Emerson Epsilon EiDeviceNet Drive User's Manual

Emerson Epsilon EiDeviceNet Drive User's Manual
Epsilon Ei DeviceNet Drive
Reference Manual
P/N 400501-08
Revision A2
Date: March 20,2002
© 2001, 2002 Control Techniques Drives, Inc.
Epsilon Ei
DeviceNet Drive
Reference Manual
Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be
accurate and reliable. However, no responsibility is assumed by Control Techniques for its use.
Control Techniques reserves the right to change the design or operation of the equipment described
herein and any associated motion products without notice. Control Techniques also assumes no
responsibility for any errors that may appear in this document. Information in this document is subject
to change without notice.
P/N 400501-08
Revision A2
Date: March 20, 2002
© 2001, 2002 Control Techniques Drives, Inc.
© 2001, 2002 Control Techniques Drives, Inc.
Part Number: 400501-08
Revision A2
Date: March 2002
Printed in United States of America
Information in this document is subject to change without notice. No part of this document may be
reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose,
without the express written permission of Control Techniques.
The following are trademarks of Control Techniques and may not be reproduced in any fashion
without written approval of Control Techniques: EMERSON Motion Control, EMERSON Motion
Control PowerTools, AXIMA, “Motion Made Easy.”
Control Techniques is a division of EMERSON Co.
Control Techniques Drives, Inc. is not affiliated with Microsoft Corporation, owner of the Microsoft,
Windows, and Windows NT trademarks.
This product contains DeviceNet software that is licensed from SST, a Division of Woodhead Limited,
50 Northland Road, Waterloo, Ontario - Canada - N2V 1N3.
DeviceNet is a trademark of Open DeviceNet Vendor Association.
RS Networx and SLC 500 PLC are trademarks of Allen Bradley. Control Techniques Drives, Inc. is
not affiliated with Allen Bradley.
This document has been prepared to conform to the current released version of the product. Because
of our extensive development efforts and our desire to further improve and enhance the product,
inconsistencies may exist between the product and documentation in some instances. Call your
customer support representative if you encounter an inconsistency.
ii
Customer Support
Control Techniques
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.
Telephone: (952) 995-8000 or (800) 397-3786
It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation
of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is
why we offer you so many ways to get the support you need. Whether it’s by phone, fax or
modem, you can access Control Techniques support information 24 hours a day, seven days
a week. Our wide range of services include:
FAX
(952) 995-8099
You can FAX questions and comments to Control Techniques. Just send a FAX to the number
listed above.
Website and Email
www.emersonct.com
Website: www.emersonct.com
Email: [email protected]emersonct.com
If you have Internet capabilities, you also have access to technical support using our website.
The website includes technical notes, frequently asked questions, release notes and other
technical documentation. This direct technical support connection lets you request assistance
and exchange software files electronically.
Technical Support
(952) 995-8033 or (800) 397-3786
Email: [email protected]
Control Techniques’ “Motion Made Easy” products are backed by a team of professionals
who will service your installation. Our technical support center in Eden Prairie, Minnesota is
ready to help you solve those occasional problems over the telephone. Our technical support
center is available 24 hours a day for emergency service to help speed any problem solving.
Also, all hardware replacement parts, if needed, are available through our customer service
organization.
When you call, please be at your computer, with your documentation easily available, and be
prepared to provide the following information:
•
Product version number, found by choosing About from the Help menu
•
The type of controller or product you are using
iii
•
Exact wording of any messages that appear on your screen
•
What you were doing when the problem occurred
•
How you tried to solve the problem
Need on-site help? Control Techniques provides service, in most cases, the next day. Just call
Control Techniques’ technical support center when on-site service or maintenance is
required.
Training Services
(952) 995-8000 or (800) 397-3786
Email: [email protected]
Control Techniques maintains a highly trained staff of instructors to familiarize customers
with Control Techniques’ “Motion Made Easy” products and their applications. A number of
courses are offered, many of which can be taught in your plant upon request.
Application Engineering
(952) 995-8000 or (800) 397-3786
Email: [email protected]
An experienced staff of factory application engineers provides complete customer support for
tough or complex applications. Our engineers offer you a broad base of experience and
knowledge of electronic motion control applications.
Customer Service (Sales)
(952) 995-8000 or (800) 397-3786
Email: [email protected]
Authorized Control Techniques distributors may place orders directly with our Customer
Service department. Contact the Customer Service department at this number for the
distributor nearest you.
Document Conventions
Manual conventions have been established to help you learn to use this manual quickly and
easily. As much as possible, these conventions correspond to those found in other Microsoft®
Windows® compatible software documentation.
Menu names and options are printed in bold type: the File menu.
Dialog box names begin with uppercase letters: the Axis Limits dialog box.
Dialog box field names are in quotes: “Field Name.”
Button names are in italic: OK button.
Source code is printed in Courier font: Case ERMS.
iv
In addition, you will find the following typographic conventions throughout this manual.
This
Represents
bold
Characters that you must type exactly as they appear. For example, if you are directed to type
a:setup, you should type all the bold characters exactly as they are printed.
italic
Placeholders for information you must provide. For example, if you are directed to type
filename, you should type the actual name for a file instead of the word shown in italic type.
ALL CAPITALS
Directory names, file names, key names, and acronyms.
SMALL CAPS
Non-printable ASCII control characters.
KEY1+KEY2
example: (Alt+F)
A plus sign (+) between key names means to press and hold down the first key while you press
the second key.
KEY1,KEY2
example: (Alt,F)
A comma (,) between key names means to press and release the keys one after the other.
Note
For the purpose of this manual and product, “Note” indicates essential information about
the product or the respective part of the manual.
Throughout this manual, the word “drive” refers to an Epsilon drive.
“Warning” indicates a potentially hazardous situation that, if not avoided, could result in
death or serious injury.
“Caution” indicates a potentially hazardous situation that, if not avoided, may result in
minor or moderate injury.
“Caution” used without the safety alert symbol indicates a potentially hazardous situation
that, if not avoided, may result in property damage.
v
Safety Instructions
General Warning
Failure to follow safe installation guidelines can cause death or serious injury. The voltages
used in the product can cause severe electric shock and/or burns and could be lethal. Extreme
care is necessary at all times when working with or adjacent to the product. The installation
must comply with all relevant safety legislation in the country of use.
Qualified Person
For the purpose of this manual and product, a “qualified person” is one who is familiar with
the installation, construction and operation of the equipment and the hazards involved. In
addition, this individual has the following qualifications:
•
Is trained and authorized to energize, de-energize, clear and ground and tag circuits and
equipment in accordance with established safety practices.
•
Is trained in the proper care and use of protective equipment in accordance with
established safety practices.
•
Is trained in rendering first aid.
Reference Materials
The following related reference and installation manuals may be useful with your particular
system.
vi
•
Epsilon Ei Drive Installation Manual (P/N 400501-06)
•
Epsilon Ei and FM-2 Module Indexing Reference Manual (P/N 400507-01)
•
FM-3 & FM-4 DeviceNet Module Reference Manual (P/N 400508-03)
•
Epsilon and E Series Drive Parameters Reference Manual (P/N 400504-01)
•
ODVA Specification Volumes I and II, Release 2.0
Safety Considerations
Safety Precautions
This product is intended for professional incorporation into a complete system. If you install
the product incorrectly, it may present a safety hazard. The product and system may use high
voltages and currents, carry a high level of stored electrical energy, or are used to control
mechanical equipment that can cause injury.
You should give close attention to the electrical installation and system design to avoid
hazards either in normal operation or in the event of equipment malfunction. System design,
installation, commissioning and maintenance must be carried out by personnel who have the
necessary training and experience. Read and follow this safety information and instruction
manual carefully.
Enclosure
This product is intended to be mounted in an enclosure that prevents access except by trained
and authorized personnel and prevents the ingress of contamination. This product is designed
for use in an environment classified as pollution degree 2 in accordance with IEC664-1. This
means that only dry, non-conducting contamination is acceptable.
Setup, Commissioning and Maintenance
It is essential that you give careful consideration to changes to drive settings. Depending on
the application, a change could have an impact on safety. You must take appropriate
precautions against inadvertent changes or tampering. Restoring default parameters in certain
applications may cause unpredictable or hazardous operation.
vii
Safety of Machinery
Within the European Union all machinery in which this product is used must comply with
Directive 89/392/EEC, Safety of Machinery.
The product has been designed and tested to a high standard. However the level of integrity
offered by the product’s control function – for example stop/start, forward/reverse and
maximum speed – is not sufficient for use in safety-critical applications without additional
independent channels of protection. All applications where malfunction could cause injury or
loss of life must be subject to a risk assessment, and further protection must be provided
where needed.
General warning
Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in
this unit can cause severe electric shock and/or burns, and could be lethal. Extreme care is necessary
at all times when working with or adjacent to this equipment. The installation must comply with all
relevant safety legislation in the country of use.
AC supply isolation device
The AC supply must be removed from the drive using an approved isolation device or disconnect
before any servicing work is performed, other than adjustments to the settings or parameters
specified in the manual. The drive contains capacitors which remain charged to a potentially lethal
voltage after the supply has been removed. Allow at least 6 minutes for the Epsilon 205, 3 minutes
for Epsilon 202/203 and 30 seconds for E Series drives after removing the supply before carrying
out any work which may involve contact with electrical connections to the drive.
Products connected by plug and socket
A special hazard may exist where the drive is incorporated into a product which is connected to the
AC supply by a plug and socket. When unplugged, the pins of the plug may be connected to the
drive input, which is only separated from the charge stored in the bus capacitor by semiconductor
devices. To avoid any possibility of electric shock from the pins, if they are accessible, a means
must be provided for automatically disconnecting the plug from the drive (e.g., a latching
contactor).
Grounding (Earthing, equipotential bonding)
The drive must be grounded by a conductor sufficient to carry all possible fault current in the event
of a fault. The ground connections shown in the manual must be followed.
Fuses
Fuses or over-current protection must be provided at the input in accordance with the instructions
in the manual.
Isolation of control circuits
The installer must ensure that the external control circuits are isolated from human contact by at
least one layer of insulation rated for use at the applied AC supply voltage.
viii
Table of Contents
Safety Considerations
Introduction
vii
1
Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
DeviceNet Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
DeviceNet Communications Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
DeviceNet Messaging and Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Master/Slave Relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Installation
5
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
DeviceNet Hardware Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Physical Connections to the DeviceNet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Configuring the DeviceNet Network
9
Connection Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
DeviceNet Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Data Processing/Order of Operations for Fixed Assembly Blocks . . . . . . . . . . . . . . . . . . . 17
DeviceNet Online Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Input and Output Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
DN Allocation Choice (Connections Established) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
DN Allocation Master MacID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
DN Baud Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
DN Bus Off Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
DN Bus Off Fault Count. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
DN Bus Off Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
DN Comm Time-out Fault Count. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DN Device Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DN Duplicate MacID Fault Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DN FAB Master Receive Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DN FAB Master Send Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
DN Host Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
DN MacID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
DN Master Receive Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
DN Master Receive FAB Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
ix
DN Master Send Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Master Send FAB Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Module Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Network Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Receive Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Status Major Recoverable Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Status Major Unrecoverable Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Status Minor Recoverable Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Status Minor Unrecoverable Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Transmit Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DN Vendor ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the EDS File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hardware Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Network Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Baud Rate and MacID Externally (One Touch) . . . . . . . . . . . . . . . . . . . . . . . .
Network Configuration
Quick Start
35
Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon Ei DeviceNet Drive Configuration Quick Start Process . . . . . . . . . . . . . . . . . . . . . . . .
Polled I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explicit Messaging Quick Start
27
28
28
29
29
29
29
30
30
30
30
31
31
31
32
32
35
35
36
48
53
Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
How to Send Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Explicit Messaging Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Drive Parameters
61
By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
By DeviceNet Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Appendix
71
Glossary
75
Index
79
x
Epsilon Ei DeviceNet Drive Reference Manual
Introduction
Purpose
This manual describes the Epsilon Ei DeviceNet (Ei-DN) Servo Drive and gives examples for
connecting DeviceNet® with Epsilon Indexing drives. The reader should have knowledge of
basic DeviceNet concepts. In addition, the user should be familiar with the functionality of
the Epsilon Ei drive. The Ei-DN drive is capable of all functions of the Epsilon Ei, as
described in the Epsilon Ei Reference Manual (P/N 400507-01). The Quick Start chapters of
this manual offer specific examples of various messaging types as well as a programming
reference that lists functional requirements for the Epsilon Ei-DN drive. For a list of
definitions, consult the“Glossary” on page 75.
Diagnostic Display
Reset Button
Network Status LED - See page 32
Module Status LED - See page 31
DeviceNet Connections See page 6
Figure 1: Epsilon Ei DeviceNet Drive - Ei-DN-205 Shown
1
Epsilon Ei DeviceNet Drive Reference Manual
The Epsilon Ei-DN configuration is easily set within PowerTools FM software. In
PowerTools FM software, the user has the option to select between 8 predefined assembly
blocks to be transferred using polled data (8 bytes input, 8 bytes output polled data length per
drive). The Ei-DN additionally allows the master to set up an explicit messaging connection
to access all user accessible parameters within the Epsilon drive through PLC logic.
The Epsilon Ei-DN drive has passed internal tests for conformance as a group 2 DeviceNet
slave.
DeviceNet Overview
DeviceNet is a low-level network that provides connections between simple industrial
devices (sensors, actuators) and higher level devices (industrial PLC’s). DeviceNet standards
and specifications are managed by the Open DeviceNet Vendors Assoc. (ODVA) which is an
independent supplier organization that manages the DeviceNet specification and supports the
worldwide growth of DeviceNet and Ethernet IP.
DeviceNet Communications Link
DeviceNet has two primary purposes:
1.
Transport of control-oriented information associated with low-level devices.
2.
Transport of other information that is indirectly related to the system being controlled,
such as configuration parameters.
The list below presents a summary of the Physical/Media specific characteristics of
DeviceNet:
2
1.
Trunk-line/drop-line configuration (See Figure 2, “Master/Slave Relationship” on
page 4.)
2.
Support for up to 64 nodes
3.
Node removal without severing the network
4.
Simultaneous support for both network-powered (sensors) and self-powered (actuators)
devices
5.
Use of sealed or open-style connectors
6.
Protection from wiring errors
7.
Selectable data rates of 125k baud, 250k baud, and 500k baud
8.
High current capability (up to 16 amps per supply)
Introduction
9.
Operation with off-the-shelf power supplies
10. Power taps that allow the connection of several power supplies from multiple vendors
that comply with DeviceNet standards
11. Built-in overload protection
12. Power available along the bus: both signal and power lines contained in the trunk line
DeviceNet Messaging and Communications
Master/Slave Relationship
ODVA defines a DeviceNet Master as:
The device that gathers and distributes I/O data for the process controller. A Master contains
a scan list it uses to poll slave devices.
ODVA defines a DeviceNet Slave as:
The slave returns I/O data to its Master when it is polled. With respect to the network, the
Slave is a Group 2 Server or a Group 2 Only Server.
3
Epsilon Ei DeviceNet Drive Reference Manual
DeviceNet
Configure Master
RSNetworx
RsLinx
Configure PLC
Configure Ei-DN
DeviceNet
Slaves (Nodes)
Drop Line
Trunk Line
DeviceNet Master
Scanner Card
Explicit Message Setup
RSLogix
RsLinx
Figure 2:
4
Master/Slave Relationship
24VDC
Power Supply
Epsilon Ei DeviceNet Drive Reference Manual
Installation
Mechanical Installation
Follow the instructions for mechanical installation of an Epsilon Ei Drive as outlined in the
Epsilon Ei Installation Manual (P/N 400501-06).
DeviceNet Hardware Components
The following components are necessary to design a DeviceNet cable system:
•
Cables
•
Nodes/Devices
•
Connectors
•
Power Supply
•
Terminating Resistors
Cables
These cables can be obtained from the supplier of the DeviceNet Network Master. (For more
details see the ODVA Specification Volumes I and II, Release 2.0.)
Thick Cable
The thick cable consists of two shielded pairs twisted on a common axis with a drain line in
the center covered with an overall braid. The shield is commonly used as a trunk line when
length is important.
Thin Cable
The thin cable is smaller and more flexible than the thick cable. It is commonly used for drop
lines but can be used for shorter distances as a trunk line.
Nodes/Devices
A DeviceNet slave is any device that is addressable through DeviceNet and contains
DeviceNet communications circuitry. DeviceNet Slaves must comply with the following:
A slave must be connected to the network by a tap and drop-line.
Slaves must be DeviceNet-compatible devices.
63 Slaves can be supported on one network.
Each Slave must be assigned a media access control identification number (MacID).
MacID’s on a single network must be unique.
5
Epsilon Ei DeviceNet Drive Reference Manual
Connectors
DeviceNet connectors can be either open-style (wires exposed) or sealed. These connectors
can be obtained from the supplier of the DeviceNet Network Master. (For more details see
the ODVA Specification Volumes I and II, Release 2.0.)
Power Supply Requirements
A separate 24 VDC power supply is needed for the DeviceNet network. The Ei-DN slave
interface is powered using this “network power.” Devices may take all of their required power
off of the network per ODVA specifications.
The Ei-DN draws 25 mAmps from the DeviceNet power supply.
The power supply must have its own current limit protection.
Fuse protection must be provided for each segment of the cable system.
The power supply must be correctly sized to provide each device with its required power.
Power supplies should be distributed throughout the DeviceNet network to maintain a
maximum of 4 Amps per trunk branch.
For more details, refer to the ODVA Specification Volumes I and II, Release 2.0.
Terminating Resistors
Terminating resistors are used to reduce the reflection of signals over the network. Each
terminator must be 121 ohms and installed on both ends of the network between CAN_L (pin
2) and CAN_H (pin 3).
Electrical Installation
Physical Connections to the DeviceNet Network
A standard five wire configuration is used to connect the Ei-DN to the DeviceNet Network.
A 24 Volt power supply should be connected between V+ and V-.
When multiple Ei-DN devices are present on the network, connection with all devices can be
accomplished by either daisy chaining or by using a multiple tap box.
Pin Number
6
Name
Insulation Color
1
V-
Black
2
CAN_L
Blue
3
Drain
None
4
CAN_H
White
5
V+
Red
Installation
The connector provided for the DeviceNet connection is keyed: VT (pin 5) and should be
wired to the keyed slot.
Terminating
Resistor
Figure 3:
DeviceNet Wiring
7
Epsilon Ei DeviceNet Drive Reference Manual
8
Epsilon Ei DeviceNet Drive Reference Manual
Configuring the DeviceNet Network
Connection Types
The Epsilon Ei-DN DeviceNet interface was designed to communicate with a DeviceNet
network in two ways. Polled I/O connections and Explicit Messaging connections can be used
to access all read or read/write data from the Epsilon Ei-DN.
Polled I/O Connections (Implicit Messaging)
The Poll Command is an I/O Message that is transmitted by the Master. A Poll Command is
directed towards a single, specific Slave (point-to-point). A Master must transmit a separate
Poll Command Message for each one of its Slaves that is to be polled. The Poll Response is
an I/O Message that a Slave transmits back to the Master.
A Polled Message contains I/O data that can be read by the PLC on every scan. Polled
messages are used for high priority data and are typically used to transmit parameters, such
as index initiates or position feedback.
Explicit Messaging
Explicit Messages are initiated from a user-created program inside a PLC or PC-based
software program. In a PLC, these messages are sent and received using the PLC-specific
explicit message setup. Using Explicit Messaging, all user parameters can be accessed in the
Ei-DN drive. These messages allow parameters to be sent in messages that may take multiple
scans of the PLC. Explicit Messages are lower priority than Polled I/O messaging connections
and work well for transferring recipes or any 32 bit parameters to the drive.
Software Interface
This section discusses how to configure a DeviceNet Network with PowerTools FM software
and discusses the parameters that appear on the tabs related to DeviceNet configuration. Other
tabs are described in the Epsilon Ei Indexing Drive and FM-2 Indexing Module Reference
Manual (P/N 400507-01).
DeviceNet Tab
The DeviceNet tab allows the user to configure DeviceNet parameters and watch the
DeviceNet Parameters while online with the drive through PowerTools FM. The DeviceNet
tab has two sub-tabs: DN Setup and Online.
The DN Setup tab allows the user to set up MacID, Baud Rate, choice of predefined assembly
blocks, and host-mode enable as well as display the fixed assembly block word mapping.
9
Epsilon Ei DeviceNet Drive Reference Manual
Figure 4:
The DeviceNet Setup Tab
MacID
The MacID is the number assigned to a particular node. Every node on a DeviceNet network
must have a unique MacID. The range is 0-63. The MacID is also read/write accessible with
the one-touch configuration described in “Setting the Baud Rate and MacID Externally (One
Touch)” on page 32.
Baud Rate
Three standard baud rates can be configured for the DeviceNet network: 125K, 250K, and
500K. The baud rate is also read/write accessible with the one touch configuration described
in “Setting the Baud Rate and MacID Externally (One Touch)” on page 32.
Master Receive and Master Send Assembly Block Selections
In PowerTools FM the user is given the option to select from 9 predefined assembly blocks.
Master Receive Assembly Block data translates to 8 bytes of Polled I/O data that will be
transferred from the Ei-DN to the Master via DeviceNet, and Master Receive Assembly
Block data translates to 8 bytes of polled I/O data that will be transferred from the Master to
the Ei-DN.
Index Select Predefined (Index Sel (Predef))
Index Sel (Predef) is a fixed assembly block used for reading and writing basic functions to
and from the Ei-DN. This fixed assembly block is the default selection in PowerTools FM
10
Configuring the DeviceNet Network
and has many parameters premapped for quick setup and replacement. Index Sel (Predef) was
created to keep everything simple and standard for the user. Bits that are generally used have
been included in the assembly block for “no-work” access to DeviceNet I/O. The Index Sel
(Predef) is set as default so the user can set Baud Rate, MacID, drive type and then start
communication. The following tables display the data mapping for the Index Sel (PreDef)
Assembly Blocks. See “Appendix” on page 71 for expanded versions of these tables.
Master ReceiveAssembly Block - Index Sel (Predef)
Word
Bit 15
Bit 14
Bit 13
0
End of
Index
End of
Chaining
Count
End of
Index
Count
1
Reserved
Reserved
Reserved
Bit 12
End of
Index
Motion
Bit 11
Travel
Limit -
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Travel
Limit +
Reg
Limit
Distance
Hit
Brake
Release
Enable
State
In - Motion
In +
Motion
At
Velocity
End of
Home
Torque
Limit
Fault
Drive
OK
Registration
Sensor 1
Status
Registration
Sensor 2
Status
Home
Sensor
Status
Absolute
Position
Valid
Home
Limit
Dist Hit
Motion
State Bit
2
Motion
State Bit
1
Motion
State Bit
0
Input Word Select Data Pointer (See page 14)
2
3
Data Low Word
MS Bit
LS Bit
Data High Word
Master Send Assembly Block - Index Sel (Predef)
Word
Bit 15
Bit 14
Bit 13
Bit 12
0
Index
Select Bit
3
Index
Select Bit
2
Index
Select Bit
1
Index
Select Bit
0
1
Reserved
Reserved
Reset
Bit 11
Jog -
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Jog +
Home
Initiate
Start
Index
DN Bit 7
MS
DN Bit 6
MS
DN Bit 5
MS
DN Bit 4
MS
DN Bit 3
MS
DN Bit 2
MS
DN Bit 1
MS
DN Bit 0
MS
Enable
Stop
Define
Home
Output Word Select Data Pointer (See page 15)
2
3
Input Word Select Data Pointer (See page 14)
Data Low Word
MS Bit
LS Bit
Data High Word
Index Select User Defined (Index Sel (UserDef))
Index Sel (UserDef) is the fixed assembly block used when intiating multiples indexes as with
a standard Ei drive. Assignments are made on the same screen as with the Index Sel (Predef).
Index Sel (UserDef) is used for more advanced Ei applications. By allowing the user to set up
his own DN bits, more advanced operations can be controlled right over the DeviceNet
network. In addition to Home and Jog, any of the 16 indexes may be Initiated or changed. The
following tables display the data mapping for the Index Sel (UserDef) Assembly Blocks. See
“Appendix” on page 71 for expanded versions of these tables.
Master Receive Assembly Block - Index Sel (Userdef)
Word
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
DN Bit
15 MR
DN Bit
14 MR
DN Bit
13 MR
DN Bit
12 MR
DN Bit
11 MR
DN Bit
10 MR
DN Bit
9 MR
DN Bit
8 MR
DN Bit
7MR
DN Bit
6MR
DN Bit
5 MR
DN Bit
4 MR
DN Bit
3 MR
DN Bit
2 MR
DN Bit
1 MR
DN Bit
0 MR
1
Reserved
Reserved
Reserved
Index
Select
Bit 3
Index
Select
Bit 2
Index
Select
Bit 1
Index
Select
Bit 0
Enable
State
Motion
State Bit
2
Motion
State Bit
1
Motion
State Bit
0
2
3
Input Word Select Data Pointer (See page 14)
Data Low Word
MS Bit
LS Bit
Data High Word
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Epsilon Ei DeviceNet Drive Reference Manual
Master Send Assembly Block - Index Sel (Userdef)
Word
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Index
Select
Bit 3
Index
Select
Bit 2
Index
Select
Bit 1
Index
Select
Bit 0
DN Bit
11 MS
DN Bit
10 MS
DN Bit
9 MS
DN Bit
8 MS
DN Bit
7 MS
DN Bit
6 MS
DN Bit
5 MS
DN Bit
4 MS
DN Bit
3 MS
DN Bit
2 MS
DN Bit
1 MS
DN Bit
0 MS
1
Reserved
Reserved
Reserved
Reserved
Reserved
Enable
Output Word Select Data Pointer (See page 15)
2
Input Word Select Data Pointer (See page 14)
Data Low Word
3
MS Bit
LS Bit
Data High Word
Index Type
Index Type is the fixed assembly block used for reading and writing parameters when one
index is running different index types (incremental, absolute, etc.). The Index Type Assembly
Block is used to set up and initiate one index as a position controller but also provides the user
with the additional functionality of the Epsilon Ei drive (i.e. home, jog, or most other I/O
parameters). The Index Type Assembly Block gives the user the flexibility of being able to
control the drive position by position but also gives Home and Jog functionality right within
the DeviceNet I/O. See “Appendix” on page 71for expanded versions of these tables
Master Receive Assembly Block - Index Type
Word
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
DN Bit
7 MR
DN Bit
6 MR
DN Bit
5 MR
DN Bit
4 MR
DN Bit
3 MR
DN Bit
2 MR
DN Bit
1 MR
DN Bit
0 MR
Enable
State
Absolute
Position
Valid
Home
Limit
Distance
Hit
Reg
Limit
Distance
Hit
End of
Home
Torque
Limit
Fault
Drive
OK
1
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Travel
Limit -
Travel
Limit +
Motion
State Bit
2
Motion
State Bit
1
Motion
State Bit
0
Input Word Select Data Pointer (See page 14)
2
Data Low Word
3
MS Bit
LS Bit
Data High Word
Master Send Assembly Block - Index Type
Word
Bit 15
Bit 14
Bit 13
0
DN Bit 7
DN Bit 6
DN Bit 5
1
Reserved
Reserved
Reserved
2
3
Bit 12
DN Bit 4
Bit 11
DN Bit 3
Bit 10
DN Bit 2
Bit 9
Bit 8
DN Bit 1
Bit 7
DN Bit 0
Output Word Select Data Pointer (See page 15)
Bit 5
Enable
Reset
Stop
Jog Fast
Jog -
Jog +
Data Low Word
MS Bit
Bit 6
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Home
Initiate
Index
Type Bit
2
Index
Type Bit
1
Index
Type Bit
0
Start
Index
Input Word Select Data Pointer (See page 14)
LS Bit
Data High Word
Note
“Index Type” bit 1, 2, and 3 in Master Send Block determine the functionality if the
specified index. As noted in the Drives Parameters Reference Manual (400504-01) the
value of these bits reflect the following data: 000 Incremental Index, 001 Absolute Index,
010 Registration Index, 011 Rotary Plus, and 100 Rotary Minus.
Position Control
Position Control is the fixed assembly block designed using the “Position Controller” profile
for DeviceNet as a guide. Parameters are transferred over the polled I/O connection. Using
12
Configuring the DeviceNet Network
the position controller profile positions, velocities, accels, and decels can be written for a
single index. The index can then be initiated. The Position Control object is used heavily
when a central PLC is desired to control all of the Slaves. This type of configuration allows
for quick parameter changes. The following tables display the data mapping for the Position
Control Assembly Blocks. See “Appendix” on page 71 for expanded versions of these tables
Master Receive Assembly Block - Position Control
Word
Bit 15
Bit 14
Bit 13
0
Reserved
Reserved
Reserved
1
Reserved
Reserved
Reserved
Bit 12
Reserved
Bit 11
Reserved
Bit 10
Reserved
Bit 9
Reserved
Reserved
Response Assembly Code (See page 16)
2
3
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Enable
State
Valid
Data = 1
Ignore
Data = 0
Absolute
Position
Valid
Stop
Input
Fault
End of
Index
Motion
Reserved
Trajectory
Started
Command
Error
Reserved
Trajectory
Start Echo
Reserved
Reserved
CCW
Hardware
Limit
(Travel
Limit -)
CW
Hardware
Limit
(Travel
Limit +)
Drive OK
Data Low Word
MS Bit
LS Bit
Data High Word
Master Send Assembly Block - Position Control
Word
Bit 15
Bit 14
Bit 13
0
Reserved
Reserved
Reserved
1
Reserved
Reserved
Reserved
Bit 12
Reserved
Bit 11
Reserved
Bit 10
Reserved
Bit 9
Reserved
Reserved
Response Assembly Code (See page 16)
2
3
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Enable
Valid
Data = 1
Ignore
Data = 0
Reserved
Stop
Reserved
Absolute=0
Incremental=1
Reserved
Start
Trajectory
Reserved
Reserved
Reserved
Command Assembly Code (See page 16)
Data Low Word
MS Bit
LS Bit
Data High Word
No Operation
The No Operation Assembly Block is used when the user only needs to read back data. This
assembly block allows the user to put any data into the corresponding PLC address without
affect from the drive. This type of assembly block is used heavily in applications when the
PLC is explicit messaging.
Master Send Assembly Block - No Operation
Word
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
1
2
3
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Epsilon Ei DeviceNet Drive Reference Manual
Input Word Select Data Pointer
The Input Word Select Data Pointer may be used when a polled connection is established
between the Ei-DN and the DeviceNet Master. Using the Input Data Pointer Bits, 32-bit
parameters may be read from the Ei-DN by the PLC. Entering the code into the input select
data pointer will place the corresponding parameter value within the two high words of the 4
word polled data packet. The Input Word Data Select Data Pointer is set by the master in word
1 of the Master Send Data.
14
Code
Description
0x00
No Operation
0x01
Position Feedback
0x02
Position Command
0x03
Velocity Feedback
0x04
Command Velocity
0x05
Reserved
0x06
Torque Command
0x07
Index Position
0x08
Index Velocity
0x09
Index Accel
0x0A
Index Decel
0x0B - 0x1D
Reserved
0x1E
Fault Status Bitmap
0x1F
Reserved
Configuring the DeviceNet Network
Output Word Select Data Pointer
The Output Word Select Data Pointer may be used when a polled connection is established
between the Ei-DN and the DeviceNet master. Using the Output Word Select Data Pointer
bits, 32-bit parameters may be read from the Ei-DN by the PLC. Entering the code into the
Output Select Data Pointer will place the corresponding parameter value within the two high
words of the 4 word polled data.
Code
Description
0x00
No Operation
0x01
Index Position Registers
0x02
Index Velocity Register
0x03
Index Acceleration Register
0x04
Index Deceleration Register
0x05
Index Dwell Time
0x06
Reserved
0x07
Torque Limit
0x08
Rotary Rollover Value
0x09
Following Error Limit
0x0A
Jog Velocity
0x0B
Jog Fast Velocity
0x0C
Jog Acceleration
0x0D
Jog Deceleration
0x0E
Home Velocity
0x0F
Home Acceleration
0x10
Home Deceleration
0x11
Home Specified Offset
0x12
End of Home Position
0x13
Home Limit Distance
0x14
Chaining Count
0x15
Index Count
0x16
Next Index
0x17
RAM to NVM
0x18 - 0x1F
Reserved
15
Epsilon Ei DeviceNet Drive Reference Manual
Command Assembly Code
The Command Assembly Code is used only when the position controller object is in use and
the Ei-DN is online and connected. The Command Assembly Code gives the drive a 32-bit
parameter based on the code it is set for. The parameter is placed in words 2 and 3 of the
polled I/O.
Code
Description
0x00
No Operation
0x01
Index 0 Position
0x02
Index 0 Velocity
0x03
Index 0 Accel
0x04
Index 0 Decel
0x05 to 0x10
Reserved
0x11
Reserved
0x12
Reserved
0x13 to 0x1D
Reserved
0x1E
Reset “Set Bit 0 to 1”
0x1F
Reserved
Response Assembly Codes
The Response Assembly Code is used only when the position controller object is in use and
the Ei-DN is online and connected. The Response Assembly Code gives the drive a 32-bit
parameter based on the code it is set for. The parameter is placed in words 2 and 3 of the
polled I/O.
16
Code
Description
0x00
No Operation
0x01
Actual Position
0x02
Commanded Position
0x03
Actual Velocity
0x04 to 0x1D
Reserved
0x1E
Fault Status Bitmap
0x1F
Reserved
Configuring the DeviceNet Network
Data Processing/Order of Operations for Fixed Assembly Blocks
Since the transfer of parameters over the DeviceNet network has the potential to transfer on
the same scan of the PLC, the user needs to take special consideration of the order of bits sent.
When the Master sends two or more bits in the same DeviceNet message, the bits get
implemented in the Ei-DN in the following order:
•
Get Master Send Data Pointer
•
Process Master Send Data Block (update word information)
•
Process Master Send Bits **
•
Send Input data to Master Receive FAB
**The following list represents the priority/order of bit data processed (first to last) sent from
the Master.
•
Stop Bit (Held until clear)
•
Home Bits (Initiate a home)
•
Index Bits (Initiate an Index)
•
Jog Bits (Held until clear)
** If individual bits are changed simultaneously within each of the above group, the order of
processing shall follow:
1.
Home Bits
•
Home Initiate
•
Define Home
2.
Index Bits
•
Index Select
•
Index Initiate
3.
Jog Bits
•
Jog +
•
Jog-
•
Jog Fast
Note
An Implicit Poll initiates motion, and an immediate response is sent. This response does
not wait for motion to complete, i.e., an Index Initiate Command sent before the drive
completes an index will not be acknowledged by the drive.
17
Epsilon Ei DeviceNet Drive Reference Manual
Host Mode Enable
Host Mode Enable allows the user to decide where the control will occur from the DeviceNet
network. Host Mode Enable allows the user to ignore hardwire inputs. Conversely, non-host
mode logically OR’s the Inputs with the DeviceNet function.
Enabling the “Host Mode” gives the host (DeviceNet Master) exclusive control of the
following parameters:
Index Select and Index Initiate
Jog +, Jog -, Jog Fast,
Home Initiate
Define Home
Brake Control and Release
All other functions will be logically OR’ed with hardwire and Modbus inputs when in Host
mode.
Host mode is useful when access to the hardwire I/O needs to be switched from “DeviceNet
only” to “DeviceNet I/O or Hardware I/O.”
Ei-DN Input Processing Logic
Host Mode
Modbus Index Select
Host Mode
Modbus Home Initiate
EN
Index Select
Hardwire Index Select
DeviceNet Index Select
Host Mode
Modbus Define Home
EN
Index Initiate
Hardwire Index Initiate
Host Mode
Define Home
Host Mode
Modbus Brake Control
EN
Index Jog+
DeviceNet Jog+
EN
Brake Control
Hardwire Brake Control
DeviceNet Brake Control
Host Mode
Host Mode
Modbus Jog-
EN
Hardwire Define Home
DeviceNet Define Home
DeviceNet Index Initiate
Modbus Jog+
Home Initiate
DeviceNet Home Initiate
Host Mode
Modbus Index Initiate
EN
Hardwire Home Initiate
Modbus Brake Release
EN
Jog-
Hardwire Jog-
Hardwire Brake Release
EN
Brake Release
DeviceNet Brake Release
DeviceNet JogHost Mode
Modbus Jog Fast
Hardwire Jog Fast
DeviceNet Jog Fast
Figure 5:
18
EN
Non-Host Mode Modbus Input
Jog Fast
Non-Host Mode Hardwire Input
Non-Host Mode DeviceNet Input
Ei-DN Input Processing Logic Diagram
Non-Host Mode Output
Configuring the DeviceNet Network
DeviceNet Online Tab
The DeviceNet Online Tab is available to the user when PowerTools FM is online with the
Ei-DN. This tab displays DeviceNet specific diagnostics and allows the user to view the
status of the DeviceNet network.
Figure 6:
DeviceNet Online Tab
Information
Master MacID
The Master MacID is the MacID of the DeviceNet master to the Ei-DN.
Counters
Transmit/Receive Counter
The Transmit and Receive Counters note the successful data packet exchanges between the
Ei-DN and its DeviceNet master.
Bus-Off Counter
The Bus-Off counter counts the number of bus failures in order to safeguard against a network
that goes down. A Buss Off may occur due to errors in wiring, baud rate settings, or MacID
errors on the network. Ten bus-offs in a row initiate the bus-off interrupt (major fault). This
information is used for troubleshooting the Ei-DN.
19
Epsilon Ei DeviceNet Drive Reference Manual
Status
Network Status LED
Network Status vitual LED indicates whether the Ei-DN is communicating properly with the
DeviceNet network. The table below will describe the current condition of this parameter.
Virtual LED
State
Drive State
Indicates
Off
Not Powered/Not online
Device is not online:
The device has not completed the Duplicate MacID test yet.
The Device may not be powered, look at Module Status LED.
Flashing Green
Online, Not Connected
Device is online but has no connections in the established state. The device has
passed the Duplicate MacID test and is online but has no established connections
to a Master.
Green
Link OK Online, Connected
The device is online and has connections in the established state. This means the
device is connected to a Master.
Flashing Red
Connection Time-Out
One or more I/O Connections are in the Timed-Out state.
Critical Link Failure
Failed communication device. The device has detected an error that has rendered it
incapable of communicating on the network (Duplicate MacID or Bus Off).
Red
Module Status LED
Module Status virtual LED indicates whether the device is in standby or operational mode.
Coinciding text will describe the current condition of this parameter.
Virtual LED
State
Drive State
Indicates
Off
No Power
There is no power applied to the device.
Green
Device Operational
The device is operating in a normal condition.
Flashing Green
Device in Standby (The Device Needs
Commissioning)
The device needs commissioning due to configuration missing,
incomplete, or incorrect. The device may be in the standby state.
Flashing Red
Minor Fault
Recoverable Fault
Red
Unrecoverable Fault
The device has an unrecoverable fault, may need replacing
Flashing RedGreen
Device Self-Testing
The device is in self-test.
Established Connections
Polled/Explicit Messaging Virtual LED’s
The virtual LED display for Polled and Explicit Messaging represents the status of these
connections on the DeviceNet Network.
20
Virtual LED State
Indicates
Green
Connected state
Gray
Unconnected state
Configuring the DeviceNet Network
Input and Output Tab
DeviceNet Bits
DeviceNet bits are user-defined bits that are assigned within the inputs and outputs tabs.
These bits are used with specific assembly blocks to transfer data via the polled connection.
DeviceNet bit numbering is the same for all assembly blocks selected; therefore, DN bit 0 MR
(Master Receive) under “Index Sel (User Def)” is the same as DN bit 0 MR (Master Receive)
for “Index Type.”
Figure 7:
Inputs Tab
Multiple assignments may be made to the same DN bit, and the same I/O function may be
mapped to a DN bit as well as to an I/O assignment. This allows the user to indicate drive
status simultaneously to multiple devices via hardwire and DeviceNet. When multiple
assignments are made, the DN bit is the logical OR condition at he assigned input function.
21
Epsilon Ei DeviceNet Drive Reference Manual
Figure 8:
Outputs Tab
When an unsupported DN bit assignment is made, a warning message will pop up telling the
user that the selected assembly block does not support that bit. When acknowledged, the
assignment will be mapped to that bit anyway and will not be transferred via DeviceNet.
Faults and Diagnostic Display
PowerTools FM has implemented an extended set of fault and diagnostic parameters to aid in
setup and monitoring of the DeviceNet Network. Figure 9 shows the faults and diagnostic
parameters available to the user through PowerTools FM or using Explicit Messages on the
DeviceNet network.
22
Configuring the DeviceNet Network
Figure 9:
Watch Window
DN Allocation Choice (Connections Established)
Ei-DN
Range
Modbus Address: 34003
Units
Default
Type
DN Type
BM16
WORD
Group
NVM
Res.
Access
No
RO
This parameter monitors the status of the established connections and displays the corresponding
bitmap. Bit 0 Explicit Message, Bit1 Polled.
DN Allocation Master MacID
Ei-DN
Range
0-63
Modbus Address: 34004
Units
Default
Type
DN Type
63
US16
UINT
Group
NVM
No
Res.
Access
RO
This parameter displays the MacID of the master used to control the Ei-DN. The DN Allocation
Master MacID parameter defaults to 63 when no master is controlling it.
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Epsilon Ei DeviceNet Drive Reference Manual
DN Baud Rate
Ei-DN
Modbus Address: 44002
Range
Units
0-2
Baud
Default
Type
DN Type
ENM
WORD
Group
NVM
Res.
Access
Yes
RW
Three standard baud rates can be configured for the DeviceNet network: 125K, 250K, and 500K.
The baud rate is also read/write accessible with the one touch configuration located directly on the
drive.
Value
Baud
0
125K
1
250K
2
500K
DN Bus Off Counter
Ei-DN
Modbus Address: 34206
Range
Units
0-255
Counts
Default
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
No
RO
The Bus Off counter counts the number of bus failures in order to safeguard against a network that
goes down. This information is used for troubleshooting the Ei-DN.
DN Bus Off Fault Count
Ei-DN
Range
31-1
0-2
Modbus Address: 40719
Units
Default
Counts
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
Yes
RO
This parameter indicates the total number of Bus Off Faults that have occurred on the DeviceNet
network.
DN Bus Off Interrupt
Ei-DN
Range
0, 1
Modbus Address: 34205
Units
Default
Type
DN Type
ENM
Word
Group
NVM
No
Ten Bus-Off Faults in a row initiate the Bus-Off Interrupt (Major fault).
24
Res.
Access
RO
Configuring the DeviceNet Network
DN Comm Time-out Fault Count
Ei-DN
Modbus Address: 40717
Range
Units
0-215-1
Counts
Default
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
Yes
RO
This parameter indicates the total # of Communication Time-out Faults that have occurred on the
DeviceNet network.
DN Device Type
Ei-DN
Range
Modbus Address: 34002
Units
Default
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
No
RO
DN Device Type indicates the ODVA (Open DeviceNet Vendors Association) definition for
devices. The Ei-DN is set at a DN Device Type of 0.
DN Duplicate MacID Fault Count
Ei-DN
Modbus Address: 40718
Range
Units
0-215-1
Counts
Default
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
Yes
RO
The DN Duplicate MacID Fault Count indicates the total number of duplicate MacID faults that
have occurred on the DeviceNet network.
DN FAB Master Receive Block
Ei-DN
Range
Modbus Address: 34011-34014
Units
Default
Type
DN Type
US16
UINT
Group
NVM
No
Res.
Access
RO
The DN FAB Master Receive Block displays the polled data being transferred from the drive to
the master via the Master Receive fixed assembly block (FAB).
Word
Modbus Address
0
34011
1
34012
2
34013
3
34014
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Epsilon Ei DeviceNet Drive Reference Manual
DN FAB Master Send Block
Ei-DN
Range
Modbus Address: 34007-34010
Units
Default
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
No
RO
The DN FAB Master Send Block displays the polled data being transferred from the master to the
drive via the Master Send fixed assembly block (FAB).
Word
Modbus Address
0
34007
1
34008
2
34009
3
34010
DN Host Mode
Ei-DN
Range
Modbus Address: 44003
Units
Default
0,1
Type
DN Type
ENM
Word
Group
NVM
Res.
Access
Yes
RW
Enabling the "Host Mode" gives the host (DeviceNet Master) exclusive control of the following
Input functions:
•
Index Select and Index Initiate
•
Jog +, Jog -, Jog Fast
•
Home Initiate
•
Define Home
•
Brake Control and Release
All other functions will be logically OR'ed with inputs and Modbus 3 when in Host mode.
Host mode is useful when access to the hardwire I/O needs to be switched from "DeviceNet only"
to "DeviceNet I/O or Hardware I/O."
DN MacID
Ei-DN
Range
0-63
Modbus Address: 44001
Units
Default
Type
DN Type
US16
UINT
Group
NVM
Yes
Res.
Access
RW
The DN MacID is the node address of the Ei-DN on the DeviceNet network. The range of this
number is 0-63.
26
Configuring the DeviceNet Network
DN Master Receive Bitmap
Ei-DN
Range
Modbus Address: 34006
Units
Default
Type
DN Type
US16
UINT
Group
NVM
Res.
Access
No
RO
This parameter returns the values for the selected master receive bits.
DN Master Receive FAB Type
Ei-DN
Range
Modbus Address: 44005
Units
Default
0-3
Type
DN Type
ENM
Word
Group
NVM
Res.
Access
Yes
RW
The DN Master Receive FAB Type displays the chosen fixed assembly block configuration as
shown.
Value
Master Receive FAB Type
0
Index Select (Predef)
1
Index Select (Userdef)
2
Index Type
3
Position Control
DN Master Send Bitmap
Ei-DN
Range
Modbus Address: 34005
Units
Default
Type
DN Type
US16
UINT
Group
NVM
No
Res.
Access
RO
This parameter returns the values for the selected master send bits.
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Epsilon Ei DeviceNet Drive Reference Manual
DN Master Send FAB Type
Ei-DN
Range
Modbus Address: 44004
Units
Default
0-4
Type
DN Type
ENM
Word
Group
NVM
Res.
Access
Yes
RW
The DN Master Send FAB Type displays the chosen fixed assembly block configuration as
shown.
Value
Master Receive FAB Type
0
Index Select (Predef)
1
Index Select (Userdef)
2
Index Type
3
Position Control
4
No Operation
DN Module Status
Ei-DN
Range
0-31
Modbus Address: 34208
Units
Default
Type
DN Type
ENM
Word
Group
NVM
Res.
No
The DN Module status indicates the ODVA specific status of the DN device as follows:
Value
1
28
Module Status
No Power
2
Operational
3
Standby
4
Minor Fault
5
Major Fault
Access
RO
Configuring the DeviceNet Network
DN Network Status
Ei-DN
Range
Modbus Address: 34207
Units
Default
0-31
Type
DN Type
ENM
Word
Group
NVM
Res.
Access
No
RO
The DN Network status indicates the ODVA specific status of the DeviceNet network as follows:
Value
Network Status
1
No Power
2
Not Connected
3
Connected
4
Time-out
5
Link Failure
DN Receive Counter
Ei-DN
Modbus Address: 34203-34204
Range
Units
0-231-1
Counts
Default
Type
DN Type
US32
UDINT
Group
NVM
Res.
Access
No
RO
The DN Receive Counter keeps a running total of all DeviceNet packets successfully received
from the Ei-DN on the DeviceNet network.
DN Status Major Recoverable Fault
Ei-DN
Range
Modbus Address: 14003
Units
Default
True/False
Type
DN Type
BIT
BOOL
Group
NVM
Res.
Access
No
RO
A Major Recoverable Fault disables the bridge and then re-enables the bridge when the fault
has cleared. At the present, no Major Recoverable Faults are defined in the Ei-DN.
DN Status Major Unrecoverable Fault
Ei-DN
Range
True/False
Modbus Address: 14004
Units
Default
Type
DN Type
BIT
BOOL
Group
NVM
No
Res.
Access
RO
A Major Unrecoverable Fault is implemented on the Ei-DN when one of the following faults
occur: Power Stage Module, Invalid Configuration, Power Up Self Test, NVM Invalid,
Motor Overtemp, Drive Overtemp, Duplicate MacID, and Bus-Off. Major Unrecoverable
Faults disable the bridge and require a cycle of power to reset.
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Epsilon Ei DeviceNet Drive Reference Manual
DN Status Minor Recoverable Fault
Ei-DN
Range
Modbus Address: 14001
Units
Default
True/False
Type
DN Type
BIT
BOOL
Group
NVM
Res.
Access
No
RO
A Minor Recoverable Fault occurs when the drive experiences a connection time-out. This
fault will not disable the bridge and will clear after the fault clears.
DN Status Minor Unrecoverable Fault
Ei-DN
Range
Modbus Address: 14002
Units
Default
True/False
Type
DN Type
BIT
BOOL
Group
NVM
Res.
Access
No
RO
A Minor Unrecoverable Fault will initiate when any of the following faults occur: Encoder
State, Encoder Hardware, Low DC Bus, High DC Bus, Overspeed, Following Error, Shunt
Power RMS. Minor Unrecoverable Faults can only be reset with a cycle of power to the drive.
DN Transmit Counter
Ei-DN
Range
31-1
0-2
Modbus Address: 34201-34202
Units
Default
Counts
Type
DN Type
US32
UDINT
Group
NVM
Res.
Access
No
RO
The DN Transmit Counter keeps a running total of all DeviceNet packets successfully transmitted
to the Master on the DeviceNet network.
DN Vendor ID
Ei-DN
Range
Modbus Address: 34001
Units
Default
Type
DN Type
US16
UINT
Group
NVM
No
Res.
Access
RO
DN Vendor ID indicates the ODVA (Open DeviceNet Vendors Association) vendor specific
number. The Motion Made Easy Vendor ID is 553.
30
Configuring the DeviceNet Network
Accessing the EDS File
The EDS file is used for configuration of the DeviceNet master. This file tells the Master
software how much I/O data is supported for a particular DeviceNet device as well as Control
Techniques’ vendor code, module revision, etc. The EDS file for the Ei-DN also contains the
Class, Instance, and Attribute ID’s for all Ei drive parameters. These class, instance, and
attribute ID’s are used for explicit messaging and can be found in the back of this manual in
the Drive Parameters chapter.
The EDS file is installed with PowerTools FM and can be found in the PTOOLSFM folder.
An icon file is also located in this section for display on the master software configuration
screen. These two files may also be downloaded from our website at www.emersonct.com.
Hardware Interface
Module Status LED
The Module Status LED located on the front of the drive provides device status according to
the following table:
LED State
Drive State
Indicates
Off
No Power
There is no power applied to the device.
Green
Device Operational
The device is operating in a normal condition.
Flashing Green
Device in Standby (The Device Needs
Commissioning)
The device need commissioning due to configuration missing,
incomplete, or incorrect. The Device may be in the standby state.
Flashing Red
Minor Fault
Recoverable Fault
Red
Unrecoverable Fault
The device has an unrecoverable fault; may need replacing
Flashing RedGreen
Device Self Testing
The device is in self-test.
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Epsilon Ei DeviceNet Drive Reference Manual
Network Status LED
The Network Status LED located on the front of the drive provides network status according
to the following table:
LED State
Drive State
Indicates
Off
Not Powered/Not online
Device is not online:
The device has not completed the Dup MacID test yet.
The device may not be powered, look at Module Status LED.
Flashing Green
Online, Not Connected
Device is online but has no connections in the established state.
The device has passed the Dup MacID test, is online, but has no established
connections to a Master.
Green
Link OK Online, Connected
The device is online and has connections in the established state. This means the
device is connected to a Master.
Flashing Red
Connection Time-Out
One or more I/O Connections are in the Timed-Out state.
Critical Link Failure
Failed communication device. The device has detected an error that has rendered it
incapable of communicating on the network (Duplicate MacID or Bus Off).
Red
Setting the Baud Rate and MacID Externally (One Touch)
The Baud Rate and MacID of the Ei-DN may easily be changed using PowerTools FM
programming software or externally on the drive using a one-touch setup with the “Reset”
button. The following is a full description of how to navigate through the DeviceNet edit
mode externally on the Ei-DN.
Viewing and Changing the Baud Rate and MacID
32
1.
Double-click the Reset Button to enter the DeviceNet edit mode. The diagnostic display
located on the front of drive will flash between “H” (high digit) and the high (tens) digit
of the MacID. If the reset button is held in while the “H” is blinking on the diagnostic
display (H to Change), the high digit of the MacID value will scroll. Let the reset button
go when the display shows the correct number for the high digit of the MacID. (The
display will now flash between the letter “H” and the new tens digit for MacID.)
2.
Double-click the Reset Button to view the low digit of the MacID. The diagnostic display
located on the front of the drive will flash between an “L” and the low (ones) digit of the
Mac ID. If the reset button is held in while the “L” is flashing on the diagnostic display
(H to Change), the low digit of the MacID value will scroll. Let the reset button go when
Configuring the DeviceNet Network
the display shows the correct number for the low digit of the MacID. (The display will
now flash between the letter “L” and the new ones digit for MacID.)
3.
Double-click the Reset Button to view the Baud Rate selected. The display will flash
between the letter B and the number of the baud rate that is currently configured.
Display Value
Baud
1
125K
2
250K
3
500K
To change the baud rate hold the reset button down and scroll through these three options. Let
the “Reset” button go when the displayed value reflects the baud rate for the DeviceNet
network.
(Default Baud Rate is configured to “1” or “125K”)
33
Epsilon Ei DeviceNet Drive Reference Manual
4.
Double-click the “Reset” button to reveal a flashing “S” on the diagnostic display. If the
parameters entered reflect the proper DeviceNet network settings, the configuration can
be saved by holding the “Reset” button while the “S” is flashing. After the parameters
are saved, the display will flash “O” and then “K” and return the display back to either a
disabled or enabled state. If the user does not want to save the changes, a 30-second timeout will return the drive back to the enabled or disabled display on the drive.
Note
If the user at any time wishes to discontinue the edit mode without saving changes , this
can be accomplished by either allowing the drive a 30 second time-out period without
touching the “Reset” button, or by cycling power to the drive.
Note
If the Baud Rate or MacID of the device is changed externally, power to the drive and the
DeviceNet network must be cycled. Changes to the baud rate and Mac ID will not be
reflected until a full power reset has been completed.
34
Epsilon Ei DeviceNet Drive Reference Manual
Network Configuration
Quick Start
This chapter presents sample startups with a Epsilon Ei-DN drive using a 1747-SDN scanner
card as the DeviceNet master in a SLC 500 PLC™. The examples presented are intended as
a tutorial. For greater information about the steps in this chapter, please refer to the
“Configuring the DeviceNet Network” chapter.
Equipment
Epsilon Ei-DN Digital Drive
NT-207 Motor
PowerTools FM Software
Allen Bradley SLC 500 PLC™, 1747-L542 (4 Slot Chassis), P1 Power Supply, 1747 SDN
Scanner Card (inserted in slot #3)
1770 KFD RS 232 to DeviceNet to RS232 Interface module with 96881501 RS232 cable
(included)
DeviceNet thin cable and terminating resistors
RS Logix 500 Industrial Programming Software (PLC)
Epsilon Ei-DN Parameter Tables from the “Drive Parameters” chapter of this manual
Epsilon Ei DeviceNet Drive Configuration Quick Start
Process
1.
In PowerTools FM, configure the software for the particular drive and motor (NT-207)
that will be used.
2.
Open the DeviceNet tab and configure the DeviceNet Setup.
•
Set the MacID and Baud Rate.
•
Select the appropriate Predefined Assembly Block for the transmission of polled I/O.
(The tree to the right will display all parameters within the selected assembly block.)
3.
Make assignments under the Inputs and Outputs tab for any DN bits that may be
configured in each assembly block.
4.
Download the configuration to the Ei-DN.
35
Epsilon Ei DeviceNet Drive Reference Manual
5.
Install the .eds file in the Master Configuration software (RsNetworx, Wonderware, etc.).
6.
Download a configuration for 8 polled input bytes and 8 polled output bytes to be
transferred to/from the Ei-DN.
7.
Use ladder logic commands to initiate explicit messaging commands over DeviceNet.
Polled I/O Setup
The following examples assume that the user is familiar with and can set up the Ei using the
Epsilon Ei Reference Manual (P/N 400507-01). This application example will focus on the
DeviceNet setup for the Ei-DN. The setups will demonstrate the Index Sel Predefined, Index
Sel User Defined, and Index Type Position Control assembly blocks to transfer DeviceNet
bits and initiate indexes.
Example #1: Index Sel(Predef)
This sample procedure for the Index Sel(Predef) assembly block will run preconfigured Index
1 and 2 and Jog while reading back Torque Command and Command Velocity respectively.
36
1.
Start a new Ei-DNconfiguration in PowerTools FM and configure the drive for the
particular motor that will be used. (For more information consult the Epsilon Ei Drives
Reference Manual (P/N 400507-01).
2.
Configure Index 0 as a Incremental Index, Index Count of 1, Distance of 20 revs at a
Velocity of 1000 RPM, both Acceleration and Deceleration set to 1000 ms/Krevs/m and
a Dwell Time of 0.
3.
Enter the DeviceNet setup and set the MacID to 1 and the Baud Rate to 125K. Select the
Index Sel (Predef) for both Master Send Assembly Block and Master Receive Assembly
Block.
Network Configuration Quick Start
Figure 10:
DN Setup / Index Sel (Predef)
4.
Download this file to the Ei-DN.
5.
Proceed to “Master Configuration” on page 48 before going any farther with this
example. After configuring the master return to this point and continue.
The following will initiate motion.
While Online with both the Ei-DN via PowerTools FM and the PLC via RSLogix 500:
6.
Set Output Bit O:1.2/7 high to software enable the drive.
7.
Set Output Bit O:1.1/0 high to initiate Index 0.
8.
Set Output Bit O:1.1/1 high to initiate Home.
9.
Set Output Bit O:1.1/2 high to Jog +.
10. Set Output Bit O:1.1/3 high to Jog -.
11. Set Output Bit O:1.1/4 high to enable Jog Fast.
12. Set Output Bits O:1.1/12 - O:1.1/15 to select the index to initiate or to select the index to
read from or write to using the Input/Output Word Select Data Pointer.
37
Epsilon Ei DeviceNet Drive Reference Manual
13. Using Output Word Select Data Pointer 0x0A to set Jog Velocity and Input Select Data
Pointer 0x06 to read back the torque command, use the following table to construct the
proper words for the read and write:
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x0A
Reserved
Jog -
Jog +
Input Word Select
Data Pointer (See
page 14) = 0x06
X
X
X
01010
X
X
X
00110
Final Word = XXX01010XXX00110
With zeros in for X’s = 2566 (0xA06)
Write to Words O:1.3 - O:1.4 to write to the selected jog velocity. Data can be obtained from
the online DN view described in the following step.
14. While online with PowerTools FM click the DeviceNet tab and open up the Master
Receive and Master Send Assembly Blocks. Verify that the correct data is moving back
and forth through the assembly blocks and that the data pointers are reading and writing
the data as expected.
Example #2 Index Sel (Userdef)
This sample procedure for the Index Sel (Userdef) assembly block will use the DN bits set up
from Example #1 to initiate indexes and a home. This procedure will also initiate Jog + and
Jog - and select between Jog Fast. Corresponding to these initiates, DeviceNet will read back
End of Index and End of Home bits, indicate in + Motion and in - Motion, Faults, and Drive
OK.
Using the Input and Output Word Select Data Pointer, this procedure will send index
velocities to the drive and receive position feedback from the drive.
38
1.
Start a new Ei-DNconfiguration in PowerTools FM and configure the drive for the
particular motor that will be used. For more information consult the Epsilon Ei Drives
Reference Manual (P/N 400507-01.)
2.
Enter the DeviceNet setup and set the MacID to 1 and the Baud Rate to 125K. Select the
Index Sel (Userdef) in both Master Send Assembly Block and Master Receive Assembly
Block setups.
Network Configuration Quick Start
Figure 11:
3.
DN Setup / Index Sel (Userdef)
Click the Inputs tab to configure the DN bits that will be written from the PLC (Master
Send). The following assignments will be used for this application example:
DN Bit00 (MS) = Index Initiate
DN Bit01 (MS) = Home Initiate
DN Bit02 (MS) = Jog +
DN Bit03 (MS) = Jog DN Bit04 (MS) = Jog Fast
Note
Index Sel (Userdef) allows 16 DN bits to be configured. Although these bits are optional
to assign, bandwidth used on the DeviceNet network remains the same.
39
Epsilon Ei DeviceNet Drive Reference Manual
Figure 12:
4.
Inputs Tab
Click the Outputs tab to configure the DN bits that will be written to from the PLC
(Master Receive).
DN Bit00 (MR) = End of Index
DN Bit01 (MR) = End of Home
DN Bit02 (MR) = In + Motion
DN Bit03 (MR) = In - Motion
DN Bit04 (MR) = Fault
DN Bit05 (MR) = Drive OK
40
Network Configuration Quick Start
Figure 13:
Outputs Tab
Note
Index Sel (userdef) allows 16 DN bits to be configured. Although these bits are optional
to assign, bandwidth used on the DeviceNet network remains the same.
5.
Once all parameters are configured, download this file to the Ei-DN.
6.
Proceed to “Master Configuration” on page 48 before going any farther with this
example. After configuring the master return to this point and continue.
The following will initiate motion.
While online with the Ei-DN via PowerTools FM and the PLC via RSLogix 500:
7.
Set Output Bit O:1.2/5 high to software enable the drive.
8.
Set Output Bit O:1.1/0 high to initiate Index 0.
9.
Set Output Bit O:1.1/1 high to initiate Home.
10. Set Output Bit O:1.1/2 high to Jog +.
41
Epsilon Ei DeviceNet Drive Reference Manual
11. Set Output Bit O:1.1/3 high to Jog -.
12. Set Output Bit O:1.1/4 high to enable Jog Fast.
13. Set Output Bits O:1.1/12 - O:1.1/15 to select the index to initiate or to select the index to
read from or write to using the Input/Output Word Select Data Pointer.
14. Using Output Word Select Data Pointer 0x02 to set the Index Velocity and Input Select
Data Pointer 0x01 to read back the position feedback, use the following table to construct
the proper words for the read and write:
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x02
X
X
X
00010
Reserved Reserved
X
X
Enable = 1
Input Word Select
Data Pointer (See
page 14) = 0x01
1
00001
Final Word = XXX00010XX100001
With zeros in for reserved bits Final Word = 545 (0x221)
15. Write to Words O:1.3 - O:1.4 to write to the selected index velocity. Data can be obtained
from the online DN view described in the following step.
16. While online with PowerTools FM click on the DeviceNet tab and open up the Master
Receive and Master Send Assembly Blocks. Verify that the correct data is moving back
and forth through the assembly block and that the data pointers are reading and writing
the data as expected.
Example #3: Index Type
This sample procedure for the Index Type Assembly Block will initiate both incremental and
absolute indexes.
The Input and Output Word Select Data Pointer will read velocity feedback from the drive
and write Jog Acceleration to the drive.
42
1.
Start a new Ei-DN configuration in PowerTools FM and configure the drive for the
particular motor that will be used. For more information consult the Epsilon Ei Drives
Reference Manual (P/N 400507-01.)
2.
Enter the DN setup and set the MacID to 1 and the Baud Rate to 125K. Select Index Type
for both Master Send Assembly Block and Master Receive Assembly Block Setups.
Network Configuration Quick Start
Figure 14:
3.
DN Setup / Index Type
Click the Inputs tab to configure the DN bits that will be written from the PLC (Master
Send). The following assignments will be used for this application example:
DN Bit00 (MS) = Reset
DN Bit01 (MS) = Home Initiate
DN Bit02 (MS) = Jog +
Note
Index type allows 8 DN bits to be configured. Although these bits are optional to assign,
bandwidth used on the DeviceNet network remains the same.
4.
Click the Outputs tab to configure the DN bits that will be written from the PLC (Master
Receive).
DN Bit00 (MR) = End of Index
DN Bit01 (MR) = End of Home
DN Bit02 (MR) = In + Motion
DN Bit03 (MR) = In - Motion
DN Bit04 (MR) = Fault
DN Bit05 (MR) = Drive OK
43
Epsilon Ei DeviceNet Drive Reference Manual
5.
Download this file to the Ei-DN.
6.
Proceed to “Master Configuration” on page 48 before going any farther with this
example. After configuring the master return to this point and continue.
While online with the Ei-DN via PowerTools FM and with the PLC via RSLogix 500:
7.
Set Output Bit O:1.1/7 high to software enable the drive.
8.
Set Output Bit O:1.1/1 high to indicate an incremental index.
9.
Using Output Word Select Data Pointer 0x01 to set the Index Distance/Position Register
and Input Select Data Pointer 0x07 to read back this same parameter in order to verify
the transfer.
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x01
Reserved
Jog -
Jog +
Input Word Select
Data Pointer (See
page 14) = 0x07
X
X
X
00001
X
X
X
00111
Final Word = XXX00001XXX00111
With zeros in for reserved bits Final Word = 263 (0x107)
10. Using Output Word Select Data Pointer 0x02 to set the Index Velocity Register and Input
Select Data Pointer 0x08 to read back this same parameter in order to verify the transfer.
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x02
Reserved
Jog -
Jog +
Input Word Select
Data Pointer (See
page 14) = 0x08
X
X
X
00010
X
X
X
01000
Final Word = XXX00010XXX01000
With zeros in for reserved bits Final Word = 520 (0x208)
11. Using Output Word Select Data Pointer 0x03 to set the Index Acceleration Register and
Input Select Data Pointer 0x09 to read back this same parameter in order to verify the
transfer.
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x03
Reserved
Jog -
Jog +
Input Word Select
Data Pointer (See
page 14) = 0x09
X
X
X
00011
X
X
X
01001
Final Word = XXX00011XXX01001
With zeros in for reserved bits Final Word = 777 (0x309)
44
Network Configuration Quick Start
12. Using Output Word Select Data Pointer 0x04 to set the Index Deceleration Register and
Input Select Data Pointer 0x0A to read back this same parameter in order to verify the
transfer.
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x04
Reserved
Jog -
Jog +
Input Word Select
Data Pointer (See
page 14) = 0x0A
X
X
X
00100
X
X
X
01010
Final Word = XXX00100XXX01010
With zeros in for reserved bits Final Word = 1034 (0x40A)
13. Set Output Bit O:1.1/0 high to initiate this incremental index.
14. Set Output Bit O:1/1/2 high and O:1.1/1 low to indicate an absolute index.
15. Using Output Word Select Data Pointer 0x01 to set the Index Distance/Position Register
and Input Select Data Pointer 0x07 to read back this same parameter in order to verify
the transfer.
Reserved
Reserved
Reserved
Output Word Select
Data Pointer (See
page 15) = 0x01
Reserved
Jog -
Jog +
Input Word Select
Data Pointer (See
page 14) = 0x07
X
X
X
00001
X
X
X
00111
Final Word = XXX00001XXX00111
With zeros in for reserved bits Final Word = 263 (0x107)
16. Set Output Bit O:1.1/0 high to initiate this absolute index.
Note
After the motion parameters have been configured (accel, decel, dist), these parameters
remain static until they are changed using either explicit messaging or the data select
pointers.
Example #4: Position Control
This sample procedure for the Position Controller Assembly Block will completely set up an
index and then initiate it using the addresses assigned in previous examples.
1.
Start a new Ei-DN configuration in PowerTools FM and configure the drive for the
particular motor that will be used. For more information consult the Epsilon Ei Drives
Reference Manual (P/N 400507-01.)
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Epsilon Ei DeviceNet Drive Reference Manual
2.
Enter the DN setup and set the MacID to 1 and the Baud Rate to 125K. Select
PositionControl for both Master Send Assembly Block and Master Receive Assembly
Block setups.
Figure 15:
46
Dn Setup / Position Control
3.
Download this file to the Ei-DN.
4.
Proceed to “Master Configuration” on page 48 before going any farther with this
example. After configuring the master return to this point and continue.
5.
Set the Command Assembly code to send a value of 50 revs to the Index Position. O:1.2
= 0x01 (parameter) and O:1.3 = 0x32 (value). After these values are in place, toggle the
Valid Data Bit (O:1.1/6).
6.
Set the Command Assembly code to send a value of 1000 Revs/minute to the Index
Velocity. O:1.2 = 0x02 (parameter) and O:1.3 = 0x3E8 (value). After these values are in
place, toggle the Valid Data Bit (O:1.1/6).
7.
Set the Command Assembly code to send a value of 500 revs/min2 to the Index Accel.
O:1.2 = 0x03 (parameter) and 0:1.3 = 0x1F4 (value). After these values are in place,
toggle the Valid Data Bit (O:1.1/6).
8.
Set the Command Assembly code to send a value of 500 revs/min2 to the Index Decel.
O:1.2 = 0x04 (parameter) and O:1.3 = 0x1F4 (value). After these values are in place,
toggle the Valid Data Bit (O:1.1/6).
Network Configuration Quick Start
9.
Set the Receive Assembly code to read the Actual Position O:1.2 = 0x02 (parameter).
This response will be read back from I:1.3 and I:1.4 (low/high word response).
10. Set O:1.1/7 = 1 to Enable the Drive. Set O:1.1./2 = 0 indicating an Absolute Move. Set
O:1.1/0 = 1 indicating start of the Move. After these values are in place, toggle the Valid
Data Bit (O:1.1/6).
Using the parameter set previously, a second motion can be initiated with one Valid Data Bit
toggle. This move will also read back the actual Velocity from I:1.3 and I:1.4.
11. Set O:1.2 = 0x03, this will set the Response Assembly code to read back Velocity
feedback and the Command Assembly code to write to the Index Position. Set O:1.3 =
0x0 (value) and then toggle the Valid Data Bit (O:1.1/6).
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Epsilon Ei DeviceNet Drive Reference Manual
Master Configuration
RS Networx™ will be used to install the Ei-DN onto the DeviceNet network as a slave. In
order to have RS Networx recognize the Ei-DN as a node on the network, an .eds file must be
installed using the .eds wizard found under the Tools menu. The .eds file is located in the
Emerson directory under Emerson\PtoolsFM\Ei.eds. An icon file can also be found in this
directory under Emerson\PtoolsFM\Ei.ico. This icon file will display the Ei-DN graphically
in RSnetworx.
Once the .eds file is installed, add a 1747.SDN DeviceNet master to the network set for
MacID 0 and an Ei-DN set for MacID 1.
Figure 16:
RS Networx Configuration
Double-click the 1747.SDN to bring up the Master Configuration.
48
Network Configuration Quick Start
Figure 17:
Scanlist Tab
Click the Input tab and map the 4 words of data from the Ei-DN to I:1.1 - I:1.4. These
addresses are the addresses in the PLC where the Ei-DN data will be mapped.
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Epsilon Ei DeviceNet Drive Reference Manual
Figure 18:
Input Tab
Click the Output tab and map the 4 words of data from the Ei-DN to O:1.1 - O:1.4 as shown.
These addresses are the addresses in the PLC where the Ei-DN will pull its data from.
50
Network Configuration Quick Start
Figure 19:
Output Tab
After all of the data is mapped click OK, go online, and then download this RsNetworx file
to the DeviceNet scanner. (Make sure processor is in program mode.)
Note
If, after a download, errors occur on the DeviceNet Master (scanner card), clear all
mappings in the scanlist and download this “empty” file to the Master. The network
should display two green LED’s (if not check wiring... etc.). After this has occurred repeat
the above procedure to configure the Ei-DN onto the DeviceNet network.
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Epsilon Ei DeviceNet Drive Reference Manual
Explicit Messaging Quick Start
To send explicit messages, the Epsilon Ei-DN drive should be configured and successfully
connected to the DeviceNet system as a unique node. This chapter will present examples that
should be used as a tutorial.
Equipment
Ei-DN DeviceNet Digital Drive
NT 207 Motor
Allen Bradley SLC 500 PLC™, 1747-L542 (4 Slot Chassis), P1 Power Supply, 1747 SDN
Scanner Card (slot three)
1770 KFD RS 232 to DeviceNet Interface module with 96881501 RS232 cable
DeviceNet thin cable
RS Logix 500 Industrial Programming Software (PLC)
Ei DeviceNet Drive Parameter Tables from the “Drive Parameters” chapter of this manual
How to Send Explicit Messages
An Explicit Message is compiled using an integer file (for example N10). Format the message
using the following table.
Integer File N10
Message Header
High Byte
N10:0
TXID
COMMAND
N10:1
PORT
SIZE OF FIELD
N10:2
SERVICE
N10:3
Message Data
Low Byte
MacID
CLASS
N10:4
INSTANCE
N10:5
ATTRIBUTE
N10:6
VALUE LOW WORD
N10:7
VALUE HIGH WORD
Once formatted, use the copy command to transfer it to the M0 file. The copy initiates the
explicit message transfer from the scanner to the Ei DeviceNet drive. The Ei drive response
will be placed into the M1 file by the scanner. Using the scanner message received status flag
(in the example of this chapter the location would be I:3/15), copy the M1 file to an integer
file (N11). Once the message has been copied, the results may be examined from the N11 file.
TXID is set at 0x01 for all of the following examples.
PORT will be set to 0x00 indicating a 1 port network.
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Epsilon Ei DeviceNet Drive Reference Manual
COMMAND
0x01
EXECUTE
0x04
CLEAR RESPONSE BUFFER
Size of field is the size of the message data section and does not contain the message header.
For GET Service command, size should be 6 bytes; for SET Service command, size should
be 10 [0x0A] bytes.
SIZE OF DATA FIELD
Get Fields
0x06 bytes
Set Fields
0x0A bytes
The service parameter determines whether the data will be sent to or received from the slave.
SERVICE
0x0E
GET DATA
0x10
SET DATA
The MacID indicates the node number of the device to be read/written to.
MacID
0x00-0x3F
The class instance and attribute IDs for each parameter in the Ei DeviceNet drive can be found
in the back of this manual.
CLASS
INSTANCE
ATTRIBUTE
Note
In order to transmit a new explicit message, the response buffer must be cleared by setting
TXID/Command portion of the message header to 104 hex in the integer file and initiating
a file copy. This copy must be completed every time an explicit message is sent or
received. The Ladder Logic given initiates this command automatically.
54
Explicit Messaging Quick Start
Figure 20:
Description of N10 Integer File
Explicit Messaging Examples
The following two examples of DeviceNet Explicit Messaging will be assuming a PLC
configuration as follows:
Figure 21:
PLC Configuration for Explicit Messaging
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Epsilon Ei DeviceNet Drive Reference Manual
Explanation of PLC Program
The copy command in Rung 0 will activate when B3:0/0 is turned on. This command will
send out a request to the DeviceNet master by copying the N10 integer file into the M0: file.
After this request gets sent out, the PLC indicates when it has all data returned by setting bit
I:3/15 high. Once this occurs bit B3:0/1 can be set high to view the results via a copy
command from the scanner card M1: to integer file N11:.
Once the data is received, the response buffer must be cleared before the next explicit
message can be sent. This is accomplished by setting bit B3:0/2 high. When this is
implemented, the I:3/15 bit will be cleared by the scanner card and the explicit messaging
system is free to use again.
Note
After each send a clear response buffer message must be sent in order to continue
communication.
Examples
Example 1 Read Index 0 Velocity
This example will show how to use explicit messaging to capture the current index velocity
in an Ei-DN drive.
Create a PowerTools Pro configuration file ensuring that both the MacID (04) and the
network BaudRate (125 KB) are configured. For this example, set the Index 0 Velocity is to
1000 units. Download this to the drive.
Index 0 Velocity is mapped to class 0x68, instance 0x01, attribute 0x09, as shown in the table
below.
The following parameters will be used to set up this explicit message.
Figure 22:
56
Integer Data File N10
Explicit Messaging Quick Start
Integer File N10
High Byte
Low Byte
N10:0
TXID= 0x01
COMMAND= 0x01
N10:1
PORT= 0x00
SIZE OF DATA FIELD= 0x06
N10:2
SERVICE= 0x0E (GET)
MacID= 0x04
N10:3
CLASS= 0x68
N10:4
INSTANCE= 0x01
N10:5
ATTRIBUTE= 0x09
After the N10 file is set, B3:0/0 can be set high to send the explicit message to the scanner
card. After bit I:3/15 is set by the PLC, the message can be viewed by setting B3:0/2 high
which copies the M1: file to the N11: file.
The response from the drive should resemble the following.
Figure 23:
PLC Configuration Example 1
The following table reflects the results of the Index 0 Velocity example. Note that the Low
Data Word is 1000 (0x3E8), the velocity requested.
Integer File N11
High Byte
Low Byte
N11:0
TXID=0x01
COMMAND=0x01
N11:1
PORT=0x00
SIZE OF DATA FIELD=0x04
N11:2
SERVICE=0x8E (Successful Response)
N11:3
LOW DATA WORD = 0x3E8
N11:4
HIGH DATA WORD = 0x00
MacID=0x04
Example 2 Write Index 1 Velocity
This example will show how to use explicit messaging to write the current index velocity to
an Ei-DN drive.
Assume the drive configuration for example 1.
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Epsilon Ei DeviceNet Drive Reference Manual
Index 1 Velocity is mapped to class 0x68, instance 0x02, attribute 0x09, as shown in the table
below.
The following parameters will be used to set up this explicit message.
Interger File N10
High Byte
Low Byte
N10:0
TXID=0x01
COMMAND=0x01
N10:1
PORT=0x00
SIZE OF DATA FIELD=0x0A
N10:2
SERVICE=0x10 (SET)
N10:3
MacID=0x04
CLASS=0x68
N10:4
INSTANCE=0x02
N10:5
ATTRIBUTE=0x09
After the N10 file is set, B3:0/0 can be set high to send the explicit message to the scanner
card. After bit I:3/15 is set by the PLC, the message can be viewed by setting B3:0/2 high
which copies the M1: file to the N11: file.
The response from the drive should resemble the following.
Figure 24:
PLC Configuration Example 2
The following table reflects the results of the Index 1 Velocity example. These results are
verifiable via the keypad interface.
58
Explicit Messaging Quick Start
Integer File N11
High Byte
Low Byte
N11:0
TXID=0x01
COMMAND=0x01
N11:1
PORT=0x00
SIZE OF DATA FIELD=0x04
N11:2
SERVICE=0x90 (Successful Transmit)
MacID=0x04
N11:3
LOW DATA WORD = 0x7D0
N11:4
HIGH DATA WORD = 0x00
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Epsilon Ei DeviceNet Drive Reference Manual
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Epsilon Ei DeviceNet Drive Reference Manual
Drive Parameters
This section lists all parameters available for Epsilon Ei DeviceNet drive. The tables provide the
following information about each parameter:
Name
The parameter’s name
DeviceNet Data Type
INT, UINT = 16 bit value
DINT, UDINT = 32 bit value
BOOL = Bit
Word = Bitmap 16
DWord = Bitmap 32
String: XXX = ASCII characters of XXX length, padded with white space
Class, Instance, Attribute
The path necessary to access the parameter.
By Name
*Note 1*
The instance number will be one more than the number of the index, jog, input or output. For
example, Index0 will have an instance of 1 (0x01) and Index 14 will have an instance of 15
(0x0F). If the parameter is unnumbered, the instance will be one.
Name
AnalogOutput.AnalogOutputInstance#.Channel
DN Data Type
Class
Instance
Attribute
INT
100 (0x64)
See Note 1
1 (0x01)
AnalogOutput.AnalogOutputInstance#.Offset
DINT
100 (0x64)
See Note 1
2 (0x02)
AnalogOutput.AnalogOutputInstance#.Scale
DINT
100 (0x64)
See Note 1
3 (0x03)
AnalogOutput.AnalogOutputInstance#.Select
INT
100 (0x64)
See Note 1
4 (0x04)
DeviceNet.DeviceNetIdentityObject.DeviceStatus
UINT
1 (0x01)
1 (0x01)
5 (0x05)
DeviceNet.DeviceNetIdentityObject.DeviceType
UINT
1 (0x01)
1 (0x01)
2 (0x02)
DeviceNet.DeviceNetIdentityObject.HeartbeatInterval
DINT
1 (0x01)
1 (0x01)
10 (0x0A)
DeviceNet.DeviceNetIdentityObject.VendorID
UINT
1 (0x01)
1 (0x01)
1 (0x01)
Execute.ExecuteClearFault
BOOL
101 (0x65)
1 (0x01)
1 (0x01)
Execute.ExecuteReadBaseDriveNVMtoRAM
BOOL
101 (0x65)
1 (0x01)
2 (0x02)
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Epsilon Ei DeviceNet Drive Reference Manual
Name
DN Data Type
Class
BOOL
101 (0x65)
1 (0x01)
Execute.ExecuteWriteBaseDriveRAMtoNVM
BOOL
101 (0x65)
1 (0x01)
4 (0x04)
Fault.FaultInstance#.Code
WORD
102 (0x66)
See Note 1
1 (0x01)
2 (0x02)
Execute.ExecuteStopAllMotion
Attribute
3 (0x03)
Fault.FaultInstance#.PowerUpCount
UINT
102 (0x66)
See Note 1
Fault.FaultInstance#.PowerUpTime
UDINT
102 (0x66)
See Note 1
3 (0x03)
DWORD
102 (0x66)
1 (0x01)
15 (0x0F)
WORD
103 (0x67)
1 (0x01)
1 (0x01)
Fault.FaultStatus
Home.BackOffSensorBeforeHoming
Home.EndofHomePosition
DINT
103 (0x67)
1 (0x01)
2 (0x02)
Home.HomeAcceleration
UDINT
103 (0x67)
1 (0x01)
3 (0x03)
Home.HomeDeceleration
UDINT
103 (0x67)
1 (0x01)
4 (0x04)
Home.HomeLimitDistance
UDINT
103 (0x67)
1 (0x01)
5 (0x05)
Home.HomeLimitDistanceEnable
WORD
103 (0x67)
1 (0x01)
6 (0x06)
DINT
103 (0x67)
1 (0x01)
7 (0x07)
Home.HomeOffset
Home.HomeOffsetEnable
WORD
103 (0x67)
1 (0x01)
8 (0x08)
Home.HomeReference
WORD
103 (0x67)
1 (0x01)
9 (0x09)
Home.HomeVelocity
DINT
103 (0x67)
1 (0x01)
10 (0x0A)
Index.ChainingCount
UINT
104 (0x68)
1 (0x01)
23 (0x17)
Index.CurrentChainingCount
UINT
104 (0x68)
1 (0x01)
24 (0x18)
Index.CurrentIndexCount
UINT
104 (0x68)
1 (0x01)
21 (0x15)
22 (0x16)
Index.CurrentIndexNumber
UINT
104 (0x68)
1 (0x01)
UDINT
104 (0x68)
See Note 1
2 (0x02)
Index.IndexInstance#.ChainNext
UINT
104 (0x68)
See Note 1
1 (0x01)
Index.IndexInstance#.ControlRegister
UINT
104 (0x68)
See Note 1
3 (0x03)
4 (0x04)
Index.IndexInstance#.Acceleration
Index.IndexInstance#.Count
UINT
104 (0x68)
See Note 1
UDINT
104 (0x68)
See Note 1
5 (0x05)
Index.IndexInstance#.Distance
DINT
104 (0x68)
See Note 1
6 (0x06)
Index.IndexInstance#.Dwell
UINT
104 (0x68)
See Note 1
7 (0x07)
Index.IndexInstance#.Type
WORD
104 (0x68)
See Note 1
8 (0x08)
Index.IndexInstance#.Velocity
UDINT
104 (0x68)
See Note 1
9 (0x09)
Index.InfiniteChaining
WORD
104 (0x68)
1 (0x01)
25 (0x19)
DINT
104 (0x68)
See Note 1
10 (0x0A)
Index.IndexInstance#.Deceleration
Index.Instance#.RegistrationOffset
62
Instance
InputFunction.InputFunctionAlwaysActiveBitMap
WORD
105 (0x69)
1 (0x01)
21 (0x15)
InputFunction.InputFunctionInstance#.ActiveOffArray
BOOL
105 (0x69)
See Note 1
1 (0x01)
InputFunction.InputFunctionInstance#.AlwaysActive Array
BOOL
105 (0x69)
See Note 1
2 (0x02)
InputFunction.InputFunctionInstance#.Mapping
WORD
105 (0x69)
See Note 1
3 (0x03)
InputFunction.InputFunctionInstance#.StatusArray
BOOL
105 (0x69)
See Note 1
4 (0x04)
InputFunction.InputFunctionPolarityBitMap
WORD
105 (0x69)
1 (0x01)
22 (0x16)
InputFunction.InputFunctionStatusBitMap
WORD
105 (0x69)
1 (0x01)
23 (0x17)
Drive Parameters
DN Data Type
Class
InputLine.DriveEnableInputDebouncedStatus
Name
BOOL
106 (0x6A)
1 (0x01)
Instance
9 (0x09)
Attribute
InputLine.DriveEnableInputRawStatus
BOOL
106 (0x6A)
1 (0x01)
10 (0x0A)
InputLine.DriveEnableInputStatus
BOOL
106 (0x6A)
1 (0x01)
11 (0x0B)
InputLine.EnableDebounceTime
UINT
106 (0x6A)
1 (0x01)
8 (0x08)
InputLine.InputLineInstance#.DebouncedStatusArray
BOOL
106 (0x6A)
See Note 1
1 (0x01)
InputLine.InputLineInstance#.DebounceTime
UINT
106 (0x6A)
See Note1
4 (0x04)
InputLine.InputLineInstance#.ForceOn/OffCommandArray
BOOL
106 (0x6A)
See Note 1
2 (0x02)
InputLine.InputLineInstance#.ForceOn/OffEnableArray
BOOL
106 (0x6A)
See Note 1
3 (0x03)
InputLine.InputLineInstance#.RawStatusArray
BOOL
106 (0x6A)
See Note 1
0 (0x00)
InputLine.InputLineInstance#.StatusArray
BOOL
106 (0x6A)
See Note 1
0 (0x00)
InputLine.InputLinesDebouncedBitMap
WORD
106 (0x6A)
1 (0x01)
21 (0x15)
InputLine.InputLinesOverrideActive
UINT
106 (0x6A)
1 (0x01)
22 (0x16)
InputLIne.InputLinesOverrideStatus
UINT
106 (0x6A)
1 (0x01)
23 (0x17)
InputLine.InputLinesRawBitMap
WORD
106 (0x6A)
1 (0x01)
24 (0x18)
InputLine.InputLinesStatusBitMap
WORD
106 (0x6A)
1 (0x01)
25 (0x19)
Jog.JogAcceleration
UDINT
107 (0x6B)
1 (0x01)
1 (0x01)
Jog.JogDeceleration
UDINT
107 (0x6B)
1 (0x01)
2 (0x02)
Jog.JogFastVelocity
UDINT
107 (0x6B)
1 (0x01)
3 (0x03)
Jog.JogVelocity
UDINT
107 (0x6B)
1 (0x01)
4 (0x04)
4 (0x04)
ModuleFirmwareRevision
String:4
1 (0x01)
1 (0x01)
ModuleSerialNumber
String:16
1 (0x01)
1 (0x01)
6 (0x06)
UINT
108 (0x6C)
See Note 1
1 (0x01)
OutputFunction.OutputFunctionStatusBitMap
WORD
108 (0x6C)
1 (0x01)
21 (0x15)
OutputLine.OutputLinesStatusBitMap
WORD
109 (0x6D)
1 (0x01)
4 (0x04)
UINT
109 (0x6D)
1 (0x01)
1 (0x01)
OutputLine.OutputLinesOverrideStatus
UINT
109 (0x6D)
1 (0x01)
2 (0x02)
OutputLine.OutputLinesPolarityBitMap
WORD
109 (0x6D)
1 (0x01)
3 (0x03)
OutputFunction.OutputFunctionInstance#.Mapping32
OutputLine.OutputLinesOverrideActive
Position.FollowingError
DINT
110 (0x6E)
1 (0x01)
1 (0x01)
Position.FollowingErrorEnable
WORD
110 (0x6E)
1 (0x01)
2 (0x02)
Position.FollowingErrorLimit
DINT
110 (0x6E)
1 (0x01)
3 (0x03)
Position.InPositionTime
UINT
110 (0x6E)
1 (0x01)
7 (0x07)
Position.InPositionWindow
UDINT
110 (0x6E)
1 (0x01)
6 (0x06)
Position.RolloverPosition
UDINT
110 (0x6E)
1 (0x01)
4 (0x04)
Position.RolloverPositionEnable
WORD
110 (0x6E)
1 (0x01)
5 (0x05)
ProductID.FirmwareRevisionBase
String
111 (0x6F)
1 (0x01)
1 (0x01)
ProductID.FirmwareRevisionOption
String
111 (0x6F)
1 (0x01)
2 (0x02)
ProductID.InterfaceRevisionBase
UINT
111 (0x6F)
1 (0x01)
3 (0x03)
ProductID.InterfaceRevisionOption
UINT
111 (0x6F)
1 (0x01)
4 (0x04)
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Epsilon Ei DeviceNet Drive Reference Manual
DN Data Type
Class
ProductID.Option1IDFunctionModule
Name
UINT
111 (0x6F)
1 (0x01)
5 (0x05)
ProductID.Option2IDAnybus1
UINT
111 (0x6F)
1 (0x01)
6 (0x06)
ProductID.Option3IDAnybus2
UINT
111 (0x6F)
1 (0x01)
7 (0x07)
ProductID.ProductGroup
UINT
111 (0x6F)
1 (0x01)
8 (0x08)
ProductID.ProductID
UINT
111 (0x6F)
1 (0x01)
9 (0x09)
ProductID.ProductSerialNumber
String
111 (0x6F)
1 (0x01)
10 (0x0A)
ProductID.ProductSubGroup
UINT
111 (0x6F)
1 (0x01)
11 (0x0B)
3 (0x03)
ProductSubGroup
Attribute
1 (0x01)
1 (0x01)
Setup.DriveAmbientTemperature
UINT
112 (0x70)
1 (0x01)
1 (0x01)
Setup.DriveAxisName
String
112 (0x70)
1 (0x01)
2 (0x02)
Setup.EncoderOutput
UINT
112 (0x70)
1 (0x01)
3 (0x03)
Setup.EncoderOutputEnable
WORD
112 (0x70)
1 (0x01)
4 (0x04)
Setup.ExecuteReadFMNVMtoRAM
BOOL
112 (0x70)
1 (0x01)
21 (0x15)
Setup.LowDCBusEnable
WORD
112 (0x70)
1 (0x01)
5 (0x05)
Setup.PositiveDirection
WORD
112 (0x70)
1 (0x01)
6 (0x06)
Status.AbsoluteRotorPosition
DINT
113 (0x71)
1 (0x01)
1 (0x01)
Status.BusVoltage
UINT
113 (0x71)
1 (0x01)
2 (0x02)
Status.CommutationAngleCorrection
Status.CommutationTrackAngle
Status.CommutationVoltage
Status.EncoderCounts
Status.HeatsinkRMS
INT
113 (0x71)
1 (0x01)
3 (0x03)
UINT
113 (0x71)
1 (0x01)
4 (0x04)
INT
113 (0x71)
1 (0x01)
5 (0x05)
DINT
113 (0x71)
1 (0x01)
6 (0x06)
UINT
113 (0x71)
1 (0x01)
7 (0x07)
Status.MotionState
WORD
113 (0x71)
1 (0x01)
8 (0x08)
Status.OptionSerialNumber
String
113 (0x71)
1 (0x01)
13 (0x0D)
Status.PowerUpCount
UINT
113 (0x71)
1 (0x01)
9 (0x09)
Status.PowerUpTime
UDINT
113 (0x71)
1 (0x01)
10 (0x0A)
Status.RotorVelocity
DINT
113 (0x71)
1 (0x01)
11 (0x0B)
Status.SegmentDisplayCharacter
UINT
113 (0x71)
1 (0x01)
12 (0x0C)
INT
113 (0x71)
1 (0x01)
14 (0x0D)
DINT
113 (0x71)
1 (0x01)
15 (0x0E)
UDINT
113 (0x71)
1 (0x01)
16 (0x10)
Status.TorqueFeedback
Status.TotalCommandChangeOut
Status.TotalPowerUpTime
64
UINT16
Instance
Status.VelocityCommand
DINT
113 (0x71)
1 (0x01)
17 (0x11)
Torque.FoldbackRMSCurrentLevel
UINT
114 (0x72)
1 (0x01)
1 (0x01)
Torque.LimitedTorqueCommand
INT
114 (0x72)
1 (0x01)
2 (0x02)
Torque.TorqueCommand
INT
114 (0x72)
1 (0x01)
3 (0x03)
Torque.TorqueLevel1
UINT
114 (0x72)
1 (0x01)
4 (0x04)
Torque.TorqueLevel2
UINT
114 (0x72)
1 (0x01)
5 (0x05)
Torque.TorqueLimit
UINT
114 (0x72)
1 (0x01)
6 (0x06)
Drive Parameters
Name
Tuning.EnableFeedforwards
DN Data Type
Class
WORD
115 (0x73)
Instance
1 (0x01)
Attribute
1 (0x01)
Tuning.Friction
UINT
115 (0x73)
1 (0x01)
2 (0x02)
Tuning.LoadIntertia
UINT
115 (0x73)
1 (0x01)
3 (0x03)
Tuning.LowPassFilterEnable
Tuning.LowPassFilterFrequency
Tuning.PositionErrorIntegral
Tuning.PositionErrorIntegralEnable
WORD
115 (0x73)
1 (0x01)
4 (0x04)
UINT
115 (0x73)
1 (0x01)
5 (0x05)
DINT
115 (0x73)
1 (0x01)
6 (0x06)
WORD
115 (0x73)
1 (0x01)
7 (0x07)
Tuning.PositionErrorIntegralTimeConstant
UINT
115 (0x73)
1 (0x01)
8 (0x08)
Tuning.ResponseLevel
UINT
115 (0x73)
1 (0x01)
10 (0x0A)
UserUnits.AccelerationDecimalPoint
UINT
115 (0x73)
1 (0x01)
1 (0x01)
UserUnits.PositionDecimalPoint
UINT
116 (0x74)
1 (0x01)
2 (0x02)
UserUnits.TimeBasedIndication
UINT
116 (0x74)
1 (0x01)
3 (0x03)
UserUnits.UserDefinedBitmap
UINT
116 (0x74)
1 (0x01)
21 (0x15)
UserUnits.UserDefinedBits
BOOL
116 (0x74)
1 (0x01)
22 (0x16)
UserUnits.UserDefinedRegisters
UINT
116 (0x74)
1 (0x01)
23 (0x17)
UserUnits.UserUnitDefinition
UINT
116 (0x74)
1 (0x01)
4 (0x04)
UserUnits.UserUnitString
String
116 (0x74)
1 (0x01)
5 (0x05)
UserUnits.UsingUserUnits
BOOL
116 (0x74)
1 (0x01)
6 (0x06)
UserUnits.VelocityDecimalPoint
UINT
116 (0x74)
1 (0x01)
7 (0x07)
Velocity.InMotionVelocity
UINT
117 (0x75)
1 (0x01)
1 (0x01)
Velocity.OverspeedVelocity
UINT
117 (0x75)
1 (0x01)
2 (0x02)
Velocity.StopDeceleration
UDINT
117 (0x75)
1 (0x01)
3 (0x03)
Velocity.TravelLimitDeceleration
UDINT
117 (0x75)
1 (0x01)
4 (0x04)
By DeviceNet Class
*NOTE 1*
The instance number will be one more than the number of the index, jog, pls, program, input
or output. For example, Index0 will have an instance of 1 (0x01) and Index 14 will have an
instance of 15 (0x0F). If the parameter is unnumbered, the instance will be one (see the tables
in this chapter).
65
Epsilon Ei DeviceNet Drive Reference Manual
Name
DeviceNet.DeviceNetIdentityObject.VendorID
DeviceNet.DeviceNetIdentityObject.DeviceType
UINT
Class
1 (0x01)
Instance
1 (0x01)
Attribute
1 (0x01)
UINT
1 (0x01)
1 (0x01)
2 (0x02)
ProductSubGroup
UINT16
1 (0x01)
1 (0x01)
3 (0x03)
ModuleFirmwareRevision
String:4
1 (0x01)
1 (0x01)
4 (0x04)
UINT
1 (0x01)
1 (0x01)
5 (0x05)
String:16
1 (0x01)
1 (0x01)
6 (0x06)
DINT
1 (0x01)
1 (0x01)
10 (0x0A)
DeviceNet.DeviceNetIdentityObject.DeviceStatus
ModuleSerialNumber
DeviceNet.DeviceNetIdentityObject.HeartbeatInterval
AnalogOutput.AnalogOutputInstance#.Channel
INT
100 (0x64)
See Note 1
1 (0x01)
AnalogOutput.AnalogOutputInstance#.Offset
DINT
100 (0x64)
See Note 1
2 (0x02)
AnalogOutput.AnalogOutputInstance#.Scale
DINT
100 (0x64)
See Note 1
3 (0x03)
AnalogOutput.AnalogOutputInstance#.Select
INT
100 (0x64)
See Note 1
4 (0x04)
Execute.ExecuteClearFault
BOOL
101 (0x65)
1 (0x01)
1 (0x01)
Execute.ExecuteReadBaseDriveNVMtoRAM
BOOL
101 (0x65)
1 (0x01)
2 (0x02)
Execute.ExecuteStopAllMotion
BOOL
101 (0x65)
1 (0x01)
3 (0x03)
Execute.ExecuteWriteBaseDriveRAMtoNVM
BOOL
101 (0x65)
1 (0x01)
4 (0x04)
Fault.FaultInstance#.Code
WORD
102 (0x66)
See Note 1
1 (0x01)
Fault.FaultInstance#.PowerUpCount
UINT
102 (0x66)
See Note 1
2 (0x02)
Fault.FaultInstance#.PowerUpTime
UDINT
102 (0x66)
See Note 1
3 (0x03)
DWORD
102 (0x66)
1 (0x01)
15 (0x0F)
WORD
103 (0x67)
1 (0x01)
1 (0x01)
DINT
103 (0x67)
1 (0x01)
2 (0x02)
Home.HomeAcceleration
UDINT
103 (0x67)
1 (0x01)
3 (0x03)
Home.HomeDeceleration
UDINT
103 (0x67)
1 (0x01)
4 (0x04)
Home.HomeLimitDistance
UDINT
103 (0x67)
1 (0x01)
5 (0x05)
Home.HomeLimitDistanceEnable
WORD
103 (0x67)
1 (0x01)
6 (0x06)
Fault.FaultStatus
Home.BackOffSensorBeforeHoming
Home.EndofHomePosition
Home.HomeOffset
DINT
103 (0x67)
1 (0x01)
7 (0x07)
Home.HomeOffsetEnable
WORD
103 (0x67)
1 (0x01)
8 (0x08)
Home.HomeReference
9 (0x09)
WORD
103 (0x67)
1 (0x01)
Home.HomeVelocity
DINT
103 (0x67)
1 (0x01)
10 (0x0A)
Index.IndexInstance#.ChainNext
UINT
104 (0x68)
See Note 1
1 (0x01)
UDINT
104 (0x68)
See Note 1
2 (0x02)
Index.IndexInstance#.ControlRegister
UINT
104 (0x68)
See Note 1
3 (0x03)
Index.IndexInstance#.Count
UINT
104 (0x68)
See Note 1
4 (0x04)
UDINT
104 (0x68)
See Note 1
5 (0x05)
DINT
104 (0x68)
See Note 1
6 (0x06)
Index.IndexInstance#.Dwell
UINT
104 (0x68)
See Note 1
7 (0x07)
Index.IndexInstance#.Type
WORD
104 (0x68)
See Note 1
8 (0x08)
Index.IndexInstance#.Acceleration
Index.IndexInstance#.Deceleration
Index.IndexInstance#.Distance
66
DN Data Type
Drive Parameters
Name
DN Data Type
Class
UDINT
104 (0x68)
Index.Instance#.RegistrationOffset
DINT
104 (0x68)
See Note 1
10 (0x0A)
Index.CurrentIndexCount
UINT
104 (0x68)
1 (0x01)
21 (0x15)
Index.CurrentIndexNumber
UINT
104 (0x68)
1 (0x01)
22 (0x16)
Index.ChainingCount
UINT
104 (0x68)
1 (0x01)
23 (0x17)
Index.CurrentChainingCount
UINT
104 (0x68)
1 (0x01)
24 (0x18)
WORD
104 (0x68)
1 (0x01)
25 (0x19)
Index.IndexInstance#.Velocity
Index.InfiniteChaining
Instance
See Note 1
Attribute
9 (0x09)
InputFunction.InputFunctionInstance#.ActiveOffArray
BOOL
105 (0x69)
See Note 1
1 (0x01)
InputFunction.InputFunctionInstance#.AlwaysActive Array
BOOL
105 (0x69)
See Note 1
2 (0x02)
InputFunction.InputFunctionInstance#.Mapping
WORD
105 (0x69)
See Note 1
3 (0x03)
InputFunction.InputFunctionInstance#.StatusArray
BOOL
105 (0x69)
See Note 1
4 (0x04)
InputFunction.InputFunctionAlwaysActiveBitMap
WORD
105 (0x69)
1 (0x01)
21 (0x15)
InputFunction.InputFunctionPolarityBitMap
WORD
105 (0x69)
1 (0x01)
22 (0x16)
InputFunction.InputFunctionStatusBitMap
WORD
105 (0x69)
1 (0x01)
23 (0x17)
InputLine.InputLineInstance#.RawStatusArray
BOOL
106 (0x6A)
See Note 1
0 (0x00)
InputLine.InputLineInstance#.StatusArray
BOOL
106 (0x6A)
See Note 1
0 (0x00)
InputLine.InputLineInstance#.DebouncedStatusArray
BOOL
106 (0x6A)
See Note 1
1 (0x01)
InputLine.InputLineInstance#.ForceOn/OffCommandArray
BOOL
106 (0x6A)
See Note 1
2 (0x02)
InputLine.InputLineInstance#.ForceOn/OffEnableArray
BOOL
106 (0x6A)
See Note 1
3 (0x03)
InputLine.InputLineInstance#.DebounceTime
UINT
106 (0x6A)
See Note1
4 (0x04)
InputLine.EnableDebounceTime
UINT
106 (0x6A)
1 (0x01)
8 (0x08)
InputLine.DriveEnableInputDebouncedStatus
BOOL
106 (0x6A)
1 (0x01)
9 (0x09)
InputLine.DriveEnableInputRawStatus
BOOL
106 (0x6A)
1 (0x01)
10 (0x0A)
InputLine.DriveEnableInputStatus
BOOL
106 (0x6A)
1 (0x01)
11 (0x0B)
InputLine.InputLinesDebouncedBitMap
WORD
106 (0x6A)
1 (0x01)
21 (0x15)
InputLine.InputLinesOverrideActive
UINT
106 (0x6A)
1 (0x01)
22 (0x16)
InputLIne.InputLinesOverrideStatus
UINT
106 (0x6A)
1 (0x01)
23 (0x17)
InputLine.InputLinesRawBitMap
WORD
106 (0x6A)
1 (0x01)
24 (0x18)
InputLine.InputLinesStatusBitMap
WORD
106 (0x6A)
1 (0x01)
25 (0x19)
Jog.JogAcceleration
UDINT
107 (0x6B)
1 (0x01)
1 (0x01)
Jog.JogDeceleration
UDINT
107 (0x6B)
1 (0x01)
2 (0x02)
3 (0x03)
Jog.JogFastVelocity
UDINT
107 (0x6B)
1 (0x01)
Jog.JogVelocity
UDINT
107 (0x6B)
1 (0x01)
4 (0x04)
UINT
108 (0x6C)
See Note 1
1 (0x01)
WORD
108 (0x6C)
1 (0x01)
21 (0x15)
OutputFunction.OutputFunctionInstance#.Mapping32
OutputFunction.OutputFunctionStatusBitMap
OutputLine.OutputLinesOverrideActive
UINT
109 (0x6D)
1 (0x01)
1 (0x01)
OutputLine.OutputLinesOverrideStatus
UINT
109 (0x6D)
1 (0x01)
2 (0x02)
OutputLine.OutputLinesPolarityBitMap
WORD
109 (0x6D)
1 (0x01)
3 (0x03)
67
Epsilon Ei DeviceNet Drive Reference Manual
Name
OutputLine.OutputLinesStatusBitMap
Position.FollowingError
Position.FollowingErrorEnable
Position.FollowingErrorLimit
Class
WORD
109 (0x6D)
Instance
1 (0x01)
Attribute
4 (0x04)
DINT
110 (0x6E)
1 (0x01)
1 (0x01)
WORD
110 (0x6E)
1 (0x01)
2 (0x02)
DINT
110 (0x6E)
1 (0x01)
3 (0x03)
UDINT
110 (0x6E)
1 (0x01)
4 (0x04)
Position.RolloverPositionEnable
WORD
110 (0x6E)
1 (0x01)
5 (0x05)
Position.InPositionWindow
UDINT
110 (0x6E)
1 (0x01)
6 (0x06)
Position.RolloverPosition
Position.InPositionTime
UINT
110 (0x6E)
1 (0x01)
7 (0x07)
ProductID.FirmwareRevisionBase
String
111 (0x6F)
1 (0x01)
1 (0x01)
ProductID.FirmwareRevisionOption
String
111 (0x6F)
1 (0x01)
2 (0x02)
ProductID.InterfaceRevisionBase
UINT
111 (0x6F)
1 (0x01)
3 (0x03)
ProductID.InterfaceRevisionOption
UINT
111 (0x6F)
1 (0x01)
4 (0x04)
ProductID.Option1IDFunctionModule
UINT
111 (0x6F)
1 (0x01)
5 (0x05)
ProductID.Option2IDAnybus1
UINT
111 (0x6F)
1 (0x01)
6 (0x06)
ProductID.Option3IDAnybus2
UINT
111 (0x6F)
1 (0x01)
7 (0x07)
ProductID.ProductGroup
UINT
111 (0x6F)
1 (0x01)
8 (0x08)
ProductID.ProductID
UINT
111 (0x6F)
1 (0x01)
9 (0x09)
ProductID.ProductSerialNumber
String
111 (0x6F)
1 (0x01)
10 (0x0A)
ProductID.ProductSubGroup
UINT
111 (0x6F)
1 (0x01)
11 (0x0B)
Setup.DriveAmbientTemperature
UINT
112 (0x70)
1 (0x01)
1 (0x01)
Setup.DriveAxisName
String
112 (0x70)
1 (0x01)
2 (0x02)
Setup.EncoderOutput
Setup.EncoderOutputEnable
UINT
112 (0x70)
1 (0x01)
3 (0x03)
WORD
112 (0x70)
1 (0x01)
4 (0x04)
Setup.LowDCBusEnable
WORD
112 (0x70)
1 (0x01)
5 (0x05)
Setup.PositiveDirection
WORD
112 (0x70)
1 (0x01)
6 (0x06)
Setup.ExecuteReadFMNVMtoRAM
BOOL
112 (0x70)
1 (0x01)
21 (0x15)
Status.AbsoluteRotorPosition
DINT
113 (0x71)
1 (0x01)
1 (0x01)
Status.BusVoltage
UINT
113 (0x71)
1 (0x01)
2 (0x02)
INT
113 (0x71)
1 (0x01)
3 (0x03)
UINT
113 (0x71)
1 (0x01)
4 (0x04)
INT
113 (0x71)
1 (0x01)
5 (0x05)
6 (0x06)
Status.CommutationAngleCorrection
Status.CommutationTrackAngle
Status.CommutationVoltage
Status.EncoderCounts
DINT
113 (0x71)
1 (0x01)
Status.HeatsinkRMS
UINT
113 (0x71)
1 (0x01)
7 (0x07)
WORD
113 (0x71)
1 (0x01)
8 (0x08)
Status.PowerUpCount
UINT
113 (0x71)
1 (0x01)
9 (0x09)
Status.PowerUpTime
UDINT
113 (0x71)
1 (0x01)
10 (0x0A)
Status.RotorVelocity
DINT
113 (0x71)
1 (0x01)
11 (0x0B)
Status.SegmentDisplayCharacter
UINT
113 (0x71)
1 (0x01)
12 (0x0C)
Status.MotionState
68
DN Data Type
Drive Parameters
Name
Status.OptionSerialNumber
Status.TorqueFeedback
Status.TotalCommandChangeOut
DN Data Type
Class
String
113 (0x71)
1 (0x01)
Instance
Attribute
INT
113 (0x71)
1 (0x01)
14 (0x0D)
DINT
113 (0x71)
1 (0x01)
15 (0x0E)
13 (0x0D)
Status.TotalPowerUpTime
UDINT
113 (0x71)
1 (0x01)
16 (0x10)
Status.VelocityCommand
DINT
113 (0x71)
1 (0x01)
17 (0x11)
Torque.FoldbackRMSCurrentLevel
UINT
114 (0x72)
1 (0x01)
1 (0x01)
INT
114 (0x72)
1 (0x01)
2 (0x02)
Torque.LimitedTorqueCommand
Torque.TorqueCommand
INT
114 (0x72)
1 (0x01)
3 (0x03)
Torque.TorqueLevel1
UINT
114 (0x72)
1 (0x01)
4 (0x04)
Torque.TorqueLevel2
UINT
114 (0x72)
1 (0x01)
5 (0x05)
Torque.TorqueLimit
UINT
114 (0x72)
1 (0x01)
6 (0x06)
1 (0x01)
Tuning.EnableFeedforwards
WORD
115 (0x73)
1 (0x01)
Tuning.Friction
UINT
115 (0x73)
1 (0x01)
2 (0x02)
Tuning.LoadIntertia
UINT
115 (0x73)
1 (0x01)
3 (0x03)
WORD
115 (0x73)
1 (0x01)
4 (0x04)
Tuning.LowPassFilterFrequency
UINT
115 (0x73)
1 (0x01)
5 (0x05)
Tuning.PositionErrorIntegral
DINT
115 (0x73)
1 (0x01)
6 (0x06)
WORD
115 (0x73)
1 (0x01)
7 (0x07)
Tuning.PositionErrorIntegralTimeConstant
UINT
115 (0x73)
1 (0x01)
8 (0x08)
Tuning.ResponseLevel
UINT
115 (0x73)
1 (0x01)
10 (0x0A)
UserUnits.AccelerationDecimalPoint
UINT
116 (0x74)
1 (0x01)
1 (0x01)
Tuning.LowPassFilterEnable
Tuning.PositionErrorIntegralEnable
UserUnits.PositionDecimalPoint
UINT
116 (0x74)
1 (0x01)
2 (0x02)
UserUnits.TimeBasedIndication
UINT
116 (0x74)
1 (0x01)
3 (0x03)
UserUnits.UserUnitDefinition
UINT
116 (0x74)
1 (0x01)
4 (0x04)
UserUnits.UserUnitString
String
116 (0x74)
1 (0x01)
5 (0x05)
UserUnits.UsingUserUnits
BOOL
116 (0x74)
1 (0x01)
6 (0x06)
UserUnits.VelocityDecimalPoint
UINT
116 (0x74)
1 (0x01)
7 (0x07)
UserUnits.UserDefinedBitmap
UINT
116 (0x74)
1 (0x01)
21 (0x15)
UserUnits.UserDefinedBits
BOOL
116 (0x74)
1 (0x01)
22 (0x16)
UserUnits.UserDefinedRegisters
UINT
116 (0x74)
1 (0x01)
23 (0x17)
Velocity.InMotionVelocity
UINT
117 (0x75)
1 (0x01)
1 (0x01)
2 (0x02)
Velocity.OverspeedVelocity
UINT
117 (0x75)
1 (0x01)
Velocity.StopDeceleration
UDINT
117 (0x75)
1 (0x01)
3 (0x03)
Velocity.TravelLimitDeceleration
UDINT
117 (0x75)
1 (0x01)
4 (0x04)
69
Epsilon Ei DeviceNet Drive Reference Manual
70
Reserved
0
1
3
MS Bit
Index
Select Bit
2
Index
Select Bit
3
Reserved
Bit 14
Bit 15
2
End of
Index
Motion
Bit 12
Travel
Limit
+
Bit 10
Bit 8
Brake
Release
Bit 9
Reg
Limit
Distance
Hit
Reset
Index
Select
Bit 1
Bit 13
Index
Select Bit
0
Bit 12
Jog +
Bit 10
Home
Initiate
Bit 9
Start
Index
Bit 8
Data High Word
Enable
DN Bit
7 MS
Bit 7
Data High Word
Stop
DN Bit
6 MS
Bit 6
Registration
Sensor 2
Status
Registration
Sensor 1
Status
Data Low Word
Output Word Select Data Pointer
Jog -
Bit 11
In - Motion
Bit 6
Enable
State
Bit 7
Data Low Word
Input Word Select Data Pointer
Travel
Limit
-
Bit 11
Master Send Assembly Block - Index Sel (Predef)
MS Bit
Word
3
2
Reserved
1
Reserved
End of
Index
Count
End of
Chaining
Count
End of
Index
0
Reserved
Bit 13
Bit 14
Bit 15
Word
Master Receive Assembly Block - Index Sel (Predef)
Index Select Predefined
Define
Home
DN Bit
5 MS
Bit 5
Home
Sensor
Status
In +
Motion
Bit 5
DN
Bit 4
MS
Bit 4
Absolute
Position
Valid
At
Velocity
Bit 4
DN
Bit 2
MS
DN
Bit 1
MS
Bit 1
Motion
State
Bit 1
Fault
Bit 1
Input Word Select Data Pointer
DN
Bit 3
MS
Bit 2
Motion
State
Bit 2
Home
Limit
Dist
Hit
Bit 3
Torque
Limit
Bit 2
End
of
Home
Bit 3
LS Bit
DN
Bit 0
MS
Bit 0
LS Bit
Motion
State
Bit 0
Drive
OK
Bit 0
Appendix
Epsilon Ei DeviceNet Drive Reference Manual
Appendix
71
72
Reserved
0
1
3
MS Bit
Index
Select
Bit 2
Index
Select
Bit 3
Reserved
Bit 14
Bit 15
2
Bit 13
Reserved
DN Bit
13 MR
Bit 12
DN Bit
12 MR
Bit 11
Bit 10
DN Bit
10 MR
Bit 9
DN Bit
9 MR
Reserved
Index
Select
Bit 1
Bit 13
Index
Select
Bit 0
Bit 12
DN Bit
10 MS
Bit 10
DN Bit
9 MS
Bit 9
DN Bit
8 MS
Bit 8
Reserved
DN Bit
7 MS
Bit 7
Data High Word
Reserved
DN Bit
6 MS
Bit 6
Index
Select
Bit 2
Index
Select
Bit 3
Bit 6
DN Bit
6 MR
Bit 7
DN Bit
7 MR
Data High Word
Data Low Word
Output Word Select Data Pointer
DN Bit
11 MS
Bit 11
Bit 8
DN Bit
8 MR
Data Low Word
Input Word Select Data Pointer
DN Bit
11 MR
Master Send Assembly Block - Index Sel (User Def)
Word
3
MS Bit
1
2
Reserved
0
Reserved
Bit 14
DN Bit
14 MR
Bit 15
DN Bit
15 MR
Word
Master Receive Assembly Block - Index Sel (User Def)
Index Select (User Defined)
Bit 5
Enable
DN Bit
5 MS
Bit 5
Index
Select
Bit 1
DN Bit
5 MR
Bit 4
DN Bit
4 MS
Bit 4
Index
Select
Bit 0
DN Bit
4 MR
Bit 3
Bit 2
DN Bit
2 MS
Bit 2
Motion
State
Bit 2
DN Bit
2 MR
Bit 1
DN Bit
1 MS
Bit 1
Motion
State
Bit 1
DN Bit
1 MR
Input Word Select Data Pointer
DN Bit
3 MS
Bit 3
Enable
State
DN Bit
3 MR
Bit 0
LS Bit
DN Bit
0 MS
Bit 0
LS Bit
Motion
State
Bit 0
DN Bit
0 MR
Epsilon Ei DeviceNet Drive Reference Manual
Reserved
1
3
MS Bit
DN Bit 6
MS
DN Bit 7
MS
0
Reserved
Bit 14
Bit 15
2
Reserved
DN Bit 5
MR
Bit 13
DN
Bit 3
MR
DN
Bit 4
MR
DN
Bit 2
MR
Bit 10
Reserved
DN Bit 5
MS
Bit 13
DN
Bit 1
MR
Bit 9
DN Bit 4
MS
Bit 12
DN Bit 2
MS
Bit 10
DN Bit 1
MS
Bit 9
DN Bit 0
MS
Bit 8
Data High Word
Jog Fast
Enable
Bit 7
Jog -
Reset
Jog +
Stop
Bit 5
Home
Initiate
Bit 4
Index
Type
Bit 1
Index
Type
Bit 0
Bit 1
Input Word Select Data Pointer
Bit 2
Motion
State
Bit 1
Motion
State
Bit 2
Index
Type
Bit 2
Fault
Bit 1
Torque
Limit
Bit 2
Bit 3
Travel
Limit +
Travel
Limit -
Reserved
End of
Home
Reg
Limit
Distance
Hit
Home
Limit
Distance
Hit
Bit 3
Bit 4
Bit 5
Bit 6
Reserved
Absolute
Position
Valid
Bit 6
Data High Word
Data Low Word
Output Word Select Data Pointer
DN Bit 3
MS
Bit 11
Enable
State
DN
Bit 0
MR
Reserved
Bit 7
Bit 8
Data Low Word
Input Word Select Data Pointer
Bit 11
Bit 12
Master Send Assembly Block - Index Type
Word
3
MS Bit
Reserved
1
2
DN Bit 6
MR
DN Bit 7
MR
0
Reserved
Bit 14
Bit 15
Word
Master Receive Assembly Block - Index Type
Index Type
LS Bit
Start
Index
Bit 0
LS Bit
Motion
State
Bit 0
Drive
OK
Bit 0
Appendix
73
74
3
2
1
0
Word
3
2
1
0
Word
Bit 14
Bit 13
Bit 9
Response Assembly Code
Reserved
Bit 12 Bit 11 Bit 10
MS Bit
Bit 15
Reserved
Bit 14
Bit 13
Bit 11
Bit 10
Bit 9
Response Assembly Code
Reserved
Bit 12
Enable
Bit 7
Reserved
Valid
Data = 1
Ignore
Data = 0
Reserved
Bit 5
Bit 6
Data High Word
Data Low Word
Bit 8
Data High Word
Stop
Input
Bit 4
Fault
Bit 3
End of
Index
Motion
Bit 2
Reserved
Bit 1
Trajectory
Started
Bit 0
Stop
Bit 4
Bit 1
Bit 0
LS Bit
Absolute=0
Start
Reserved
Incremental=1
Trajectory
Bit 2
Command Assembly Code
Reserved
Bit 3
LS Bit
CCW
CW
Trajectory
Hardware Hardware
Start
Reserved Reserved
Limit
Limit
Drive OK
Echo
(Travel
(Travel
Limit -)
Limit +)
Absolute
Position
Valid
Valid
Data = 1
Ignore
Data = 0
Enable
State
Command
Reserved
Error
Bit 5
Bit 6
Bit 7
Data Low Word
Bit 8
Master Send Assembly Block -Position Control
MS Bit
Reserved Reserved Reserved
Bit 15
Master Receive Assembly Block - Position Control
Position Control
Epsilon Ei DeviceNet Drive Reference Manual
Epsilon Ei DeviceNet Drive Reference Manual
Glossary
Application Objects
These implement the intended purpose of the product.
Attribute
A sub-classification for a parameter or bit. The attribute is grouped directly under the more
broad category of class. Example: Class = Index, Attribute = Index Dwell. Each Attribute
accessible to the user is assigned a number (See “Drive Parameters” on page 61. )
Baud Rate
The number of times the communication signal changes per second. In the case of a digital
communication signal, it is equal to the number of bits per second.
Class
A top level DeviceNet classification for all parameters and bits. Each class is given a unique
number ID found in the chart #.
Connection Class
This allocates and manages internal resources associated with both I/O and Explicit
Messaging connections.
Connection Object
This manages the communication specific aspects associated with both I/O and Explicit
Messaging connections.
Daisy Chain
A slang term for a wiring process that goes from one device to the next connecting wire A to
A, B to B, etc.
DeviceNet
A communications link to connect industrial devices (limit switches, photoelectric switches,
motor drives, and position controllers) as well as control devices (programmable controllers
and computers) to a network. All references to DeviceNet in this document refer to ODVA
DeviceNet Specifications Volumes 1 and 2, release 2.0.
DeviceNet Object
This provides the configuration and status of a physical DeviceNet network connection.
75
Epsilon Ei DeviceNet Drive Reference Manual
Drop Line
A DeviceNet cable that runs from the trunk of a system to a device.
EDS
Electronic Data Sheet file is a formatted ASCII file that contains configuration information
of the device.
Epsilon Drive
The Epsilon drive is a digital positioning drive. In addition to the basic single axis motion
control features, it provides advanced diagnostics and high speed communication
capabilities.
Explicit Message
A message constructed within the master to poll a device for a single parameter. Explicit
Messages occur in the background of implicit messaging.
Explicit Messaging Connections
Provide generic, multi-purpose communication paths between two devices. Explicit
Messages provide the typical request/response oriented network communications.
Implicit Message
A message sent from the master to the slave as a way of passing data. Implicit messages
transfer a predefined amount of data to and from the Master at a constant rate.
Index
An index is a set of parameters that defines position based motion including target position
and velocity, and other parameters. The different types of indexes specify basic operation.
Indexes are associated with digital input and outputs for the purposes of providing control and
indication of the Index status.
Indexer
Another term for the Epsilon Ei drive, which is intended for indexing.
Instance
A sub-classification for a parameter or bit. The instance is grouped directly under the more
broad category of attribute and allows for multiple occurrences of a parameter. Example:
Class = Index, Attribute = Index Dwell, Instance1 = Index 0 Dwell, Instance2 = Index 1
Dwell. Each instance is assigned a unique number under its respective attribute.
76
Glossary
I/O Connections
These provide dedicated, special-purpose communication paths between a producing
application and one or more consuming applications. Application specific I/O data moves
through these ports.
Link Consumer Object
This object is used by a Connection Object to receive data from DeviceNet.
Link Producer Object
This object is used by a Connection Object to transmit data onto DeviceNet.
MacID
DeviceNet specific term for a node address.
Message Router
This distributes Explicit Request Messages to the appropriate handler object.
Nodes
Each Device on a DeviceNet network is called a node
ODVA
The Open DeviceNet Vendor Association is an organization that manages the DeviceNet
specification and supports the worldwide growth of DeviceNet.
One touch Configuration
Process for changing the baud rate and MacID on the Ei-DN using the reset button on the front
of the Ei-DN
PLC
Programmable Logic Controller. Used to control Inputs and Outputs in a systematic fashion
on a device.
Trunk Line
The main branch of a DeviceNet network. This branch generally attaches to the main power
supply and is capable of carrying more current than the drop lines hanging off of it.
Terminating Resistors
Resistors used to decrease reflection and noise in a serial communications network.
Generally terminating resistors are placed at the ends of the network on the lines that transmit
messages.
77
Epsilon Ei DeviceNet Drive Reference Manual
UCMM
The Unconnected Message Manager processes DeviceNet Unconnected Explicit messages.
78
Epsilon Ei DeviceNet Drive Reference Manual
Index
A
Accessing the EDS File, 31
B
Baud Rate, 10
Bus-Off Counter, 19
By DeviceNet Class, 65
By Name, 61
C
Command Assembly Code, 16
Connection Types, 9
Customer Support, iii
D
Data Processing/Order of Operations for Fixed
Assembly Blocks, 17
DeviceNet Bits, 21
DeviceNet Hardware Components, 5
DeviceNet Messaging and Communications, 3
DeviceNet Online Tab, 19
DeviceNet Overview, 2
DeviceNet Tab, 9
DN Allocation Choice (Connections
Established), 23
DN Allocation Master MacID, 23
DN Baud Rate, 24
DN Bus Off Counter, 24
DN Bus Off Fault Count, 25
DN Bus Off Interrupt, 24
Dn Comm Timeout Fault Count, 25
DN Device Type, 25
DN Duplicate MacID Fault Count, 31
DN FAB Master Receive Block, 25
DN FAB Master Send Block, 26
DN Host Mode, 26
DN MacID, 26
DN Master Receive Bitmap, 27
DN Master Receive FAB Type, 27
DN Master Send Bitmap, 27
DN Master Send FAB Type, 28
DN Module Status, 28
DN Network Status, 29
DN Receive Counter, 29
DN Status Major Recoverable Fault, 29
DN Status Major Unrecoverable Fault, 29
DN Status Minor Recoverable Fault, 30
DN Status Minor Unrecoverable Fault, 30
DN Transmit Counter, 30
DN Vendor ID, 30
Drive Parameters, 61
E
Epsilon Ei DeviceNet Drive Configuration
Quick Start Process, 35
Examples, 56
Explicit Messaging, 9
Explicit Messaging Examples, 55
F
Faults and Diagnostic Display, 22
FM-2 Indexing Module Installation, 5
Electrical Installation, 6
Mechanical Installation, 5
79
Epsilon Ei DeviceNet Drive Reference Manual
Overview, 5
O
H
Output Word Select Data Pointer, 15
Host/Remote Mode, 18
How to Send Explicit Messages, 53
P
I
Implicit Messaging, 9
Index, 79
Index Sel (Predef), 36
Index Sel (Userdef), 38
Index Select (User Defined), 11
Index Select Predefined, 10
Index Type, 12, 42
Input and Output Tab, 21
Input Word Select Data Pointer, 14
Introduction, 1
Reference Materials, vi
M
MacID, 10
Master MacID, 19
Master Receive/Master Send Assembly Block
Selection, 10
Master/Slave Relationship, 3
Mechanical Installation, 5
Module Status LED, 31
Module Status Virtual LED, 20
PLC Program, 56
Polled I/O Setup, 36
Polled/Explicit Messaging Virtual LED’s, 20
Position Control, 12, 45
R
Read Index 0 Velocity, 56
Response Assembly Codes, 16
S
Safety Considerations, vii
Safety of Machinery, viii
Safety Precautions, vii
Setting Up Parameters
Setup Tab, 9
Software Interface, 9
Status LED’s, 31
T
Transmit/Receive Conuter, 19
N
V
Network Status LED, 32
Network Status Virtual LED, 20
No Data Sent, 13
Viewing and Changing the Baud Rate and
MacID, 32
80
Index
W
Write Index 1 Velocity, 57
81
Epsilon Ei DeviceNet Drive Reference Manual
82
Since 1979, the “Motion Made Easy” products, designed and manufactured in
Minnesota U.S.A., are renowned in the motion control industry for their ease of
use, reliability and high performance.
For more information about Control Techniques “Motion Made Easy” products
and services, call (800) 397-3786 or contact our website at
www.emersonct.com.
Control Techniques Drives, Inc
Division of EMERSON Co.
12005 Technology Drive
Eden Prairie, Minnesota 55344
U.S.A.
Customer Service
Phone: (952) 995-8000 or (800) 397-3786
Fax: (952) 995-8129
Technical Support
Phone: (952) 995-8033 or (800) 397-3786
Fax (952) 9995-8020
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