashing A DeviceNet I/O
• Place the scanner in RUN mode, or apply
Red
connection has timed out.
power to the peer device that will send I/O.
• Check the amount of traffic on the network.
Solid
Failed duplicate node
• Configure the adapter to use a unique node
Red
detection test or bus off
address on the DeviceNet network.
condition exists.
• Configure the adapter to use the correct
network data rate.
• Ensure network has correct media installed.
Flashing The adapter is properly
• Place the controller in RUN mode, or apply
Green
connected but is not
power to the peer device that will send I/O.
communicating with any
• Program a controller or peer device to
devices on the network.
recognize and transmit I/O to the adapter.
• Configure the adapter for the program in the
controller or the I/O from the peer device.
Solid
The adapter is properly
No action required.
Green
connected and
communicating on the
network.
Module Diagnostic Items in Single Drive Mode
The following diagnostic items can be accessed using DriveExplorer
(version 3.01 or higher).
No.
1
2
3
4
5
6
7
8
9
10
Name
Field Flash Cnt
Adapter Events
Reference
Logic Cmd
Logic Sts
Feedback
DN Rx Errors
DN Tx Errors
Data Rate SW
Node Address SW
Description
The number of flash updates made to the adapter after shipping.
The number of events in the event queue.
Reference being transmitted to the host by this peripheral.
Command being transmitted to the host by this peripheral.
Status being received from the host by this peripheral.
Feedback being received from the host by this peripheral.
Current value of the DeviceNet CAN Receive Error Counter register.
Current value of the DeviceNet CAN Transmit Error Counter register.
Current setting of the adapter 2-bit data rate switch.
Current setting of the adapter 6-bit Node address switch.
Troubleshooting
Module Diagnostic Items in Multi-Drive Mode
The following diagnostic items can be accessed using DriveExplorer
(version 3.01 or higher).
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Name
Field Flash Cnt
Adapter Events
Drv 0 Reference
Drv 0 Logic Cmd
Drv 0 Logic Sts
Drv 0 Feedback
Drv 1 Reference
Drv 1 Logic Cmd
Drv 1 Logic Sts
Drv 1 Feedback
Drv 2 Reference
Drv 2 Logic Cmd
Drv 2 Logic Sts
Drv 2 Feedback
Drv 3 Reference
Drv 3 Logic Cmd
Drv 3 Logic Sts
Drv 3 Feedback
Drv 4 Reference
Drv 4 Logic Cmd
Drv 4 Logic Sts
Drv 4 Feedback
DN Rx Errors
DN Tx Errors
Data Rate SW
Node Address SW
Description
The number of flash updates made to the adapter after shipping.
The number of events in the event queue.
Reference being transmitted from the adapter to DSI drive 0.
Command being transmitted from the adapter to DSI drive 0.
Status of DSI drive 0 being received by the adapter.
Feedback from DSI drive 0 being received by the adapter.
Reference being transmitted from the adapter to DSI drive 1.
Command being transmitted from the adapter to DSI drive 1.
Status of DSI drive 1 being received by the adapter.
Feedback from DSI drive 1 being received by the adapter.
Reference being transmitted from the adapter to DSI drive 2.
Command being transmitted from the adapter to DSI drive 2.
Status of DSI drive 2 being received by the adapter.
Feedback from DSI drive 2 being received by the adapter.
Reference being transmitted from the adapter to DSI drive 3.
Command being transmitted from the adapter to DSI drive 3.
Status of DSI drive 3 being received by the adapter.
Feedback from DSI drive 3 being received by the adapter.
Reference being transmitted from the adapter to DSI drive 4.
Command being transmitted from the adapter to DSI drive 4.
Status of DSI drive 4 being received by the adapter.
Feedback from DSI drive 4 being received by the adapter.
Current value of the DeviceNet CAN Receive Error Counter register.
Current value of the DeviceNet CAN Transmit Error Counter register.
Current setting of the adapter 2-bit data rate switch.
Current setting of the 6-bit Node address switch.
8-5
8-6
Troubleshooting
Viewing and Clearing Events
The adapter maintains an event queue that reports the history of its
actions. You can view the event queue using DriveExplorer (3.01)
software.
Figure 8.2 DriveExplorer Event View/Clear Screen
Troubleshooting
8-7
Events
Many events in the Event queue occur under normal operation. If you
encounter unexpected communications problems, the events may help
you or Allen-Bradley personnel troubleshoot the problem. The following
events may appear in the event queue:
Code
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
Event
No Event
Host Sent Reset
EEPROM Sum Flt
Reserved
Control Disabled
Control Enabled
Description
Text displayed in an empty event queue entry.
The DSI product issued this because it was reset.
Startup sequence detected corrupt EEPROM storage.
Sets the PCCC to zero.
Sets the PCCC timeout to non-zero and sends a PCCC
control command.
PCCC IO Time Flt Control by a PCCC device has timed out.
Normal Startup
Signifies the first event after a reset or power cycle.
Reserved
DSI Fault Msg
DSI drive faulted.
DN Poll Timeout
DeviceNet did not send an I/O poll message in the required
time interval.
DN I/O Too Long The length of the data from the I/O scanner was too long.
Bad I/O Fragment An I/O fragment from the scanner arrived out of sequence.
Idle I/O Message The DeviceNet scanner was placed in the program mode.
Reserved
DSI Fault Clear
A drive fault was cleared.
DN COS Timeout I/O data from a DeviceNet COS connection has not been
received in the required interval.
DN Poll Allocate
The adapter was allocated for a DeviceNet polled I/O connection.
DN COS Allocate The adapter was allocated for a DeviceNet COS I/O connection.
DN Poll Closed
The DeviceNet master has closed the previous opened
polled I/O connection.
DN COS Closed
The DeviceNet master has closed the previously opened
COS I/O connection.
DN Dup MAC Flt The DeviceNet side of the adapter has failed the duplicate
MAC test.
Manual Reset
The adapter was reset from the “Reset Module” parameter.
Host Timeout
An explicit message to a Drive host has timed out waiting for
a response.
Slave Timeout
An explicit message to a Slave has timed out waiting for a
response.
Slave Detected
A DSI slave was detected on the /slave I/O line.
Slave Removed
A DSI slave was removed from the /slave I/O line.
Language CRC Bad The language flash segment is corrupt.
8-8
Notes:
Troubleshooting
Appendix A
Specifications
This chapter present the specifications for the adapter.
Topic
Communications
Electrical
Mechanical
Page
A-1
A-1
A-1
Topic
Environmental
Regulatory Compliance
Page
A-2
A-2
Communications
Network
Protocol
Data Rates
Drive
Protocol
DeviceNet
125K, 250K, 500K, Autobaud
DSI
Electrical
Consumption
Drive
Network
150 mA at 5V supplied through the drive
60 mA at 24V supplied through DeviceNet
Use the 60 mA value to size the network current draw
from the power supply.
Mechanical
Dimensions
Height
Length
Width
Weight
19 mm (0.75 inches)
86 mm (3.39 inches)
78.5 mm (3.09 inches)
85 g (3 oz.)
A-2
Specifications
Environmental
Temperature
Operating
Storage
Relative Humidity
-10 to +50 °C (14 to 149 °F)
-40 to +85 °C (-40 to +185 °F)
-5 to 95% non-condensing
Regulatory Compliance
Certification
UL
cUL
CE
Specification
UL508C
CAN / CSA C22.2 No. 14-M91
EN50178 and EN61800-3
Appendix B
Adapter Parameters
Appendix B provides information about the DeviceNet adapter
parameters.
Topic
Page
About Parameter Numbers B-1
Parameter List
B-1
About Parameter Numbers
The parameters in the adapter are numbered consecutively. However,
depending on which configuration tool you use, they may have different
numbers.
Configuration Tool
• DriveExplorer
• DriveTools 2000
• HIM
• Explicit Messaging
• RSNetWorx for
DeviceNet
Numbering Scheme
The adapter parameters begin with parameter 1. For
example, Parameter 01 - [Mode] is parameter 1 as
indicated by this manual.
The adapter parameters are appended to the list of drive
parameters. For example, with a drive with 300
parameters, Parameter 01- [Mode] is parameter 301.
Parameter List
Parameter
No. Name and Description
Details
01 [Mode]
Default:
Displays the Single or Multi-Drive operating mode Values:
selected with the jumper on the adapter.
Type:
02 [DN Addr Cfg]
Default:
Sets the node address used by the drive after a
Minimum:
reset or power cycle.
Maximum:
Type:
This setting is used when all of the adapter DIP
Reset Required:
switches are in the CLOSED position (all 0’s).
03 [DN Addr Act]
Default:
Displays DeviceNet node address currently being Minimum:
used by the adapter.
Maximum:
Type:
0 = Single Drive
0 = Single Drive
1 = Multiple Drive
Read Only
63
0
63
Read/Write
Yes
63
0
63
Read Only
B-2
Adapter Parameters
Parameter
No. Name and Description
04 [DN Rate Cfg]
Sets the DeviceNet data rate after a reset or
power cycle.
Details
Default:
Values:
This setting is used when all of the adapter DIP
switches are in the CLOSED position (all 0’s).
05
06
Type:
Reset Required:
[DN Rate Act]
Default:
Displays DeviceNet data rate currently being used Values:
by the adapter.
[Reset Module]
No action if set to “Ready.” Resets the adapter if
set to “Reset Module.” Restores the adapter to its
factory default settings if set to “Set Defaults.” This
parameter is a command. It will be reset to “0 =
Ready” after the command has been performed.
!
07
Type:
Reset Required:
ATTENTION: Risk of injury or equipment damage exists. If the adapter is
transmitting I/O that controls the drive, the drive may fault when you reset the
adapter. Determine how your drive will respond before resetting a connected
adapter.
[Comm Flt Action]
Default:
Sets the action that the adapter and drive take if Values:
the adapter detects that DeviceNet
communications have been disrupted. This setting
is effective only if I/O that controls the drive is
transmitted through the adapter.
Type:
Reset Required:
!
08
Type:
Default:
Values
0 = Fault
0 = Fault
1 = Stop
2 = Zero Data
3 = Hold Last
4 = Send Flt Cfg
Read/Write
No
ATTENTION: Risk of injury or equipment damage exists. Parameter 07 - [Comm
Flt Action] lets you determine the action of the adapter and connected drive if
communications are disrupted. By default, this parameter faults the drive. You can
set this parameter so that the drive continues to run. Precautions should be taken
to ensure that the setting of this parameter does not create a hazard of injury or
equipment damage.
[Idle Flt Action]
Default:
Sets the action that the adapter and drive take if Values:
the adapter detects that scanner is idle because
the controller was switched to program mode. This
setting is effective only if I/O that controls the drive
is transmitted through the adapter.
Type:
Reset Required:
!
3 = Autobaud
0 = 125 kbps
1 = 250 kbps
2 = 500 kbps
3 = Autobaud
Read/Write
Yes
0 = 125 kbps
0 = 125 kbps
1 = 250 kbps
2 = 500 kbps
Read Only
0 = Ready
0 = Ready
1 = Reset Module
2 = Set Defaults
Read/Write
No
0 = Fault
0 = Fault
1 = Stop
2 = Zero Data
3 = Hold Last
4 = Send Flt Cfg
Read/Write
No
ATTENTION: Risk of injury or equipment damage exists. Parameter 08 - [Idle Flt
Action] lets you determine the action of the adapter and connected drive if the
scanner is idle. By default, this parameter faults the drive. You can set this
parameter so that the drive continues to run. Precautions should be taken to
ensure that the setting of this parameter does not create a hazard of injury or
equipment damage.
Adapter Parameters
Parameter
No. Name and Description
09 [DN Act Cfg]
Displays the source from which the adapter node
address and data rate are taken. This will either be
switches or parameters in EEPROM. It is
determined by the settings of the switches on the
adapter.
10 [Flt Cfg Logic]
Sets the Logic Command data that is sent to the
drive if any of the following is true:
• Parameter 07 - [Comm Flt Action] is set to
Send Flt Cfg and communications are
disrupted.
• Parameter 08 - [Idle Flt Action] is set to Send
Flt Cfg and the scanner is put into Program or
Test mode.
The bit definitions will depend on the product to
which the adapter is connected.
11 [Flt Cfg Ref]
Sets the Reference data that is sent to the drive if
any of the following is true:
• Parameter 07 - [Comm Flt Action] is set to
Send Flt Cfg and communications are
disrupted.
• Parameter 08 - [Idle Flt Action] is set to Send
Flt Cfg and the scanner is put into Program
mode.
12
Details
Default:
Values:
Type:
0 = Switches
0 = Switches
1 = EEPROM
Read Only
Default:
Minimum:
Maximum:
Type:
Reset Required:
0
0
65535
Read/Write
No
Default:
Minimum:
Maximum:
Type:
Reset Required:
0
0
65535
Read/Write
No
Important: If the drive uses a 16-bit
Reference, the most significant word of this
value must be set to zero (0) or a fault will
occur.
[COS Status Mask]
Default:
0
Sets the mask of the 16-bit Logic Status word.
Minimum:
0
Unless they are masked out, the bits in the Logic Maximum:
65535
Status word are checked for changes when the
Type:
Read/Write
adapter is allocated using COS (Change of State). Reset Required: No
If a bit changes, it is reported as a change in the
Change of State operation.
If the mask bit is 0 (Off), the bit is ignored. If the
mask bit is 1 (On), the bit is checked.
13
14
B-3
Important: The bit definitions in the Logic Status
word depend on the drive.
[COS Fdbk Change]
Sets the hysteresis band to determine how much
the Feedback word can change before it is
reported as a change in the COS (Change of
State) operation.
[COS/Cyc Interval]
Displays amount of time that a scanner will wait to
check for data in the adapter. When COS (Change
of State) data exchange has been set up, this is
the maximum amount of time between scans.
Scans will happen sooner if data changes. When
Cyclic data exchange has been set up, this
interval is the fixed time between scans. This
interval is the heartbeat rate configured in the
scanner.
Default:
Minimum:
Maximum:
Type:
Reset Required:
Default:
Minimum:
Maximum:
Type:
0
0
65535
Read/Write
No
0.000 Seconds
0.000 Seconds
65.535 Seconds
Read Only
B-4
Adapter Parameters
Parameter
No. Name and Description
Details
15 [DSI I/O Cfg]
Default:
Sets the configuration of the Drives that are active Values:
in the Multi-Drive mode. Identifies the connections
that would be attempted on a reset or power cycle.
16
[DSI I/O Act]
Displays the Drives that are active in the
Multi-Drive mode.
17
18
19
20
21
[Drv 0 Addr]
[Drv 1 Addr]
[Drv 2 Addr]
[Drv 3 Addr]
[Drv 4 Addr]
Sets the corresponding node addresses of the
daisy-chained drives when the adapter Mode
Jumper (J2) is set for Multi-Drive operation.
Important: The settings for these parameters
must match the Parameter A104 - [Comm Node
Addr] settings in the respective drives. Each
setting must also be unique (no duplicate node
address).
Type:
Reset Required:
Default:
Bit Values:
Type:
Default:
Default:
Default:
Default:
Default:
Minimum:
Maximum:
Type:
Reset Required:
0001
0 = Drive 0
1 = Drives 0-1
2 = Drives 0-2
3 = Drives 0-3
4 = Drives 0-4
Read/Write
Yes
0001
0 = Drive 0
1 = Drives 0-1
2 = Drives 0-2
3 = Drives 0-3
4 = Drives 0-4
Read Only
1
2
3
4
5
1
247
Read/Write
Yes
Appendix C
DeviceNet Objects
Appendix C presents information about the DeviceNet objects that can
be accessed using Explicit Messages. For information on the format of
Explicit Messages and example ladder logic programs, refer to
Chapter 6, Using Explicit Messaging.
Object
Identity Object
Connection Object
Register Object
Parameter Object
Parameter Group Object
PCCC Object
Class Code
Hex.
Dec.
0x01
1
0x05
5
0x07
7
0x0F
15
0x10
16
0x67
103
Page
C-2
C-4
C-6
C-8
C-11
C-13
TIP: Refer to the DeviceNet specification for more information about
DeviceNet objects. Information about the DeviceNet specification is
available on the ODVA web site (http://www.odva.org).
C-2
DeviceNet Objects
Identity Object
Class Code
Hexadecimal
0x01
Decimal
1
Instances (Single-Drive Mode)
The number of instances is fixed at three and is as shown below:
Instance
0
1
2
3
Description
Class
Host drive
22-COMM-D
22-SCM-232 or 22-HIM-* (when present)
Instances (Multi-Drive Mode)
The number of instances is fixed at one and is as shown below:
Instance
0
1
Description
Class
22-COMM-D
Class Attributes
Attribute
ID
1
2
Access Name
Rule
Get
Revision
Get
Max Instance
Data Type
Description
UINT
UINT
1
Maximum Instance Number
DeviceNet Objects
Identity Object (Continued)
Instance Attributes
Attribute
ID
1
2
3
Access
Rule
Get
Get
Get
Name
Data Type
Description
Vendor ID
Device Type
Product Code
UINT
UINT
UINT
1 = Allen-Bradley
4
Get
Revision
5
Get
Status
Struct of
USINT
USINT
WORD
6
7
Get
Get
Serial Number
Product Name
UDINT
SHORT_
STRING
Unique number identifying the
product name and rating
Product Revision:
Major
Minor
Bit 0 = Owned
Bit 2 = Configured
Bit 10 = Recoverable fault
Bit 11 = Unrecoverable fault
Unique 32-bit number
Product name and rating
Services
Service Code
0x01
0x05
0x0E
0x10
Implemented for:
Class
Instance
Yes
Yes
Yes
No
Yes
Yes
No
No
Service Name
Get_Attributes_All
Reset
Get_Attribute_Single
Set_Attribute_Single
C-3
C-4
DeviceNet Objects
Connection Object
Class Code
Hexadecimal Decimal
0x05
5
Instances
Instance
1
2
4
6 – 10
Description
Master-Slave Explicit Message Connection
Polled I/O Connection
Change of State/Cyclic Connection
Explicit Message Connection
Instance Attributes
Refer to the DeviceNet Specification for more information.
Attribute Access Name
ID
Rule
1
Get
State
Data Type
Description
USINT
2
Get
USINT
3
Get
USINT
0 = Nonexistent
1 = Configuring
2 = Waiting for connection ID
3 = Established
4 = Timed out
0 = Explicit Message
1 = I/O Message
The Transport Class Trigger for
this instance
CAN Identifier to transmit on
USINT
CAN Identifier to receive on
USINT
Defines the DeviceNet message
groups that the tx/rx Cnxn’s apply
Max bytes to transmit across this
connection
Max bytes to receive across this
connection
Expected Packet Rate
(timer resolution = 2 msec.)
0 = Transition to timed out
1 = Auto delete
2 = Auto reset
Instance Type
9
Transport Class
Trigger
Get
Produced Cnxn
ID
Get
Consumed Cnxn
ID
Get
Initial Comm
Char
Get
Produced Cnxn
Size
Get
Consumed Cnxn
Size
Get/Set EPR
12
Get/Set Watchdog Action USINT
4
5
6
7
8
USINT
UINT
UINT
UINT
DeviceNet Objects
C-5
Connection Object (Continued)
Instance Attributes (Continued)
Refer to the DeviceNet Specification for more information.
Attribute Access Name
ID
Rule
13
Get
Produced Path
Length
14
Get
Produced
Connection Path
15
Get
16
Get
Data Type
Description
UINT
Number of bytes of data in the
produced connection path
Byte stream which defines
Application objects whose data is
to be produced by this
Connection object
Number of bytes of data in the
consumed connection path
Byte stream which defines
Application objects whose data is
to be consumed by this
Connection object
ARRAY of
UINT
Consumed Path UINT
Length
Consumed
ARRAY of
Connection Path USINT
Services
Service Code
0x0E
(1)
Implemented for:
Class
Instance
No(1)
Yes
This service does not support class access.
Service Name
Get_Attribute_Single
C-6
DeviceNet Objects
Register Object
Class Code
Hexadecimal Decimal
0x07
7
Instances
The number of instances is fixed at thirteen and is as shown below:
Instance
0
1
2
3
4
5
6
7
8
9
10
11
12
13
(1)
Description
Class
Command and reference for all drives (read/write)
Status and feedback for all drives (read-only)
Command and reference for Drive 0 (read/write)
Status and feedback for Drive 0 (read-only)
Command and reference for Drive 1 (read/write)
Status and feedback for Drive 1 (read-only)
Command and reference for Drive 2 (read/write)
Status and feedback for Drive 2 (read-only)
Command and reference for Drive 3 (read/write)
Status and feedback for Drive 3 (read-only)
Command and reference for Drive 4 (read/write)
Status and feedback for Drive 4 (read-only)
Masked Command write for all drives (read/write)(1)
The Data instance attribute for the masked command is the same size as
the data attribute for instance 1. However, the structure is a Command word
followed by a mask word for each drive. The Logic Command for each drive
is set to the value of the first word of the data where there are ones in the
second word of the data.
Logic Command = ((Command word and not mask word) or
(command word and mask word))
If a drive is not present, the Data instance attributes for that individual
drive will contain values of zero and the Bad Flag instance attribute will
be set.
The size of the Data instance attribute for instances 1, 2, and 13 will
change depending upon the number of drives for which the adapter is
configured.
DeviceNet Objects
C-7
Register Object (Continued)
Class Attributes
Not supported.
Instance Attributes
Attribute Access Rule Name
ID
1
Get
Bad Flag
Data Type
Description
BOOL
2
Get
BOOL
3
4
Get
Size
Conditional(1) Data
If set to 1, then attribute 4
may contain invalid, bad or
otherwise corrupt data.
0 = good
1 = bad
Direction of data transfer
0 = Producer Register
1 = Consumer Register
Size of register data in bits
Data to be transferred
(1)
Direction
UINT
ARRAY of
BITS
The access rule of Set is optional if attribute 2, Direction = 1. If Direction = 0, the
access rule is Get.
Important: Setting a register object attribute can only be accomplished
through a connection with a non-zero expected packet rate
(EPR). This feature is to prevent accidental control of a DSI
device.
Services
Service Code
0x0E
0x10
Implemented for:
Class
Instance
No
Yes
No
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-8
DeviceNet Objects
Parameter Object
Class Code
Hexadecimal Decimal
0x0F
15
Instances (Single-Drive Mode)
The number of instances is as shown below:
Instance
0
1
"
n
n+1
"
n + 21
Description
Class
Drive Parameter 1
"
Drive Parameter n
Adapter Parameter 1
"
Adapter Parameter 21
Instances (Multi-Drive Mode)
The number of instances is fixed at 21 and is as shown below:
Instance
0
1
"
21
Description
Class
Adapter Parameter 1
"
Adapter Parameter 21
Class Attributes
Attribute
ID
1
2
8
Access
Rule
Get
Get
Get
9
Get
10
Get
Name
Data Type Description
Revision
Max Instance
Parameter Class
Descriptor
Configuration
Assembly
Instance
Native Language
UINT
UINT
WORD
1
Number of parameters
Bits that describe parameters.
UINT
0
USINT
0 = English
1 = French
2 = Spanish
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
DeviceNet Objects
C-9
Parameter Object (Continued)
Instance Attributes
Attribute Access Name
Data Type Description
ID
Rule
(1)
(3)
1
Parameter Value (2)
2
Get
Link Path Size
USINT
0 = No link specified
n = Link specified
(4)
3
Get
Link Path
4
Get
Descriptor
WORD
0 = False, 1 = True
Bit 1 = Supports ENUMs
Bit 2 = Supports scaling
Bit 3 = Supports scaling links
Bit 4 = Read only
Bit 5 = Monitor
Bit 6 = Extended precision scaling
5
Get
Data Type
USINT
C3 = INT
C7 = UINT
D2 = WORD (16-bit)
(3)
6
Get
Data Size
USINT
7
Get
Parameter Name SHORT_ (3)
String
STRING
8
Get
Units String
SHORT_ (3)
STRING
9
Get
Help String
SHORT_ 0
STRING
(3)
10
Get
Minimum Value (1)
(3)
11
Get
Maximum Value (1)
(1)
(3)
12
Get
Default Value
(3)
13
Get
Scaling Multiplier UINT
(3)
14
Get
Scaling Divisor UINT
(3)
15
Get
Scaling Base
UINT
(3)
16
Get
Scaling Offset
UINT
(3)
17
Get
Multiplier Link
UINT
(3)
18
Get
Divisor Link
UINT
(3)
19
Get
Base Link
UINT
(3)
20
Get
Offset Link
UINT
(3)
21
Get
Decimal
USINT
Precision
(1)
Access rule is defined in bit 4 of instance attribute 4. 0 = Get/Set, 1 = Get.
(2)
Specified in descriptor, data type, and data size.
(3)
Value varies based on parameter instance.
(4)
Refer to the DeviceNet specification for a description of the connection path.
C-10
DeviceNet Objects
Parameter Object (Continued)
Services
Service Code
0x01
0x05
0x0E
0x10
0x4B
Implemented for:
Class
No
Yes
Yes
No
No
Service Name
Instance
Yes
No
Yes
Yes
Yes
Get_Attribute_All
Reset
Get_Attribute_Single
Set_Attribute_Single
Get_Enum_String
DeviceNet Objects
C-11
Parameter Group Object
Class Code
Hexadecimal Decimal
0x10
16
Instances (Single-Drive Mode)
The number of instances depends on the number of groups in the drive.
A group of adapter parameters is appended to the list of groups in the
drive.
Instance
0
1
"
n
n+1
Description
Class
Drive Group 1 Attributes
"
Drive Group n Attributes
Adapter Group Attributes
Instances (Multi-Drive Mode)
The number of instances is fixed at one and is as shown below:
Instance
0
1
Description
Class
Adapter Group Attributes
Class Attributes
Attribute Access Name
ID
Rule
1
Get
Parameter group
version
2
Get
Max Instance
8
Get
Native
Language
Data
Type
UINT
Description
UINT
USINT
Total number of groups
0 = English
1 = French
2 = Spanish (Mexican)
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
1
C-12
DeviceNet Objects
Parameter Group Object (Continued)
Instance Attributes
Attribute Access Name
ID
Rule
1
Get
Group Name String
2
Get
3
Get
4
Get
"
n
Get
(1)
Data
Description
Type
SHORT_ Group name
STRING
Number of Members UINT
Number of parameters in group.
in Group
(1)
1st Parameter
UINT
Number in Group
(1)
2nd Parameter
UINT
Number in Group
"
(1)
n Parameter
UINT
Number in Group
Value varies based on group instance.
Services
Service Code
0x0E
Implemented for:
Class
Yes
Service Name
Instance
Yes
Get_Attribute_Single
DeviceNet Objects
C-13
PCCC Object
Class Code
Hexadecimal Decimal
0x67
103
Instances
Not supported
Class Attributes
Not supported.
Instance Attributes
Not supported.
Services
Service Code
0x4B
0x4D
Implemented for:
Class
Yes
Yes
Service Name
Instance
Yes
Yes
Execute_PCCC
Execute_Local_PCCC
C-14
DeviceNet Objects
PCCC Object (Continued)
Message Structure for Execute_PCCC
Request
Name Data
Type
Length USINT
Description
Length of
requestor ID
Vendor UINT
Vendor number
of requestor
Serial
UDINT ASA serial
Number
number of
requestor
Other
Product Identifier of user,
Specific task, etc. on the
requestor
CMD
USINT Command byte
STS
USINT 0
TNSW UINT
Transport word
FNC
USINT
Function code.
Not used for all
CMD’s.
PCCC_ ARRAY CMD/FNC
params of
specific
USINT parameters
Response
Name
Data
Type
Length
USINT
Description
Vendor
UINT
Vendor number of requestor
Serial
Number
UDINT
ASA serial number of
requestor
Other
Product Identifier of user, task, etc.
Specific on the requestor
CMD
STS
TNSW
USINT
USINT
UINT
EXT_STS USINT
PCCC_
results
ARRAY
of
USINT
Length of requestor ID
Command byte
Status byte
Transport word. Same value
as the request.
Extended status. Not used
for all CMD’s.
CMD/FNC specific result
data
Message Structure for Execute_Local_PCCC
Request
Name Data
Type
CMD
USINT
STS
USINT
TNSW UINT
FNC
USINT
Description
Command byte
0
Transport word
Function code.
Not used for all
CMD’s.
PCCC_ ARRAY CMD/FNC
params of
specific
USINT parameters
Response
Name
Data
Type
CMD
USINT
STS
USINT
TNSW
UINT
EXT_STS USINT
PCCC_
results
ARRAY
of
USINT
Description
Command byte
Status byte
Transport word. Same value
as the request.
Extended status. Not used
for all CMD’s.
CMD/FNC specific result
data
Appendix D
Logic Command/Status Words
Appendix D provides the definitions of the Logic Command/Logic
Status words that are used for some products that can be connected to the
DeviceNet adapter. If you do not see the Logic Command/Logic Status
for the product that you are using, refer to your product’s documentation.
PowerFlex 4 and PowerFlex 40 Drives
Logic Command Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description
x Stop
0 = Not Stop
1 = Stop
x
Start*
0 = Not Start
1 = Start
x
Jog
0 = Not Jog
1 = Jog
x
Clear
0 = Not Clear Faults
Faults
1 = Clear Faults
x x
Direction 00 = No Command
01 = Forward Command
10 = Reverse Command
11 = Change Direction (toggle)
x
Not used
x
MOP
0 = Not Increment
Increment 1 = Increment
x x
Accel Rate 00 = No Command
01 = Accel Rate 1 Command
10 = Accel Rate 2 Command
11 = Hold Accel Rate
x x
Decel Rate 00 = No Command
01 = Decel Rate 1 Command
10 = Decel Rate 2 Command
11 = Hold Decel Rate
x x x
Reference 000 = No Command
Select
001 = Freq Source = Select
010 = Freq Source = Int. Freq
011 = Freq Source = Comm
100 = Preset Freq 1
101 = Preset Freq 2
110 = Preset Freq 3
111 = Preset Freq 4
x
MOP
0 = Not Decrement
Decrement 1 = Decrement
* A 0 = Not Stop condition (logic 0) must first be present before a 1 = Start condition will start the drive.
D-2
Logic Command/Status Words
PowerFlex 4 and PowerFlex 40 Drives
Logic Status Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status
x Ready
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Active
Command
Direction
Actual
Direction
Accel
Decel
Alarm
Fault
At Speed
Main Freq
Operation
Command
Parameters
Digital
Input 1
Status
Digital
Input 2
Status
Digital
Input 3
Status
Digital
Input 4
Status
Description
0 = Not Ready
1 = Ready
0 = Not Active
1 = Active
0 = Reverse
1 = Forward
0 = Reverse
1 = Forward
0 = Not Accelerating
1 = Accelerating
0 = Not Decelerating
1 = Decelerating
0 = No Alarm
1 = Alarm
0 = No Fault
1 = Fault
0 = Not At Reference
1 = At Reference
0 = Not Controlled By Comm
1 = Controlled By Comm
0 = Not Controlled By Comm
1 = Controlled By Comm
0 = Not Locked
1 = Locked
Glossary
A
Adapter
Devices such as drives, controllers, and computers usually require an
adapter to provide a communication interface between them and a
network such as DeviceNet. An adapter reads data on the network and
transmits it to the connected device. It also reads data in the device and
transmits it to the network.
The 20-COMM-D DeviceNet adapter is an adapter that connects,
PowerFlex drives to a DeviceNet network. Adapters are sometimes also
called “cards,” “embedded communication options,” “gateways,”
“modules,” and “peripherals.”
Automatic Device Replacement (ADR)
A means for replacing a malfunctioning device with a new unit, and
having the device configuration data set automatically. The DeviceNet
scanner is set up for ADR using RSNetWorx. The scanner uploads and
stores a devices configuration. Upon replacing a malfunctioning device
with a new unit (node 63), the scanner automatically downloads the
configuration data and sets the node address.
B
Bus Off
A bus off condition occurs when an abnormal rate of errors is detected
on the Control Area Network (CAN) bus in a device. The bus-off device
cannot receive or transmit messages on the network. This condition is
often caused by corruption of the network data signals due to noise or
data rate mismatch.
C
Change of State (COS) I/O Data Exchange
A device that is configured for Change of State I/O data exchange
transmits data at a specified interval if its data remains unchanged. If its
data changes, the device immediately transmits the change. This type of
exchange can reduce network traffic and save resources since unchanged
data does not need to be transmitted or processed.
Class
A class is defined by the DeviceNet specification as “a set of objects that
all represent the same kind of system component. A class is a
generalization of an object. All objects in a class are identical in form
and behavior, but may contain different attribute values.”
Glossary-2
Controller
A controller, also called programmable logic controller, is a solid-state
control system that has a user-programmable memory for storage of
instructions to implement specific functions such as I/O control, logic,
timing, counting, report generation, communication, arithmetic, and data
file manipulation. A controller consists of a central processor, input/
output interface, and memory. See also Scanner.
Cyclic I/O Data Exchange
A device configured for Cyclic I/O data exchange transmits data at a
user-configured interval. This type of exchange ensures that data is
updated at an appropriate rate for the application, preserves bandwidth
for rapidly-changing devices, and allows data to be sampled at precise
intervals for better determinism.
D
Data Rate
The data rate is the speed at which data is transferred on the DeviceNet
network. The available data rates depend on the type of cable and total
cable length used on the network:
Cable
Thick Trunk Line
Thin Trunk Line
Maximum Drop Length
Cumulative Drop Length
Maximum Cable Length
125 K
250 K
500 m (1,640 ft.)
250 m (820 ft.)
100 m (328 ft.)
100 m (328 ft.)
6 m (20 ft.)
6 m (20 ft.)
156 m (512 ft.)
78 m (256 ft.)
500 K
100 m (328 ft.)
100 m (328 ft.)
6 m (20 ft.)
39 m (128 ft.)
Each device on a DeviceNet network must be set for the same data rate.
You can set the DeviceNet adapter to 125 K, 250 K, or 500 K. You can
set it to Autobaud if another device on the network has set the data rate.
Glossary-3
DeviceNet Network
A DeviceNet network uses a producer/consumer Controller Area
Network (CAN) to connect devices (for example, controllers, drives, and
motor starters). Both I/O and explicit messages can be transmitted over
the network. A DeviceNet network can support a maximum of 64
devices. Each device is assigned a unique node address and transmits
data on the network at the same data rate.
A cable is used to connect devices on the network. It contains both the
signal and power wires. Devices can be connected to the network with
drop lines, in a daisy chain connection, or a combination of the two.
General information about DeviceNet and the DeviceNet specification
are maintained by the Open DeviceNet Vendor’s Association (ODVA).
ODVA is online at http://www.odva.org.
DSI
Drive Serial Interface - a modification of the ModBus RS-485 serial
communication protocol used by various Allen-Bradley drives and
power products.
DSI Peripheral
A device that provides an interface between DSI and a network or user.
Peripheral devices are also referred to as “adapters” and “modules.” The
serial converter and PowerFlex 4-Class HIMs (22-HIM-*) are examples
of DSI peripherals.
DSI Product
A device that uses the DSI communications interface to communicate
with one or more peripheral devices. For example, a motor drive such as
a PowerFlex 4-Class drive is a DSI product. In this manual, a DSI
product is also referred to as “product” or “host.”
DriveExplorer Software
DriveExplorer software is a tool for monitoring and configuring
Allen-Bradley products and adapters. It can be run on computers running
Microsoft Windows 95, Windows 98, Windows NT (version 4.0 or
greater), and Windows CE (version 2.0 or greater) operating systems.
DriveExplorer (version 3.xx) can be used to configure this adapter and
PowerFlex 4-Class drives. Information about DriveExplorer software
and a free lite version can be accessed at http://www.ab.com/drives/
driveexplorer.
Glossary-4
DriveTools Software
A software suite designed for Microsoft Windows 95, Windows 98, and
Windows NT (4.0 or greater) operating systems. This software suite
provides a family of tools that you can use to program, monitor, control,
troubleshoot, and maintain Allen Bradley products. DriveTools 2000
(version 1.xx) can be used with PowerFlex drives. Information about
DriveTools can be accessed at http://www.ab.com/drives.
E
Electronic Data Sheet (EDS) Files
EDS files are simple text files that are used by network configuration
tools such as RSNetWorx for DeviceNet to describe products so that you
can easily commission them on a network. EDS files describe a product
device type, revision, and configurable parameters. EDS files for many
Allen-Bradley products can be found at http://www.ab.com/networks/
eds.
Explicit Messaging
Explicit Messages are used to configure, monitor, and diagnose devices
over DeviceNet.
F
Fault Action
A fault action determines how the adapter and connected product act
when a communications fault (for example, a cable is disconnected)
occurs or when the scanner is switched out of run mode. The former uses
a communications fault action, and the latter uses an idle fault action.
Fault Configuration
When communications are disrupted (for example, a cable is
disconnected), the adapter and PowerFlex drive can respond with a
user-defined fault configuration. The user sets the data that is sent to the
drive in the fault configuration parameters (Parameter 10 - [Flt Cfg
Logic] and Parameter 11 - [Flt Cfg Ref]). When a fault action
parameter is set to use the fault configuration and a fault occurs, the data
from these parameters is sent as the Command Logic and/or Reference.
Faulted Node Recovery
This DeviceNet feature lets you change a configuration of a device that
is faulted on the network. For example, if you add a device to a network
and it does not have a unique address, it will fault. If you have a
configuration tool that supports faulted node recovery and your adapter
is using parameters to set its node address and data rate, you can change
the node address.
Glossary-5
Flash Update
The process of updating firmware in the adapter. The adapter can be
flash updated using the X-Modem protocol and a 1203-SSS Smart
Self-powered Serial converter (firmware 3.xx).
H
Heartbeat Rate
The heartbeat rate is used in Change of State (COS) data exchange. It is
associated with producing data once every EPR (Expected Packet Rate)
duration. There may be four heartbeats before a time-out happens.
HIM (Human Interface Module)
A device that can be used to configure and control a PowerFlex 4-Class
drive. PowerFlex 4-Class HIMs (22-HIM-*) can be used to configure
connected peripherals.
Hold Last
When communications are disrupted (for example, a cable is
disconnected), the adapter and PowerFlex drive can respond by holding
last. Hold last results in the drive receiving the last data received via the
DeviceNet connection before the disruption. If the drive was running and
using the Reference from the adapter, it will continue to run at the same
Reference.
I
I/O Data
I/O data, sometimes called “implicit messages” or “input/output,”
transmit time-critical data such as a Logic Command and Reference. The
terms “input” and “output” are defined from the scanner’s point of view.
Output is transmitted by the scanner and consumed by the adapter. Input
is transmitted by the adapter and consumed by the scanner.
L
Logic Command/Logic Status
The Logic Command is used to control the PowerFlex drive (e.g., start,
stop, direction). It consists of one 16-bit word of input to the adapter
from the network. The definitions of the bits in this word depend on the
drive.
The Logic Status is used to monitor the PowerFlex drive (for example,
operating state, motor direction). It consists of one 16-bit word of output
from the adapter to the network. The definitions of the bits in this word
depend on the drive.
Glossary-6
N
Node Address
A DeviceNet network can have as many as 64 devices connected to it.
Each device on the network must have a unique node address between 0
and 63. Node address 63 is the default used by uncommissioned devices.
Node addresses are sometimes called “MAC IDs.”
NVS (Non-Volatile Storage)
NVS is the permanent memory of a device. Devices such as the adapter
and drive store parameters and other information in NVS so that they are
not lost when the device loses power. NVS is sometimes called
“EEPROM.”
O
Objects
The DeviceNet specification defines an object as “an abstract
representation of a particular component within a product.”
P
PCCC (Programmable Controller Communications Command)
PCCC is the protocol used by some controllers to communicate with
devices on a network. Some software products (for example,
DriveExplorer and DriveTools 2000) also use PCCC to communicate.
Polled I/O Data Exchange
A device that is configured for polling I/O data exchange sends data
immediately after it receives a request for the data. For example, an
adapter receives a Logic Status Command from the scanner and then
sends the Logic Status of the connected PowerFlex drive.
PowerFlex 4-Class Drives
The Allen-Bradley PowerFlex 4-Class family of drives include the
PowerFlex 4 and PowerFlex 40. These drives can be used for
applications ranging from 0.2 kW (0.25 HP) to 7.5 kW (10 HP). All
PowerFlex 4-Class drives implement DSI, allowing those that support an
internal adapter to use the 22-COMM-D DeviceNet adapter. The adapter
can be installed in a PowerFlex 40 drive but not in the PowerFlex 4. This
manual focuses on using the adapter with a PowerFlex 40 drive.
Glossary-7
Producer/Consumer Network
On producer/consumer networks, packets are identified by content rather
than an explicit destination. If a node needs the packet, it will accept the
identifier and consume the packet. The source therefore sends a packet
once and all the nodes consume the same packet if they need it. Data is
produced once, regardless of the number of consumers. Also, better
synchronization than Master-Slave networks is possible because data
arrives at each node at the same time
R
Reference/Feedback
The Reference is used to send a Reference (for example, speed,
frequency, torque) to the product. It consists of one word of input to the
adapter from the network. The size of the word (either a 16-bit word or
32-bit word) is determined by the drive.
Feedback is used to monitor the speed of a product. It consists of one
word of output from the adapter to the network. The size of the word
(either a 16-bit word or 32-bit word) is determined by the drive.
RSNetWorx for DeviceNet
RSNetWorx for DeviceNet software is a tool for configuring and
monitoring DeviceNet networks and connected devices. It is a 32-bit
Windows application that runs on Windows 95, Windows 98, and
Windows NT. Information about RSNetWorx for DeviceNet software
can be found at http://www.software.rockwell.com/rsnetworx.
S
Scanner
A scanner is a separate module (of a multi-module controller) or a
built-in component (of a single-module controller) that provides
communication with adapters connected to a network. See also
Controller.
Status Indicators
Status indicators are LEDs that are used to report the status of the
adapter, network, and drive. They are on the adapter and can be viewed
on the front cover of the drive when the drive is powered.
T
Type 0/Type 1/Type 2 Control
When transmitting I/O, the adapter can use different types of messages
for control. The Type 0, Type 1, and Type 2 events help Allen-Bradley
personnel identify the type of messages that an adapter is using.
Glossary-8
U
UCMM (UnConnected Message Manager)
UCMM provides a method to create connections between DeviceNet
devices.
Z
Zero Data
When communications are disrupted (for example, a cable is
disconnected), the adapter and drive can respond with zero data. Zero
data results in the drive receiving zero as values for command data. If the
drive was running and using the Reference from the adapter, it will stay
running but at zero Reference.
Index
Numerics
bus off, G-1
10-pin linear plug, 2-4
5-pin linear plug, 2-4
A
adapter
adding to the scan list, 4-2
applying power, 2-7
commissioning, 2-1
compatible products, 1-3
components, 1-1
definition, G-1
features, 1-2
grounding, 2-5
illustration, 1-1
installing, 2-1 to 2-7
mapping I/O in the scanner, 4-5
mounting, 2-5 to 2-6
parameters, B-1 to B-4
resetting, 3-11
Single/Multi-Drive mode of
operation, 2-3
specifications, A-1
tools to configure, 3-1
troubleshooting, 8-1
viewing the active configuration,
3-12
applying power to the adapter, 2-7
attentions, 1-4
Automatic Device Replacement
(ADR)
definition, G-1
B
baud rate, refer to data rate
bit definitions for Logic Command/
Status Word, D-1
C
cables
DeviceNet, 2-4
DSI Internal Interface, 2-5
catalog number, 1-1
Change of State (COS)
configuring a scanner for, 4-4
configuring an adapter for, 3-8
definition, G-1
class, G-1
Comm Flt Action parameter, B-2
commissioning the adapter, 2-1
communications module, refer to
adapter
compatible products, 1-3
components, 1-1
configuration tools, 3-1
connecting the adapter to the
network, 2-4
Connection object, C-4
controller
ControlLogix, 5-4, 6-8
definition, G-2
PLC, 5-7, 6-11
running Explicit Messages, 6-7
SLC, 5-9, 6-13
ControlLogix
example program for Explicit
Messages, 6-8
example program for I/O, 5-4
example program for Multi-Drive
mode, 7-7 to 7-20
formatting Explicit Messages, 6-2
COS Fdbk Change parameter, B-3
COS Status Mask parameter, B-3
Index-2
COS, refer to Change of State
COS/Cyc Interval parameter, B-3
Cyclic
configuring a scanner for, 4-4
configuring an adapter for, 3-8
definition, G-2
D
data exchange
Change of State (COS), G-1
Cyclic, G-2
Polled, G-6
data rate
definition, G-2
setting with a parameter, 3-7
setting with the switches, 2-2
DeviceNet
10-pin linear plug, 2-4
5-pin linear plug, 2-4
cable, 2-4
connector on adapter, 1-1
definition, G-3
example network, 4-1
objects, C-1
DeviceNet adapter, refer to adapter
dimensions, A-1
DN Act Cfg parameter, B-3
DN Addr Act parameter, B-1
DN Addr Cfg parameter, B-1
DN Rate Act parameter, B-2
DN Rate Cfg parameter, B-2
DriveExplorer
accessing parameters with, 3-1
definition, G-3
free lite version, G-3
supported feature, 1-2
drives, see PowerFlex drives
DriveTools
accessing parameters with, 3-1
definition, G-4
supported feature, 1-2
Drv 0 - 4 Addr parameters, B-4
DSI
connector on adapter, 1-1
data rate, 3-12
definition, G-3
Internal Interface cable, 2-5
peripheral, G-3
products, G-3
DSI I/O Act parameter, B-4
DSI I/O Cfg parameter, B-4
DSI Mode parameter, B-1
E
EDS (Electronic Data Sheet) files
creating with RSNetWorx, 3-5
definition, G-4
web site, G-4
EEPROM, refer to Non-Volatile
Storage (NVS)
equipment required, 1-3
events
clearing, 8-6
list of, 8-7
viewing, 8-6
Explicit Messages
about, 6-1
ControlLogix format, 6-2
definition, G-4
PLC format, 6-4
running, 6-7
SLC format, 6-4
Index-3
F
fault action
configuring an adapter, 3-10
definition, G-4
fault configuration
configuring an adapter for, 3-10
definition, G-4
faulted node recovery
definition, G-4
supported feature, 1-2
faults, refer to events
features, 1-2
firmware release, soc-i, P-2
flash update, G-5
Flt Cfg Logic parameter, B-3
Flt Cfg Ref parameter, B-3
formatting Explicit Messages, 6-2
G
going online with RSNetWorx, 3-4
grounding the adapter, 2-5
H
heartbeat rate
definition, G-5
setting in the scanner, 4-4
HIM (Human Interface Module)
accessing parameters with, 3-1
definition, G-5
using PowerFlex 4-Class HIM, 3-2
hold last
configuring an adapter for, 3-10
definition, G-5
I
I/O
about, 5-1
configuring an adapter for, 3-8
configuring scanner for, 4-4
definition, G-5
examples, 5-3, 7-6
image, 5-2, 7-4
input, 4-5
mapping in the scanner, 4-5
output, 4-6
Identity object, C-2
Idle Flt Action parameter, B-2
installation
applying power to the adapter, 2-7
commissioning the adapter, 2-1
connecting to the drive, 2-5
connecting to the network, 2-4
preparing for, 2-1
Internal Interface cable
connecting to a drive, 2-5
connecting to an adapter, 2-5
illustration, 2-5
L
LEDs, refer to status indicators
Logic Command/Status
bit definitions, D-1
definition, G-5
in I/O image, 5-2, 7-4
using, 5-2
Logix5550, refer to ControlLogix
M
MAC ID, refer to node address
manual
conventions, P-2
related documentation, P-1
web site, P-1
Index-4
mechanical dimensions, A-1
P
messages, refer to Explicit Messages
Parameter Group object, C-11
MOD status indicator
locating, 8-1
troubleshooting with, 8-3
Parameter object, C-8
modes of operation, 1-6
mounting the adapter, 2-5 to 2-6
Multi-Drive mode
additional information, 7-22
Explicit messaging, 7-20
ladder logic program example, 7-6
setting with the jumper, 2-3
system wiring, 7-3
using, 7-1
versus Single mode, 7-1
N
NET A status indicator
locating, 8-1
troubleshooting with, 8-4
NET B status indicator
locating, 8-1
not used, 8-1
node address
definition, G-6
setting with a parameter, 3-7
setting with switches, 2-2
Non-Volatile Storage (NVS)
definition, G-6
in adapter, 3-1
in drive, 6-1
O
parameters
accessing, 3-1
active configuration, 3-12
convention, P-2
editing with RSNetWorx, 3-6
list of, B-1 to B-4
numbers, B-1
PCCC
definition, G-6
supported feature, 1-2
PCCC object, C-13
PLC
example program for Explicit
Messages, 6-11
example program for I/O, 5-7
formatting Explicit Messages, 6-4
plug, 2-4
Polled
configuring a scanner for, 4-4
configuring an adapter for, 3-8
definition, G-6
PORT status indicator
locating, 8-1
troubleshooting with, 8-2
power consumption, A-1
PowerFlex drives, G-6
4/40 Logic Command/Status, D-1
adding to the scan list, 4-2
compatible with adapter, 1-3
HIM, 3-2
installing adapter on, 2-5
mapping I/O in the scanner, 4-5
objects
definition, G-6
list, C-1
preparing for an installation, 2-1
ODVA DeviceNet specification, G-3
producer/consumer network, G-7
operating status, 1-6
programmable logic controller, refer
to controller
processor, refer to controller
Index-5
R
reference/feedback
definition, G-7
in I/O image, 5-2, 7-4
using, 5-3
Register object, C-6
regulatory compliance, A-1
related documentation, P-1
Reset Module parameter, B-2
ribbon cable, refer to Internal
Interface cable
RSLinx, P-2, 3-3
RSNetWorx for DeviceNet
creating EDS files with, 3-5
definition, G-7
editing parameters with, 3-6
going online, 3-4
saving a network configuration,
4-7
setting up RSLinx for, 3-3
using to map I/O, 4-5
using to set up a scan list, 4-2
web site, G-7
SLC
example program for Explicit
Messages, 6-13
example program for I/O, 5-9
formatting Explicit Messages, 6-4
specifications
adapter, A-1
DeviceNet, G-3
status indicators
definition, G-7
identifying, 1-6
locating, 8-1
switches
locating, 1-1
setting, 2-2
T
technical support, P-2
tools required, 1-3
troubleshooting, 8-1
U
UCMM, G-8
S
update, see flash update
safety precautions, 1-4
scan list, 4-2
scanner
adding devices to a scan list, 4-2
configuring for COS, Cyclic, or
Polled, 4-4
definition, G-7
mapping I/O, 4-5
Single mode
setting with the jumper, 2-3
versus Multi-Drive mode, 7-1
W
web site
for EDS files, G-4
for manuals, P-1
wiring, refer to cables
Z
zero data
configuring an adapter for, 3-10
definition, G-8
Index-6
www.rockwellautomation.com
Corporate Headquarters
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U.S. Allen-Bradley Drives Technical Support
Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: [email protected], Online: www.ab.com/support/abdrives
Publication 22COMM-UM003A-EN-P – January, 2003
P/N 308269-P01
Copyright 2003 Rockwell International Corporation. All rights reserved. Printed in USA.