Variable speed drives for asynchronous motors DeviceNet

Variable speed drives for asynchronous motors DeviceNet
2354235 11/2008
ER23
Variable speed drives
for asynchronous motors
DeviceNet communication manual
06/2010
BLEMO Frequenzumrichter
Siemensstraße 4
63110 Rodgau – Dudenhofen
Tel.: 06106 / 82 95-0
Fax: 06106 / 82 95-20
Internet: www.blemo.com
E-Mail: [email protected]
Contents
Important Information __________________________________________________________________________________________ 4
Before you begin______________________________________________________________________________________________ 5
Documentation structure________________________________________________________________________________________ 6
Introduction __________________________________________________________________________________________________ 7
Hardware setup ______________________________________________________________________________________________ 8
Wiring to the network _________________________________________________________________________________________ 11
Configuration _______________________________________________________________________________________________ 14
Configuring by the drive HMI ___________________________________________________________________________________ 16
Integration of the ER23 in a DeviceNet network_____________________________________________________________________ 21
Diagnostics by the drive HMI ___________________________________________________________________________________ 27
Supervision and control in LINE mode ____________________________________________________________________________ 28
Supported CIP objects ________________________________________________________________________________________ 32
3
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain
it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call
attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result in
personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow
this symbol to avoid possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury or
equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment
damage.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not avoided,
can result in equipment damage.
PLEASE NOTE
The word "drive" as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by
BLEMO for any consequences arising out of the use of this product.
© 2009 BLEMO. All Rights Reserved.
4
Before you begin
Read and understand these instructions before performing any procedure with this drive.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Read and understand this manual before installing or operating the ER23 drive. Installation, adjustment, repair, and maintenance
must be performed by qualified personnel.
• The user is responsible for compliance with all international and national electrical code requirements with respect to grounding of
all equipment.
• Many parts of this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electrically
insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present.
• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.
• Before servicing the drive:
- Disconnect all power, including external control power that may be present.
- Place a “DO NOT TURN ON” label on all power disconnects.
- Lock all power disconnects in the open position.
- WAIT 15 MINUTES to allow the DC bus capacitors to discharge.
- Measure the voltage of the DC bus between the PA/+ and PC/– terminals to ensure that the voltage is less than 42 Vdc.
- If the DC bus capacitors do not discharge completely, contact your local BLEMO representative. Do not repair or operate the
drive
• Install and close all covers before applying power or starting and stopping the drive.
Failure to follow these instructions will result in death or serious injury.
DANGER
UNINTENDED EQUIPMENT OPERATION
• Read and understand this manual before installing or operating the ER23 drive.
• Any changes made to the parameter settings must be performed by qualified personnel.
Failure to follow these instructions will result in death or serious injury.
WARNING
DAMAGED DRIVE EQUIPMENT
Do not operate or install any drive or drive accessory that appears damaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
LOSS OF CONTROL
• The designer of any control scheme must
- consider the potential failure modes of control paths and, for certain critical control functions,
- provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop and overtravel stop.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications of unanticipated
transmission delays or failures of the link.a
Failure to follow these instructions can result in death, serious injury, or equipment damage.
a. For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control” and to
NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems.”
5
Documentation structure
The following ER23 technical documents are available on the BLEMO website (www.blemo.com).
Installation manual
This manual describes how to install and wire the drive.
Programming manual
This manual describes the functions, parameters and use of the drive terminal (integrated display terminal, optional graphic display terminal
and optional remote terminal).
The communication functions are not described in this manual, but in the manual for the bus or network used.
Simplified manual
This manual is a simplified version of the User manual. This manual is delivered with the drive.
Quick Start sheet
The Quick Start describes how to wire and configure the drive to start motor quickly and simply for simple applications.
Communication manuals: CANopen, DeviceNet, Modbus and Profibus
These manuals describe the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communicationspecific parameters.
They also describe the protocol communication services.
Communication variables guide
This manual defines the drive control processes and the drive variables which can be accessed by the communication buses: Modbus,
CANopen, ...
6
Introduction
Presentation
The DeviceNet communication card is used to connect an ER23 drive to a DeviceNet network.
The communication card has an open-style 5-pin connector for connection to the network.
Data exchanges give access to all ER23 functions:
• Command,
• Monitoring,
• Diagnostics.
DeviceNet cables and connecting accessories must be ordered separately.
The graphic display terminal or the integrated display terminal can be used to access numerous functions for communication diagnostics.
Notation
Drive terminal displays
The graphic display terminal menus, available with the remote graphic display terminal option are shown in square brackets.
Example: [1.9 COMMUNICATION].
The integrated 7-segment display terminal menus are shown in round brackets.
Example: (COM-).
Parameter names are displayed on the graphic display terminal in square brackets.
Example: [Fallback speed]
Parameter codes are displayed on the integrated 7-segment display terminal in round brackets.
Example: (LFF).
Formats
Hexadecimal values are written as follows: 16#
Binary values are written as follows: 2#
Vocabulary
Depending on DeviceNet document and tools, equivalent wordings are used. The table below shows vocabulary used in the present
document and other corresponding definitions.
In this document
Node address
Data rate
kbit/s
Setpoint
Path
Other
DeviceNet address, MAC ID
Baud rate
kbps
Reference, target
Object Address
Comments
Class, instance, attribute
The reader should avoid mixing two terms:
- DeviceNet scanner, which is the master device on the DeviceNet network.
- Communication scanner, which is a function inside the Altivar drive.
Abbreviations
Req. = Required
Opt. = Optional
7
Hardware setup
Presentation
Relay outputs
Analog inputs
Logic inputs
Addressing
switches, SW1
DeviceNet
RJ45 socket
D1 - MS / Module Status
D2 - NS / Network Status
LEDs
Receipt
• Check that the card reference printed on the label is the same as that on the delivery note corresponding to the purchase order.
• Remove the option card from its packaging and check that it has not been damaged in transit.
Installing the card in the drive
DANGER
UNINTENDED EQUIPMENT OPERATION
• Do not plug or unplug the terminal board while drive is powered.
• Check the tightening of the fixing screw after any manipulation on the terminal board.
Failure to follow these instructions will result in death or serious injury.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Do not touch the terminal board before:
• removing power on the drive,
• removing any voltage on input and output terminals.
Failure to follow these instructions will result in death or serious injury.
8
Hardware setup
Install the card in ER23 as follows:
1. Open the ER23 front cover.
2 & 3. Remove the terminal board fixing screw and take off the ER23 standard terminal board.
(Be careful not to lose the terminal board fixing screw when removed since it may be used again.)
4. Install the DeviceNet card and secure it with the board fixing screw.
(M3 tapping screw tightening torque: 0.7 to 0.8Nm)
5. Stick the new cabling label above the DeviceNet option card.
Stick the DeviceNet card nameplate near the ER23 nameplate. (Be careful not to cover slits on the ER23 enclosure)
6. Perform wiring on the DeviceNet card (see page 11).
7. Wire and screw the EMC clamps for the DeviceNet cables (and control wires if required).
Note: To install or remove the terminal board, make it slide in or out in parallel with board.
9
Hardware setup
Characteristics and functions of the terminals
Terminal
R2A
R2B
R2C
Function
Configurable relay outputs:
1 relay logic output, one “N/C”
contact and one “N/O” contact
with common point.
SCR
(Screen)
COM
+10
Analog I/O common
Power supply for reference
potentiometer (2.2 to 10 kΩ)
AI2
Analog voltage input
AI3
Analog current input
+24
Logic input power supply
LI1
LI2
LI3
Logic inputs
RJ45
SW1
DeviceNet
D1 - MS
D2 - NS
Communication port
Addressing switches
Communication
Module Status LED
Network Status LED
10
Electrical characteristics
• Minimum switching capacity: 10 mA for 5 VDC
• Maximum switching capacity on resistive load (cos ϕ = 1 and L/R = 0 ms):
5 A for 250 VAC and 30 VDC
• Maximum switching capacity on inductive load (cos ϕ = 0.4 and L/R = 7 ms):
2 A for 250 VAC and 30 VDC
• Sampling time: 8 ms
• Service life: 100,000 operations at maximum switching power
Communication shield terminal.
This terminal is not connected to other circuits in this board.
Ground this terminal in a location separated from the ground of power line.
0V
• +10 V (+ 8% - 0%)
• 10 mA max
• Protected against short-circuits and overloads
Bipolar analog input 0 ± 10 V (maximum safe voltage ± 30 V)
The + or - polarity of the voltage on AI2 affects the direction of the setpoint and
therefore the direction of operation.
• Impedance: 30 kΩ
• Resolution: 0.01 V, 10-bit + sign converter
• Precision ± 4.3%, linearity ± 0.2%, of maximum value
• Sampling time: 8 ms
• Operation with shielded cable 100 m maximum
Analog current input X-Y mA by programming X and Y from 0 to 20 mA:
• Impedance: 250 Ω
• + 24 V protected against short-circuits and overloads, minimum 19 V, maximum 30 V
• Maximum customer current available: 100 mA
Programmable logic inputs
• Impedance: 3.5 kΩ
• + 24 V internal or 24 V external power supply (min. 19 V, max. 30 V)
• Max. current: 100 mA
• Max. sampling time: 4 ms
Source position: Positive logic State 0 if < 5 V or logic input not wired, state 1 if > 11 V
Sink position: Negative logic State 0 if > 19 V or logic input not wired, state 1 if < 13 V
CLI position: Connection to PLC output
Connection for SoMove software, Modbus, remote display, loader tools.
See page 15.
DeviceNet open style connector for connection to the fieldbus, see page 11.
See page 27.
See page 27.
Wiring to the network
Connection to the Modbus base port
1
2
3
4
5
6
7
8
Not connected
Not connected
Not connected
D1
D0
Not connected
VP (1)
Common
(1) Reserved for RS232/RS485 converter
Wiring the DeviceNet connector
The figures and the table below show the pin-outs of the card connectors. The removable DeviceNet female connector attaches to the
network cable.
DeviceNet
EMC clamps
Pin
Name
Color
1
GND
Black
2
CAN_L
Blue
3
SHIELD
Bare
4
CAN_H
White
5
V+
Red
Line termination: If the drive is the first or the last device on the DeviceNet network, a line terminator (121 Ohm resistor) must be wired on
the removable DeviceNet female connector, between pins 2 and 4 (CAN_L and CAN_H).
11
Wiring to the network
Cable routing practices
When wiring ER23 drives to a DeviceNet network, follow all wiring practices required by national and local electrical codes.
Also observe the following guidelines:
• Avoid areas of high temperature, moisture, vibration, or other mechanical stress.
• Secure the cable where necessary to prevent its weight and the weight of other cables from pulling or twisting the cable.
• Use cable ducts, raceways, or other structures to protect the cable. Use these structures for signal wiring paths. They must not contain
power wiring.
• Avoid sources of electrical interference that can induce noise into the cable. Use the maximum practicable separation from such
sources.
When planning cable routing within a building, follow these guidelines:
• Maintain a minimum separation of 1 m (40 in) from the following equipment:
- air conditioners and large blowers,
- elevators and escalators,
- radios and televisions,
- intercom and security systems,
- fluorescent, incandescent, and neon lighting fixtures.
• Maintain a minimum separation of 3 m (118 in) from the following equipment:
- line and motor power wiring,
- transformers,
- generators,
- alternators.
When wiring in electrical equipment rooms or large electrical equipment line-ups, observe the following guidelines for cable segregation
and separation of circuits:
• Use metallic conduit for drive wiring. Do not run control network and power wiring in the same conduit.
• Separate non-metallic conduits or cable trays used to carry power wiring from metallic conduit carrying low-level control network
wiring by at least 300 mm (11.9 in).
• Separate metallic conduits carrying power wiring or low-level control network wiring by at least 80 mm (3.15 in).
• Cross the metallic conduits and non-metallic conduits at right angles whenever power and control network wiring cross.
• Attenuate conducted emissions from the drive to the line in some installations to prevent interference with telecommunication, radio,
and sensitive electronic equipment. Such instances may require attenuating filters. Consult the Altivar catalog for selection and
application of these filters.
The ODVA standards (Release 2.0) specify 7 types of cables for use in DeviceNet networks:
• Thick cable
• Thin cable
• Flat cable
• Cable I
• Cable II
• Cable IV
• Cable V
The table below lists main specifications of cables. For more information, refer to the ODVA specifications.
Type of cable
Data conductor pair size
Power conductor pair size
Data impedance
Thick cable
18 AWG
15 AWG
120 Ohm +/- 10 % (at 1 MHz)
Thin cable
24 AWG
22 AWG
120 Ohm +/- 10 % (at 1 MHz)
Flat cable
16 AWG
16 AWG
120 Ohm +/- 10 % (at 500 kHz)
Cable I
24 AWG
22 AWG
120 Ohm +/- 10 % (at 1 MHz)
Cable II
18 AWG
15 AWG
120 Ohm +/- 10 % (at 1 MHz)
Cable IV
18 AWG
16 AWG
120 Ohm +/- 10 % (at 500 kHz)
Cable V
18 AWG
16 AWG
120 Ohm +/- 10 % (at 500 kHz)
12
Wiring to the network
The maximum permissible length of the network cable depends an the data rate and the type of cable.
Type of cable
Data rate
125 kbit/s
250 kbit/s
500 kbit/s
Thick cable
500 m (1640 ft)
250 m (820 ft)
100 m (328 ft)
Thin cable
100 m (328 ft)
100 m (328 ft)
100 m (328 ft)
Flat cable
420 m (1378 ft)
200 m (656 ft)
75 m (246 ft)
Cable I
100 m (328 ft)
100 m (328 ft)
100 m (328 ft)
Cable II
500 m (1640 ft)
250 m (820 ft)
100 m (328 ft)
Cable IV
-
-
-
Cable V
420 m (1378 ft)
200 m (656 ft)
75 m (246 ft)
For maximum length of the drops refer to table, whatever type of cable:
Data rate
Cumulative drop
Maximum drop
125 kbit/s
156 m (516 ft)
6 m (20 ft)
250 kbit/s
78 m (256 ft)
6 m (20 ft)
500 kbit/s
39 m (128 ft)
6 m (20 ft)
13
Configuration
Coding the switches
Switches description
High = OFF = 0
Low = ON = 1
Node address
Data rate
Overriding the switches
When switches 2 and 1 are set in position low (ON = 1), the data rate of the drive must be set by a network tool (refer to the chapter
"Integration of the ER23 in a DeviceNet network", page 21). Default values are 125 kbit/s and node address 63.
Coding the data rate
All devices connected to the DeviceNet network must communicate at the same data rate: 125, 250, or 500 kbit/s. The table below shows
the switch settings that configure the DeviceNet data rate on the drive.
Switch 2
Switch 1
Data rate
0
0
125 kbit/s
0
1
250 kbit/s
1
0
500 kbit/s
1
1
The DeviceNet data rate of the drive must be set by a network tool.
Any change to the switch setting takes effect at the next power-up.
14
Configuration
Coding the node address
All devices connected to the DeviceNet network must have a unique address, ranging from 0 to 63 (decimal).
The table below lists the switch setting for each valid node address.
Any change to the switch setting takes effect at the next power-up.
Node
address
Switches
876543
Node
address
Switches
876543
Node
address
Switches
876543
Node
address
Switches
876543
00
00 0000
16
01 0000
32
10 0000
48
11 0000
01
00 0001
17
01 0001
33
10 0001
49
11 0001
02
00 0010
18
01 0010
34
10 0010
50
11 0010
03
00 0011
19
01 0011
35
10 0011
51
11 0011
04
00 0100
20
01 0100
36
10 0100
52
11 0100
05
00 0101
21
01 0101
37
10 0101
53
11 0101
06
00 0110
22
01 0110
38
10 0110
54
11 0110
07
00 0111
23
01 0111
39
10 0111
55
11 0111
08
00 1000
24
01 1000
40
10 1000
56
11 1000
09
00 1001
25
01 1001
41
10 1001
57
11 1001
10
00 1010
26
01 1010
42
10 1010
58
11 1010
11
00 1011
27
01 1011
43
10 1011
59
11 1011
12
00 1100
28
01 1100
44
10 1100
60
11 1100
13
00 1101
29
01 1101
45
10 1101
61
11 1101
14
00 1110
30
01 1110
46
10 1110
62
11 1110
15
00 1111
31
01 1111
47
10 1111
63
11 1111
Examples
Data rate = 250 kbit/s (switches 1 and 2 = 2#01)
Node address = 25 (switches 3 to 8 = 2#01 1001)
Data rate = 500 kbit/s (switches 1 and 2 = 2#10)
Node address = 52 (switches 3 to 8 = 2#11 0100)
15
Configuring by the drive HMI
Configuring the control
Principle
By the configuration of the control, it is possible to decide from what channel the drive receives its commands and setpoint, either
permanently or depending on a switching command.
Numerous configurations are possible. For more information, refer to the Programming manual and Communication parameters manual.
The following configurations are some of the possibilities available.
The choice of the assembly set is defined by the application at the DeviceNet scanner level. It cannot be set at the device level. See the
paragraph "Assembly Selection" in the chapter "Integration of the ER23 in a DeviceNet network", page 26.
M Control with native profile
• 100: Native profile control input made of CMD and LFR
• 101: Native profile control output made of ETA and RFR
Please refer to the chapter "Supervision and control in LINE mode", page 28.
M Control according to ODVA AC drive profile
The ODVA AC drive profile is activated when one of the following assemblies is selected:
• 20: Basic speed control output
• 21: Extended speed control output
• 70: Basic speed control input
• 71: Extended speed control input
The advantage of using the ODVA drive profile standard is the interchangeability with other brands.
The DeviceNet card translates the commands, behaviour and monitoring information from of ODVA profile (on the network) to the Drivecom
profile (in the drive).
Available configurations
M If you use the native profile:
• 100: Native command Word and speed reference (CMD and LFR)
• 101: Native status and current speed (ETA and RFR)
The examples below are only possible if you use the communication scanner.
M If you use the ODVA AC drive profile, that is, the assemblies:
• 20: Basic speed control output
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
0
Bit 2
Bit 1
Fault reset
Bit 0
Run fwd
1
2
Speed reference (Low byte)
3
Speed reference (High byte)
• 21: Extended speed control output
Byte
0
Bit 7
Bit 6
NetRef
Bit 5
Bit 4
Bit 3
NetCtrl
Fault reset
1
2
Speed reference (Low byte)
3
Speed reference (High byte)
16
Bit 2
Bit 1
Run rev
Bit 0
Run fwd
Configuring by the drive HMI
• 70: Basic speed control input
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
0
Bit 2
Bit 1
Running1
Bit 0
Faulted
1
2
Speed actual (Low byte)
3
Speed actual (High byte)
• 71: Extended speed control input
Byte
0
Bit 7
At
reference
Bit 6
Ref from
net
Bit 5
Ctrl from
net
Bit 4
Bit 3
Ready
Running2
(Rev)
1
Drive state
2
Speed actual (Low byte)
3
Speed actual (High byte)
Bit 2
Running1
(Fwd)
Bit 1
Warning
Bit 0
Faulted
Control signal of an ER23 from DeviceNet or from a communication card
There are several ways to control an ER23 from a communication card:
• The control word and the speed reference are controlled from the network in the same time.
• The control word and the speed reference come from separate sources.
However separate mode is only allowed when the [ACCESS LEVEL] (LAC) parameter in the [COMMAND] (CtL-) menu is set to L3.
The Control of the drive is also detailed in the programming manual of the ER23 in the chapter "Control Menu".
Control of the drive when LAC = L1 or L2
There is now particular settings, the channels are managed in order of priority.
Terminals/Keypad
Remote display terminal
Forced local mode
NET:
DeviceNet
or any communication
option
Control of the drive when LAC = L3
When configured with LAC = L3 several configurations are possible:
Control and reference come from the communication card
The command and the target come from DeviceNet.
Control is in native profile (CiA402).
17
Configuring by the drive HMI
Configure the following parameters:
Parameter
Profile
Target 1 configuration
Value
Combined native profile
(CiA402)
Network card
Comment
The run commands are in native profile (CiA402), the command and the target
come from the same channel.
The command comes from DeviceNet.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[COMMAND] (CtL-)
Parameter
[Profile] (CHCF)
[Ref.1 channel] (Fr1)
Value
[Not separ.] (SIM) (factory setting)
[Network] (nEt)
Control via DeviceNet or the terminals in native profile (CiA402)
The command and the target both come from DeviceNet or the terminals. Input LI3 at the terminals is used to switch between DeviceNet
and the terminals.
Control is in native profile (CiA402).
Configure the following parameters:
Parameter
Profile
Target 1 configuration
Target 2 configuration
Target switching
Value
Comment
Combined native profile (CiA402) The run commands are in native profile (CiA402), the command and the
target come from the same channel.
Network card
Target 1 comes from DeviceNet.
Analog input 2 on the terminals
Target 2 comes from input AI2 on the terminals.
Input LI3
Input LI3 switches the target (1 ↔ 2) and the command.
Configuration via the graphic display terminal or the integrated display terminal:
Menu
[COMMAND] (CtL-)
Parameter
[Profile] (CHCF)
[Ref.1 channel] (Fr1)
[Ref.2 channel] (Fr2)
[Ref 2 switching] (rFC)
Value
[Not separ.] (SIM)
[Network] (nEt)
[AI2] (AI2)
[LI3] (LI3)
Control is separated from reference channel
Control via DeviceNet or the terminals in native profile (CiA402)
The command and the target both come from DeviceNet or the terminals. Input LI3 at the terminals is used to switch between DeviceNet
and the terminals.
Control is in native profile (CiA402).
Configure the following parameters:
Parameter
Profile
Value
Separate native profile (CiA402)
Target 1 configuration
Target 2 configuration
Target switching
Command 1 configuration
Command 2 configuration
Command switching
Network card
Analog input 2 on the terminals
Input LI3
Network card
Terminals
Input LI3
18
Comment
The run commands are in Drivecom profile, the command and the
setpoint can come from different channels.
Target 1 comes from DeviceNet.
Target 2 comes from input AI2 on the terminals.
Input LI3 switches the target (1 ↔ 2) and the command.
Command 1 comes from DeviceNet.
Command 2 comes from the terminals.
Input LI3 switches the command.
Configuring by the drive HMI
Menu
[COMMAND] (CtL-)
Parameter
[Profile] (CHCF) is configured in not separate mode
[Cmd channel 1] (Cd1) Channel 1 is used with the communication
[Cmd channel 2] (Cd2) Channel 2 is used with the terminal blocks
[Cmd switching] (CCS) LI3 is used for switching between channel 1 and 2.
(see also the programming manual of the ER23 for more details)
[Ref.1 channel] (Fr1)
[Ref.2 channel] (Fr2)
[Ref 2 switching] (rFC)
Value
[Not separ.] (SIM)
[Network] (nEt)
[Terminal] (tEr)
[LI3] (LI3)
[Network] (nEt)
[AI2] (AI2)
[LI3] (LI3)
For more information, see the chapter "Assembly selection", page 26.
Control and reference with assembly sets 20/70 or 21/71
The ODVA profile 20/70 or 21/71 integrates a control/reference switching.
See command word 20 and 21 page 16, and status word 70 or 71 page 17.
Configure the drive as described below.
NetRef and NetCtrl need to be associated to a command bit (C2XX).
Menu
[COMMAND] (CtL-)
Parameter
[Ref.1 channel] (Fr1)
[Ref.2 channel] (Fr2)
[Ref.2 switching] (rFC)
[Profile] (CHCF)
[Cmd channel 1] (Cd1)
[Cmd channel 2] (Cd2)
[Cmd switching] (CCS)
Value
[Network] (nEt): Reference via network communication protocol
[AI2] (AI2): Analog input AI2
OR
[AI3] (AI3): Analog input AI3
[C213] (C213): Bit 13 of network control word
[Separate] (SEP): Separate mode
[Network] (nEt): Control via the network
[Terminal] (tEr): Control via terminals
[C212] (C212): Bit 12 of network control word
(See the ER23 programming manual for more details)
19
Configuring by the drive HMI
Communication fault management
The behaviour of the drive in case of communication interruption is described in the ER23 programming manual.
The communication between the master (external management system) and the drive is broken:
In this case, the drive will generate an (CnF) error message.
The communication card is not working properly:
In this case, the drive will generate a (COF) message.
Code
Name
Probable cause
Remedy
CFF
[INCORRECT
CONFIG.]
• The current configuration is
inconsistent.
• Addition or removal of an option
• Return to factory settings or retrieve the backup
configuration, if it is valid. See the [Restore config.]
(FCS) parameter in ER23 programming manual.
CnF
[NETWORK
FAULT]
• Communication detected fault on the
communication card
•
•
•
•
•
COF
[CANopen FAULT]
• Interruption in communication
between the option card and the drive
• Check the communication bus.
• Check the option card.
ILF
[INTERNAL LINK
FAULT]
• Interruption in communication
between the option card and the drive
• Replace the option card.
Check the environment (electromagnetic compatibility).
Check the wiring.
Check the time out.
Replace the option card.
See the [CANopen fault mgt] (COL) parameter in the
ER23 programming manual to define the stop mode
with a (CnF).
(CnF) [Network fault]: Option card fault code
This parameter is read-only and is only visible if an option card is present.
The fault code remains saved in the parameter, even if the cause disappears.
The parameter is reset after the drive is disconnected and then reconnected.
The values of this parameter is:
1: Time out on the reception of the periodic variables addressed to the drive
For the full list of the fault detected codes, see ER23 programming manual on www.blemo.com
20
Integration of the ER23 in a DeviceNet network
This chapter describes how to integrate an ER23 in a DeviceNet network controlled by a Rockwell Automation PLC.
Installing the eds file
The eds file of the communication card can be downloaded from BLEMO website (www.blemo.com).
1. To install the new eds file, you can launch the EDS wizard from RSNetWorx for DeviceNet by selecting Tools > FDS Wizard.
Note: We recommend to use a recent version of RSNetWorx (V7.0 or later).
2. Click Next.
21
Integration of the ER23 in a DeviceNet network
3. Select Register an EDS file(s), and then click Next.
4. Select the location where the eds file has been recorded, and then click Next.
22
Integration of the ER23 in a DeviceNet network
You should get the following result, that indicates that the eds file has been successfully imported.
5. Click Next.
6. The wizard will propose you to change the icon picture associated to the device.
If you don't need to change the icon file, click Next to terminate the eds registration.
7. Click Finish.
23
Integration of the ER23 in a DeviceNet network
Configuration of the DeviceNet Module in the Rockwell PLC
In the example, the module is installed in the first slot of the local base plate of a 1755 CPU:
The DeviceNet module is identified with the following symbol: Module_DNET. This identifier will be used later with tools like the Class
Instance Editor.
Configuring the implicit exchanges
The ER23 allows the use of 3 assemblies set as described in the chapter "Configuring by the drive HMI", page 16.
In the 3 cases, the input size and the output size are the same. (Command word and speed reference = 4 bytes, status word and actual
speed = 4 bytes)
24
Integration of the ER23 in a DeviceNet network
Class Instance Editor
With the Class Instance Editor, you can directly access to the Device objects and use the methods Get/set to edit drive parameters.
The indication about the Class, Instance, Attribute of the ER23 objects is detailed in the chapter "Supported CIP objects" of this manual,
page 28.
25
Integration of the ER23 in a DeviceNet network
Assembly selection
The choice of the assembly set should be done from the PLC, by applying the required assembly number to the following objects:
• Output assembly: 5/0/64
• Input assembly: 5/0/65
The default setting of these assemblies is 21/71.
It is recommended to set by program (when PLC starts) the assemblies needed for the application.
26
Diagnostics by the drive HMI
Signalling LEDs
Two LED indicators are placed on the board.
The behaviour is described in the following chapter.
LED "D1 - MS" - Module Status
LED State
Indicates
Off
No power
Flashing Green (1 Hz)
Needs commissioning due to configuration missing, incomplete or
incorrect. Device may be in standby state. See the identity object.
Green
Operating in normal condition
Red
Unrecoverable detected fault(s), EXCEPTION, Fatal event
LED "D2 - NS" - Network Status
LED State
Indicates
Off
Not online / No power
Flashing Green (1 Hz)
On-line, no connections established
Green
On-line, one or more connections are established
Flashing Red (1 Hz)
One or more connections timed-out
Red
Critical link failure, Fatal event
Start-up sequence
A LED test is performed during start-up, after module init is complete.
Step
1
Module Status LED "D1 - MS"
0.25s
0.25s
2
Turned off
0.25s
3
Finished
Network Status LED "D2 - NS"
0.25s
Turned off
Standard indication
Standard indication
LED states
LED state
Visual description of the LED state
The LED is OFF
The LED is FLASHING
The LED is ON
27
Supervision and control in LINE mode
IEC 61800-7 status chart
Key
MSK - ETA masked by 16#006F
Enter the status
chart
All states
0
13
Not ready to switch on
ATV powered
poweredoffoff
ER23
Malfunction
reaction active
MSK= 16#0000
MSK= 16#xxxx
IEC 61800-7 drive status
Drive
statusapplied
applied
ATV
Drive status
to to
ER23
MSK= 16#xxxx
"ER23
terminaldisplay"
display"
"ATV
terminal
Transition
condition X
CMD = 16#xxxx
Fault cleared and
ATV
statereset
reset
ER23fault
fault state
CMD =16#0080
1
Switch on disabled
ATV
locked
ER23
locked
15
Detected
fault
14
Malfunction
ATV
state
ER23ininfault
fault state
MSK = 16#0008
MSK= 16#0040
Disable voltage
CMD = 16#0000
or
modification of
9 a configuration
parameter
(motor stopped)
or
STOP key on
display terminal
or
STOP at terminals
"nSt"
Shutdown
CMD =16#0006 2
Disable
voltage
CMD = 16#0000
or
7 modification of
a configuration
parameter
(motor stopped)
or
Quick stop
CMD = 16#0002
Ready to switch on
ATV waiting
waiting
ER23
MSK = 16#0021
"nSt"
8
Shutdown
CMD =16#0006
Switch on
CMD =16#0007 3
3A
Enable
operation
CMD =16#xxxF
6
Shutdown
CMD =16#0006
Switched on
ATV ready
ER23
ready
Disable voltage
CMD = 16#0000
or
modification of
a configuration
12 parameter
(motor stopped)
or
STOP key on
display terminal
Disable
or
voltage
STOP at terminals
CMD = 16#0000
10
or
modification of
a configuration
parameter
(motor stopped)
or
Quick stop
CMD = 16#0002
Quick stop active
Emergency stop
MSK = 16#0023
"nSt"
Enable
Disable
operation 4
5 operation
CMD =16#xxxF
CMD =16#0007
Operation enabled
ATV
ER23running
running
MSK = 16#0027
MSK =16#0007
"rdY, dCb"
Quick stop
CMD =16#0002
11
"rUn, rdY, ..."
Examples:
ETA = 16#0627 : Normal stop or
Forward operation, speed reached
ETA = 16#8627 : Reverse operation, speed reached
ETA = 16#0227 : Forward operation, ACC or DEC
ETA = 16#8227 : Reverse operation, ACC or DEC
Examples (default configuration):
CMD = 16#000F : Forward operation
CMD = 16#080F : Reverse operation
CMD = 16#100F : Stop (configured by "Stt")
CMD = 16#200F : DC injection stop
CMD = 16#400F : Fast stop
Exiting the "Operation enabled" status via a "Disable voltage" (9) or "Shutdown" (8) command causes a freewheel stop.
28
Supervision and control in LINE mode
The Altivar control process using the communication bus is based on the CiA 402 profile status chart compatible with the IEC 61800-7
standard. Each state represents an aspect of the internal behaviour of the drive.
This chart evolves according to whether the control word is sent (CMD W8501) or an event occurs (example: lock following malfunction).
The drive status can be identified by the value of the status word (ETA W3201).
Not ready to switch on (Initialization):
Communication is being initialized.
Transient state invisible to the communication bus.
Switch on disabled (Configuration):
Initialization of the drive is complete.
The configuration and adjustment parameters can be modified.
If all or part of the configuration and settings are to be loaded, we recommend disabling the consistency check function during the transfer
(CMI W8504, bit 15 = 1). On completion of the transfer, the consistency check must be enabled (CMI W8504, bit 15 = 0).
The drive is locked.
Ready to switch on and Switched on (Drive initialized):
The drive is locked.
The power stage of the drive is ready to operate, but voltage has not yet been applied to the output.
The configuration and adjustment parameters can be modified, but modifying a configuration parameter returns the drive to the "Switch on
disabled" state.
Operation enabled (Operational):
The drive is unlocked and voltage can be applied to the motor terminals.
[Auto tuning] (tUn) requires an injection of current. The drive must therefore be in this state to perform this command.
The adjustment parameters can be modified even if a run command or a DC injection current is present. However, a configuration parameter
can only be modified if the motor is stopped, and this returns the drive to the "Switch on disabled" state.
Quick stop active (Emergency stop active):
Fast stop
Restarting is only possible after the drive has changed to the "Switch on disabled" state.
Malfunction reaction active (Reaction on fault detection):
Transient state during which the drive performs an action appropriate to the type of detected fault.
Malfunction (Detected fault):
The drive is locked.
Difference between a fast stop and a Quick stop
A fast stop (CMD = 16#400F) is a stop on a short ramp that maintains the drive in the "Operation enabled" state.
The drive remains locked after a fast stop.
A run command can be executed immediately after a fast stop.
A Quick stop (CMD = 16#0002) is an emergency stop that causes a stop on a short ramp followed by locking in the "Quick stop active" state.
To be able to restart the drive, you must first change to the "Switch on disabled" state via the "Disable voltage" command (CMD = 16#0000).
It is not possible, therefore, to execute a run command immediately after a Quick stop.
Note:
In access level L1 or L2 (parameter LAC):
• Priorities between channels are managed by the drive.
• At switch-on, the drive is in control via the terminals and changes automatically to the "Operation enabled" state. This means that, when
a run command is applied (for example: CMD = 16#000F), it starts without needing to follow the IEC 61800-7 status chart procedure.
When the drive is controlled via a communication bus, it is advisable to configure the access level LAC = L3:
• The active channel is set by configuring the following parameters: [Profile] (CHCF), [Ref. 2 switching] (rFC), [Cmd switching] (CCS), [Cmd
channel 1] (Cd1), [Cmd channel 2] (Cd2), [Ref.1 channel] (Fr1) and [Ref.2 channel] (Fr2).
• At switch-on, the drive configured for control via the bus changes to the "Switch on disabled" state. This means that it must follow the IEC
61800-7 status chart procedure to be able to start, and to help prevent any unwanted behaviour.
29
Supervision and control in LINE mode
CMD control word (W8501)
bit 7
Fault state
reset
bit 6
bit 5
bit 4
0
0
0
bit 15
(1)
bit 14
(1)
bit 13
(1)
bit 12
(1)
bit 3
Enable
operation
bit 2
Quick stop
(active at 0)
bit 11
(1)
bit 10
0
bit 1
bit 0
Enable voltage
Switch on
bit 9
0
bit 8
0
(1) This bit action depends on the [ACCESS LEVEL] (LAC) parameter and the functions configured by the user.
For example, to use bit 15 to switch the ramp, simply configure LAC = L3 (Access to advanced functions and management of mixed
modes) and set the [Ramp switch ass.] (rPS) configuration parameter to Cd15.
Command
Transition
address
Shut down
2, 6, 8
Switch on
Enable
operation
Disable
operation
3
Disable voltage
7, 9, 10, 12
4
5
11
Quick stop
7, 10
Fault state
reset
15
x: State not significant
0 V 1: Change from 0 to 1
30
bit 7
Final state
Ready to
switch on
Switched on
Operation
enabled
Switched on
Switch on
disabled
Quick stop
active
Switch on
disabled
Switch on
disabled
Reset
bit 3
Enable
operation
bit 2
Quick stop
bit 1
Enable
voltage
bit 0
Switch
on
Typical value of CMD
(W8501)
x
x
1
1
0
16#0006
x
x
1
1
1
16#0007
x
1
1
1
1
16#000F
x
0
1
1
1
16#0007
x
x
x
0
x
16#0000
x
x
0
1
x
16#0002
0V1
x
x
x
x
16#0080
Supervision and control in LINE mode
ETA status word (W3201)
bit 7
bit 6
Switch on
disabled
bit 5
Quick stop
active at 0
bit 4
bit 3
0
Malfunction
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
Direction of
rotation
Stop via STOP
key
0
0
Reference
exceeded
Reference
reached
Alarm
bit 2
Operation
enabled
bit 1
Switched on
bit 9
Forced local
mode
(active at 0)
bit 6
bit 5
bit 3
bit 2
bit 1
bit 0
State
Switch on
disabled
Quick stop
Malfunction
Operation
enabled
Switched on
Ready to
switch on
Not ready to switch on
0
x
0
0
0
0
Switch on disabled
1
x
0
0
0
0
Ready to switch on
0
1
0
0
0
1
Switched on
Operation enabled
0
0
1
1
0
0
0
1
1
1
1
1
Malfunction
0
x
1
0
0
0
0
x
1
1
1
1
0
0
0
1
1
1
Malfunction reaction
active
Quick stop active
bit 0
Ready to switch
on
bit 8
0
MSK = ETA
(W3201)
masked by
16#006F
16#0000
16#0020
16#0040
16#0060
16#0021
16#0023
16#0027
16#0008
16#0028
16#000F
16#002F
16#0007
x: State not significant
31
Supported CIP objects
CIP require some mandatory objects; these are implemented as well as some vendor specific objects.
Standard CIP objects
Object name
Class
Description
Identity object
0x01
The identification object
Message router object
0x02
Message router
DeviceNet object
0x03
DeviceNet object
Assembly object
0x04
Assembly object
Connection object
0x05
Connection object
Motor data object
0x28
Defines motor data for the motor connected to this device
Control supervisor object
0x29
Manages drive functions, operational states and control
AC/DC drive object
0x2A
Provides drive configuration
Acknowledge handler object
0x2B
Object that acknowledges IO messages
Object name
Class
Description
Application objects
0x70
Object used to access ER23 parameters
BLEMO objects
DeviceNet Object model
32
Supported CIP objects
Identity object (Class 0x01)
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Reset
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0001
Revision 1
Description
Instance attributes
#
Access
Name
Type
Value
1
Get
Vendor ID
UINT
0x00F3
2
Get
Device type
UINT
0x0002
3
Get
Product code
UINT
6153
4
Get
Revision
Struct of:
Major revision
USINT
N/A
Firmware major version
Minor revision
USINT
N/A
Firmware minor version
AC Drive:
• Vendor Name: BLEMO
• Vendor ID: 0x00F3
• Product code: 0xXXXX
• Product Name: ER23
• Catalog: ER23
• EDS file name: 00F30002XXXX0100.EDS
5
Get
Status
WORD
-
Status of the device, see table below.
6
Get
Serial number
UDINT
Serial number
The low 4 bytes of the drive serial number
7
Get
Product name
SHORT_STRING
ER23
100
Get
Fatal log
Array of UINT8
N/A
33
Supported CIP objects
Bit
Bit 0
Status attribute
Owned, shall be set when at least one connection is configured
Extended device status (Bit 4-7)
0000 = Unknown
Bit 1
Reserved, set to 0
0010 = Faulted I/O connection
Bit 2
Configured (1)
0011 = No I/O connection established
Bit 3
Reserved, set to 0
0100 = Non volatile configuration bad
Bit 4-7
See extended device status
0101 = Major Fault
Bit 8
Is set for minor recoverable faults (2)
0110 = Connection in run mode
Bit 9
Is set for minor unrecoverable faults (2)
0111 = Connection in idle mode
Bit 10
Is set for major recoverable faults (2)
Bit 11
Is set for major unrecoverable faults (2)
Bit 12-15 Reserved, set to 0
(1) This bit shows if the product has other settings than "out-of box". The value is set to true if the module's NV storage is changed from
default and the value is currently in use.
(2) See error codes table below.
Error codes
Fault type
Fault source
Minor Recoverable Faults
Duplicate MACID, Switch value changed
Minor Unrecoverable Faults
Major Recoverable Faults
Non-Volatile Fault (CRC-error on read), Faulted, Connection to ER23 lost
Major Unrecoverable Faults
Non-Volatile Fault (CRC-error on write)
34
Supported CIP objects
Message router (Class 0x02)
Services
Class services
Instance services
No class services supported
No instance services supported
Class attributes
No supported class attributes
Instance attributes
No supported instance attributes
35
Supported CIP objects
DeviceNet object (Class 0x03)
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Allocate_Master/Slave_Connection_Set (0x4B)
Release_group_2_Identifier_Set (0x4C)
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0002
Revision 2
Instance attributes
#
Access
Name
Type
Value
Description
1
Get
MAC ID
USINT
N/A
The used node address 0-63
2
Get
Baud Rate
USINT
N/A
The used baud rate:
0 = 125 k baud
1 = 250 k baud
2 = 500 k baud
3
Get/Set
BOI
BOOL
N/A
Bus off interrupt, default = FALSE
4
Get/Set
Bus off Counter
USINT
N/A
Bus off counter
5
Get
Allocation
Information
Struct of:
Allocation
choice byte
BYTE
N/A
Allocation choice byte
Master's MAC
ID
USINT
N/A
MAC ID of master
6
Get
MAC ID Switch
Changed
BOOL
N/A
0 - No change
1 - The Node Address switch have changed since last
power-up/reset
7
Get
Baud Rate
Switch Changed
BOOL
N/A
0 - No change
1 - The Baud Rate switch have changed since last
power-up/reset
8
Get
Mac ID Switch
Value
USINT
N/A
Actual value of Node Address switch 0-63
9
Get
Baud Rate
Switch Value
USINT
N/A
Actual value of Baud Rate switch 0-3
10
Get/Set
Quick Connect
BOOL
0 = Disable
1 = Enable
Enable/Disable of Quick Connect feature. Disabled
by default. Stored in NVRAM.
36
Supported CIP objects
Assembly object (Class 0x04)
The Assembly object uses static assemblies. The default assembly instance IDs used are in the vendor specific range. The assembly object
contains the process data to/from the module.
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
2
Revision 2
2
Get
Max Instance
UINT
101
Max instance 101
Instance attributes
#
Access
Name
Type
Value
Description
3
Get/Set
Data
ARRAY of BYTE
-
Data produced/consumed by the module
Consuming instances (Output assemblies)
Write requests are rejected if there's an I/O connection against the instance.
Instance 20 - Basic speed control output
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
0
Bit 2
Bit 1
Fault reset
Bit 0
Run fwd
1
2
Speed reference (Low byte)
3
Speed reference (High byte)
Instance 21 - Extended speed control output
Byte
Bit 7
0
Bit 6
NetRef
Bit 5
Bit 4
Bit 3
NetCtrl
Bit 2
Fault reset
Bit 1
Run rev
Bit 0
Run fwd
1
2
Speed reference (Low byte)
3
Speed reference (High byte)
Instance 100 - Transparent output
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
0
DRIVECOM control word (ER23: 6040) (Low Byte)
1
DRIVECOM control word (ER23: 6040) (High Byte)
2
Reference speed (ER23:6042) (Low Byte)
3
Reference speed (ER23:6042) (High Byte)
Bit 1
Bit 0
37
Supported CIP objects
Producing instances (Input assemblies)
Instance 70 - Basic speed control input
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
0
Bit 2
Bit 1
Running1
Bit 0
Faulted
1
2
Speed actual (Low byte)
3
Speed actual (High byte)
Instance 71 - Extended speed control input
Byte
0
Bit 7
At
reference
Bit 6
Ref from
net
Bit 5
Bit 4
Ctrl from
net
Bit 3
Ready
Running2
(Rev)
1
Drive state
2
Speed actual (Low byte)
3
Speed actual (High byte)
Bit 2
Running1
(Fwd)
Bit 1
Warning
Bit 0
Faulted
Instance 101 - Transparent input
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
0
DRIVECOM status word (ATV: 6041) (Low Byte)
1
DRIVECOM status word (ATV: 6041) (High Byte)
2
Output speed (ATV: 6044) (Low Byte)
3
Output speed (ATV: 6044) (High Byte)
38
Bit 1
Bit 0
Supported CIP objects
Data definitions output assemblies
Name
Class
Instance
Attribute
Run rev
Control Supervisor
1
4
Run fwd
Control Supervisor
1
3
Fault reset
Control Supervisor
1
12
Speed reference
AC/DC Drive
1
8
NetCtrl
Control Supervisor
1
5
NetRef
AC/DC Drive
1
4
Description
Data definitions intput assemblies
Name
Class
Instance
Attribute
Faulted
Control Supervisor
1
10
Warning
Control Supervisor
1
11
Running1 (Fwd)
Control Supervisor
1
7
Running2 (Rev)
Control Supervisor
1
8
Ready
Control Supervisor
1
9
Ctrl from net
Control Supervisor
1
15
Ref from net
AC/DC Drive
1
29
At reference
AC/DC Drive
1
3
Drive state
Control Supervisor
1
6
Speed actual
AC/DC Drive
1
7
Description
CIP state machine state
39
Supported CIP objects
Connection object (Class 0x05)
Services
Class services
Get_Attribute_Single
Set_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Instance services
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0001
Revision 1
100
Get/Set
Polled/ COS/
Cyclic Consuming
Instance
UINT
20, 21, 100
Default value is assembly instance 21.
For a change to this attribute will require a restart of
the ER23 to have effect. (When read the stored value
is returned).
Stored in NVRAM.
101
Get/Set
Polled/ COS/
Cyclic Producing
Instance
UINT
70, 71, 101
Default value is assembly instance 71.
For a change to this attribute will require a restart of
the ER23 to have effect. (When read the stored value
is returned).
Stored in NVRAM.
Instance descriptions
Instance 1 = Explicit messaging connection (Predefined in DeviceNet object)
Instance 2 = Polled connection / COS/Cyclic consuming connection
Instance 4 = COS/Cyclic producing connection
Instances 10-14 = Explicit server instances
40
Supported CIP objects
Instances 1, 10-14 (Explicit messaging) attributes
#
Access
Name
Type
Value
Description
1
Get
State
USINT
N/A
0 = Non existent
1 = Configuring
2 = Waiting for connection ID
3 = Established
4 = Time out
5 = Deferred Delete
2
Get
Instance type
USINT
0
Explicit messaging connection
3
Get
Transport Class trigger
BYTE
0x83
Server, Transport class 3
4
Get
Produced connection ID
UINT
N/A
CAN ID for transmission
5
Get
Consumed connection ID
UINT
N/A
CAN ID for reception
6
Get
Initial Comm
Characteristics
BYTE
21 (Inst 1)
33 (Inst 10-14)
The message group over which the communication
occurs.
7
Get
Produced Connection Size
UINT
0x0040
64 Bytes
8
Get
Consumed Connection
Size
UINT
0x0040
64 Bytes
9
Get/Set
Expected Packet Rate
UINT
0x09C8
Timing associated with this connection (2504ms)
12
Get/Set
(1)
Watchdog timeout action
USINT
1
1 = Auto delete
3 = Deferred delete
13
Get
Produced Connection path
length
UINT
0
Number of bytes in the produced connection path
attribute
14
Get
Produced Connection path
EPATH
No value
No connection path
15
Get
Consumed Connection
path length
UINT
0
Number of bytes in the consumed connection path
attribute
16
Get
Consumed Connection
path
EPATH
No value
No connection path
17
Get
Production Inhibit Time
UINT
0
Minimum time between new data production
18
Get/Set
Connection Timeout
Multiplier
USINT
0
Specifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/
Watchdog Timer.
0 = x4
1 = x8
2 = x16
3 = x32
4 = x64
5 = x128
6 = x256
7 = x512
8 - 255 = Reserved
(1) Only settable for instance 1
41
Supported CIP objects
Instance 2 (Poll or "COS/Cyclic consuming") attributes
#
Access
Name
Type
Value
Description
1
Get
State
USINT
N/A
0 = Non existent
1 = Configuring
2 = Waiting for connection ID
3 = Established
4 = Time out
2
Get
Instance type
USINT
1
IO Connection
3
Get
Transport Class trigger
BYTE
0x82
Server, Polled, Class 2
0x80
Server, COS/Cyclic, Class 0, No Ack
0x82
Server, COS/Cyclic, Class 2
Acknowledged
N/A
CAN ID for transmission
0xFFFF
Not consuming (COS/Cyclic)
4
Get
Produced connection ID
UINT
5
Get
Consumed connection ID
UINT
N/A
CAN ID for reception (Polled)
6
Get
Initial Comm
Characteristics
BYTE
0x01
(Polled)
Produces over message group 1
Consumes over message group 2
0xF1
(COS/Cyclic,
No Ack)
Consuming only over message group 2
0x01
(COS/Cyclic,
Ack)
Produces over message group 1 (Ack)
Consumes over message group 2
N/A
Size of produced data/mapped process data.
(Polled)
0
COS/Cyclic
7
Get
Produced Connection Size
UINT
8
Get
Consumed Connection
Size
UINT
N/A
Size of consumed data/mapped process data
9
Get/Set
Expected Packet Rate
UINT
N/A
Timing associated with this connection
12
Get
Watchdog timeout action
USINT
0
0 = Transition to the timed out state
13
Get
Produced Connection path
length
UINT
0x0007
(Polled)
Number of bytes in the produced connection path
attribute
0x0000
(COS/Cyclic)
14
Get
Produced Connection path
EPATH
0x20 0x04
0x25 0xII 0xII
0x30 0x03
(Polled)
Path to producing object
II = Producing instance number in assembly object
No value
(COS/Cyclic)
No producing object
15
Get
Consumed Connection
path length
UINT
0x0007
Number of bytes in the consumed connection path
attribute
16
Get
Consumed Connection
path
EPATH
0x20 0x04
0x25 0xII 0xII
0x30 0x03
Path to consuming object
II = Consuming instance number in assembly object
17
Get
Production Inhibit Time
UINT
0
Minimum time between new data production
42
Supported CIP objects
#
Access
Name
Type
Value
Description
18
Get/Set
Connection Timeout
Multiplier
USINT
0
Specifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/
Watchdog Timer.
0 = x4
1 = x8
2 = x16
3 = x32
4 = x64
5 = x128
6 = x256
7 = x512
8 - 255 = Reserved
43
Supported CIP objects
Instance 4 (COS/Cyclic producing) attributes
#
Access
Name
Type
Value
Description
1
Get
State
USINT
N/A
0 = Non existent
1 = Configuring
2 = Waiting for connection ID
3 = Established
4 = Time out
2
Get
Instance type
USINT
1
IO Connection
3
Get
Transport Class trigger
BYTE
0x00
Client, Cyclic, Class 0 (No Ack)
0x10
Client, COS, Class 0 (No Ack)
0x02
Client, Cyclic, Class 2 (Acknowledged)
0x12
Client, COS, Class 2 (Acknowledged)
4
Get
Produced connection ID
UINT
N/A
CAN ID for transmission
5
Get
Consumed connection ID
UINT
0xFFFF
Not acknowledged
N/A
CAN ID for reception
(Acknowledged)
0x0F
(No ACK)
Producing only over message group 1
0x01
(Acknowledged)
Produces over message group 1
Consumes over message group 2 (Ack)
6
Get
Initial Comm
Characteristics
BYTE
7
Get
Produced Connection Size
UINT
N/A
Size of produced data on this connection
8
Get
Consumed Connection
Size
UINT
0
Consumes 0 bytes on this connection
9
Get/Set
Expected Packet Rate
UINT
N/A
Timing associated with this connection
12
Get
Watchdog timeout action
USINT
0
0 = Transition to the timed out state
13
Get
Produced Connection path
length
UINT
0x0007
Number of bytes in the produced connection path
attribute
14
Get
Produced Connection path
EPATH
0x20 0x04
0x25 0xII 0xII
0x30 0x03
Path to producing object
II = Producing instance number in assembly object
15
Get
Consumed Connection
path length
UINT
0x0000
(No ACK)
Number of bytes in the consumed connection path
attribute
0x0005
(Acknowledged)
16
Get
Consumed Connection
path
EPATH
No value
(No ACK)
Empty
0x20 0x2B
0x25 0x01 0x00
(Acknowledged)
Acknowledge Handler Object, Instance 1
17
Get/Set
Production Inhibit Time
UINT
0
Minimum time between new data production
18
Get/Set
Connection Timeout
Multiplier
USINT
0
Specifies the multiplier applied to the expected
packet rate value to derive the value for the Inactivity/
Watchdog Timer.
0 = x4
1 = x8
2 = x16
3 = x32
4 = x64
5 = x128
6 = x256
7 = x512
8 - 255 = Reserved
44
Supported CIP objects
Motor data object (Class 0x28)
This object serves as a database for motor parameters.
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0001
Revision of the object
Instance attributes for BLEMO brand
#
Access
Name
Type
Value
Description
3
Get/Set
MotorType
USINT
N/A
7 - Squirrel Cage Induction Motor
6
Get/Set
RatedCurrent
UINT
N/A
Rated Stator Current
Units: [100mA]
7
Get/Set
RatedVoltage
UINT
N/A
Rated Base Voltage
Units: [V]
45
Supported CIP objects
Control Supervisor Object (Class 0x29)
This object models all the management functions for devices within the "Hierarchy of Motor Control Devices". The behaviour of motor control
devices is described in the State Transition Diagram and the State Event Matrix.
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Reset
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0001
Revision of the object
Instance attributes
#
Access
Name
Type
Value
Description
3
Get/Set
Run1
BOOL
N/A
Run forward
See Run/Stop Event Triggers
4
Get/Set
Run2
BOOL
N/A
Run reverse
See Run/Stop Event Triggers
5
Get/Set
NetCtrl
BOOL
N/A
Requests Run/Stop control to be local or from
network.
0 = Local Control
1 = Network Control
6
Get
State
USINT
N/A
1 = Startup
2 = Not_Ready
3 = Ready
4 = Enabled
5 = Stopping
6 = Fault_Strop
7 = Faulted
For ER23 DRIVECOM status to State translation, see
page 47.
7
Get
Running1
BOOL
N/A
Enabled or Stopping or Fault_Stop
8
Get
Running2
BOOL
0
Running2 is always 0 since negative speed indicated
on the Actual speed reference.
9
Get
Ready
BOOL
N/A
1 = Ready or Enabled or Stopping
0 = Other state
10
Get
Faulted
BOOL
N/A
0 = No Faults present
1 = Fault Occurred (latched)
ATV:6041#3
11
Get
Warning
BOOL
N/A
0 = No Warnings present
1 = Warning (not latched)
12
Get/Set
FaultRst
BOOL
N/A
0->1 = Fault Reset
0 = No Action
ATV:6040#7
15
Get
CtrlFromNet
BOOL
N/A
Status of Run/Stop control source.
0 = Control is local
1 = Control is from network
46
Supported CIP objects
Control supervisor state diagram
The state transition diagram is specified by the drive profile. Note that the state machine shall be updated independently of if the drive is
controlled locally or remote.
DRIVECOM status to CS state translation
The CS state is get from ER23 DRIVECOM status according to the table below:
CS state
DRIVECOM state
MSK
(DRIVECOM status & 0x006F)
Startup
Not ready to switch on
0x0000
0x0020
Not_Ready
Switch on disabled
0x0040
0x0060
Ready
Ready to switch on
0x0021
Switched on
0x0023
Enabled
Operation enabled
0x0027
Stopping
cmdd Bit 3 = 0
0x0027
Quick stop active
0x0007
Fault_Stop
Malfunction reaction active
0x000F
0x002F
Faulted
Malfunction
0x0008
0x0028
47
Supported CIP objects
Run/Stop event triggers
Run/Stop events are generated from Run1 and Run2 attributes according to the table below:
Run1
Run2
Trigger Event
Run Type
DRIVECOM command
0
0
Stop
N/A
Operation enable state
Other states: Shutdown
0->1
0
Run
Run1
Enable operation
0
0->1
Run
Run2
Enable operation
0->1
0->1
No Action
N/A
Last command still valid
1
1
No Action
N/A
Last command still valid
1->0
1
Run
Run2
Enable operation
Reversed speed reference
1
1->0
Run
Run1
Enable operation
The following table defines how DRIVECOM commands are generated in the DRIVECOM control word. All other bits are unaffected.
DRIVECOM command
DRIVECOM control word
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown
0
1
1
0
Disable operation
0
1
1
1
Enable operation
1
1
1
1
48
Supported CIP objects
AC/DC drive object (Class 0x2A)
This object models the functions specific to an AC or DC Drive. e.g. speed ramp, torque control etc.
Services
Class services
Instance services
No services implemented
Get_Attribute_Single
Set_Attribute_Single
Class attributes
No attributes are implemented at class level.
Instance attributes for BLEMO brand
#
Access
Name
Type
Value
Description
3
Get
AtReference
BOOL
N/A
1 = Drive actual at reference
ATV:6041#10
4
Get/Set
NetRef
BOOL
N/A
Request speed reference to be local or from network.
0 = Local speed setpoint
1 = Network speed setpoint
6
Get
DriveMode
USINT
0
0 = Vendor specific mode
7
Get
SpeedActual
INT
N/A
Actual drive speed
Units: RPM
ATV:6044 [RPM]
8
Get/Set
SpeedRef
INT
N/A
Speed reference
Units: RPM
ATV:6042 [RPM]
29
Get
RefFromNet
BOOL
N/A
Status of speed reference.
0 = Local speed reference
1 = Network speed reference
49
Supported CIP objects
Acknowledge handler object (Class 0x2B)
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0001
Revision of the object
Instance 1 attributes
#
Access
Name
Type
Value
Description
1
Get/Set
Acknowledge
Timer
UINT
16
Time to wait for acknowledge (in ms) before
resending
2
Get/Set
Retry Limit
USINT
1
Number of Ack timeouts before retry limit reached
event
3
Get
Producing
connection
Instance
UINT
4
Connection instance, which contains the path of the
producing I/O application object, which will be notified
of Ack Handler events.
50
Supported CIP objects
Application objects (Class 0x70)
This object allows access to all parameters in the ER23 by converting CANopen Index and Sub-index to CIP instance and attributes.
The CANopen Index and Sub-index are linearly mapped to CIP instance and attribute.
CIP Get_Attribute_Single service is converted to the CANopen request code 0x40 and the Set_Attribute_Single service the CANopen
request code 0x2B.
Services
Class services
Instance services
Get_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Class attributes
#
Access
Name
Type
Value
Description
1
Get
Revision
UINT
0x0001
Revision of the object
Description
Instance attributes
#
Access
Name
Type
Value
1
Get/Set
Parameter with
Sub-index 0
N/A
N/A
...
...
...
...
...
N
Get/Set
Parameter with
Sub-index N
N/A
N/A
...
51
BLEMO Frequenzumrichter
Siemensstraße 4
D-63110 Rodgau – Dudenhofen
Tel.:
Fax:
Web:
Mail:
++49 / 6106 / 82 95-0
++49 / 6106 / 82 95-20
www.blemo.com
[email protected]
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