Allen-Bradley Series B 20-COMM-D DeviceNet adapter User Manual
Below you will find brief information for DeviceNet adapter Series B 20-COMM-D. The DeviceNet adapter is a communication option intended for installation into a PowerFlex 7-Class drive. It can also be used with other Allen-Bradley products that support an internal DPI (Drive Peripheral Interface) adapter. The Series B 20-COMM-D adapter (FRN v2.001 or higher) can be installed in an External DPI Comms Kit (20-XCOMM-DC-BASE).
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DeviceNet
Adapter
20-COMM-D
Series B
FRN 2.xxx
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of electromechanical equipment.
Safety Guidelines for the Application, Installation and
Maintenance of Solid State Controls
(Publication SGI-1.1 available from your local
Rockwell Automation sales office or online at
http://www.rockwellautomation.com/ literature
) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc. is prohibited.
Throughout this manual, when necessary we use notes to make you aware of safety considerations.
WARNING:
Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
Important:
Identifies information that is critical for successful application and understanding of the product.
ATTENTION:
Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you:
• identify a hazard
• avoid the hazard
• recognize the consequences
Shock Hazard
labels may be located on or inside the equipment (e.g., drive or motor) to alert people that dangerous voltage may be present.
Burn Hazard
labels may be located on or inside the equipment (e.g., drive or motor) to alert people that surfaces may be at dangerous temperatures.
Allen-Bradley, PowerFlex, ControlLogix, Logix5550, ControlFLASH, DriveExplorer, DriveExecutive, DriveTools SP, DPI,
PLC-5, SCANport, and SLC are either registered trademarks or trademarks of Rockwell Automation, Inc.
RSLinx, RSLogix, and RSNetWorx are trademarks of Rockwell Software.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
Windows, Windows CE, Windows NT, and Microsoft are either registered trademarks or trademarks of Microsoft Corporation.
Summary of Changes
The information below summarizes the changes made to this manual since version 20COMM-UM002C (November 2002):
Description of New or Updated Information
Changed online literature reference www.ab.com/manuals to www.rockwellautomation.com/literature.
Added US, UK, and Germany customer contact information in “Rockwell
Automation Support” section.
Added separate word tables for Output I/O and Input I/O in “Understanding the I/O Image” section, and added I/O word tables for 16-bit Reference and
32-bit Datalinks.
Added scaling information and Table 5A in “Using Reference/Feedback” section.
Replaced the Important statement with an Attention statement to increase safety emphasis for Parameter 33 - [Peer Ref Adjust].
Page
Added new adapter diagnostic item numbers 31, 32, and 33.
Added new event codes 38, 39, and 40.
Added Attribute ID 9 row in Identity Object Instance Attributes table.
Added chapter for using the 20-COMM-D adapter in External DPI Comms Kit.
Series B Firmware Release v2.xxx adds the following 20-COMM-D adapter features:
•
Diagnostic item numbers 31 (OPT Status), 32 (OPT RX Errors), and
33 (OPT FW Version) for optional I/O Board 20-XCOMM-IO-OPT1 when using the 20-COMM-D adapter in an External DPI Comms Kit
(20-XCOMM-DC-BASE).
•
Event codes 38 (OPT Timeout), 39 (OPT Open), and 40 (OPT Close).
•
Configuration of the 20-COMM-D adapter to use the optional I/O
Board 20-XCOMM-IO-OPT1 installed in an External DPI Comms
Kit (20-XCOMM-DC-BASE).
Important:
Firmware Release v2.xxx can be flash upgraded into a
Series A 20-COMM-D adapter, but the adapter will not function in an External DPI Comms Kit.
soc-ii
Summary of Changes
Table of Contents
Preface
Chapter 1
Chapter 2
Chapter 3
Chapter 4
About This Manual
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . P-2
Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . P-2
Getting Started
Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Installing the Adapter
Preparing for an Installation. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Commissioning the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Connecting the Adapter to the Network . . . . . . . . . . . . . . . . 2-3
Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . . 2-4
Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Configuring the Adapter
Configuration Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Using the PowerFlex HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Using RSNetWorx for DeviceNet . . . . . . . . . . . . . . . . . . . . . 3-3
Setting the Node Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setting the Data Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setting the I/O Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Selecting Master-Slave or Peer-to-Peer . . . . . . . . . . . . . . . . . 3-8
Selecting COS, Cyclic, or Polled I/O. . . . . . . . . . . . . . . . . . 3-14
Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Resetting the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Viewing the Adapter Configuration . . . . . . . . . . . . . . . . . . . 3-18
Configuring the Scanner
Example Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Setting Up the Scan List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Mapping the Drive Data in the Scanner . . . . . . . . . . . . . . . . . 4-6
Saving the Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
ii
Table of Contents
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Using I/O Messaging
About I/O Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Understanding the I/O Image . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Using Datalinks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Example Ladder Logic Programs . . . . . . . . . . . . . . . . . . . . . 5-8
ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Using Explicit Messaging
About Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Formatting Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Performing Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . 6-7
ControlLogix Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Troubleshooting
Understanding the Status Indicators . . . . . . . . . . . . . . . . . . . 7-1
PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
NET A Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Viewing Adapter Diagnostic Items . . . . . . . . . . . . . . . . . . . . 7-5
Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Using the Adapter in an External DPI Comms Kit
External DPI Comms Kit (20-XCOMM-DC-BASE) . . . . . . 8-2
I/O Board Option (20-XCOMM-IO-OPT1) . . . . . . . . . . . . . 8-2
Understanding the I/O Image (Drive + I/O Option) . . . . . . . 8-3
Configuring the Communication Adapter to Use the
Optional I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Viewing Optional I/O Diagnostic Items . . . . . . . . . . . . . . . . 8-5
Appendix A Specifications
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Appendix B Adapter Parameters
About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Table of Contents
iii
Appendix C DeviceNet Objects
Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Connection Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Register Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
Parameter Group Object . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11
PCCC Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13
DPI Device Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
DPI Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-18
DPI Fault Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-28
DPI Alarm Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-30
DPI Diagnostic Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-32
DPI Time Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-34
Appendix D Logic Command/Status Words
PowerFlex 70, PowerFlex 700, PowerFlex 700VC, and
PowerFlex 700H Drives . . . . . . . . . . . . . . . . . . . . . . . . . D-1
PowerFlex 700S Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-3
Appendix E Master-Slave I/O Configuration
M-S Input Parameter Configurations . . . . . . . . . . . . . . . . . . . E-1
M-S Output Parameter Configurations . . . . . . . . . . . . . . . . . E-5
Glossary
Index
iv
Table of Contents
Preface
About This Manual
Topic
Page
Conventions Used in this Manual P-2
Rockwell Automation Support P-2
Related Documentation
For:
DeviceNet™ Cables and Components
DeviceNet Network
Installation
DeviceNet Networks
Refer to:
DeviceNet Product Overview
DeviceNet Cable System Planning and Installation
Manual
DeviceNet Starter Kit
Publication
DN-2.5
DN-6.7.2
DNET-UM003…
—
DriveExplorer online help (installed with the software)
DriveTools™ SP (includes
DriveExecutive™) http://www.ab.com/drives/drivetools, and
DriveExecutive online help (installed with the software)
HIM
Logix 5550
®
PowerFlex
®
700S Drive
(Frames 9 through 11)
HIM Quick Reference
ControlLogix DeviceNet Scanner Installation
Instructions
PowerFlex
®
70 Drive
PowerFlex
®
700S Drive
(Frames 1 through 6)
PowerFlex 70 User Manual
PowerFlex 70/700 Reference Manual
PowerFlex
PowerFlex
®
®
700 Drive
700VC Drive
PowerFlex 700 User Manual
PowerFlex 70/700 Reference Manual
PowerFlex
®
700H Drive
PowerFlex 700H Installation Instructions
PowerFlex 700H Programming Manual
PowerFlex 700S with Phase I Control User Manual
PowerFlex 700S with Phase II Control User Manual
PowerFlex 700S Reference Manual
PowerFlex 700S Installation Instructions
PowerFlex 700S with Phase I Control User Manual
PowerFlex 700S with Phase II Control User Manual
PowerFlex 700S Reference Manual
RSLinx™
RSLogix™ 5
Getting Results with RSLinx Guide
Online help (installed with the software)
RSLogix 5 Getting Results Guide
Online help (installed with the software)
RSLogix™ 500
RSLogix™ 5000
RSLogix 500 Getting Results Guide
Online help (installed with the software)
RSLogix 5000 Getting Results Guide
Online help (installed with the software)
RSNetWorx™ for
DeviceNet
RSNetWorx for DeviceNet Getting Results Guide
Online help (installed with the software)
SLC 500™ and 1747-SDN
DeviceNet Scanner Module Installation Instructions
DeviceNet Scanner Module Configuration Manual
PLC-5™ and 1771-SDN
DeviceNet Scanner Module Installation Instructions
DeviceNet Scanner Module Configuration Manual
Documentation can be obtained online at
http:// www.rockwellautomation.com/literature
.
—
20HIM-QR001…
1756-5.66
20A-UM001…
PFLEX-RM001…
20B-UM001…
PFLEX-RM001…
PFLEX-IN006…
20C-PM001…
20D-UM001…
20D-UM006…
PFLEX-RM002…
PFLEX-IN006…
20D-UM001…
20D-UM006…
PFLEX-RM002…
LINX-GR001…
LG5-GR001…
LG500-GR001…
9399-RLD300GR
DNET-GR001…
1747-5.8
1747-6.5.2
1747-5.14
1771-6.5.118
P-2
About This Manual
Conventions Used in this Manual
The following conventions are used throughout this manual:
•
Parameter names are shown in the format
Parameter xx - [*]
. The xx represents the parameter number. The * represents the parameter name. For example
Parameter 01 - [DPI Port]
.
•
Menu commands are shown in bold type face and follow the format
Menu > Command
. For example, if you read “Select
File > Open
,” you should click the
File
menu and then click the
Open
command.
•
The firmware release is displayed as FRN X.xxx. The “FRN” signifies Firmware Release Number. The “X” is the major release number. The “xxx” is the minor update number.
•
RSNetWorx for DeviceNet (version 2.22) and RSLinx (version 2.10) were used for the examples in this manual. Different versions of the software may differ in appearance and procedures.
•
This manual provides information about the 20-COMM-D DeviceNet adapter and using it with PowerFlex 7-Class drives. The adapter can be used with other products that support DPI. Refer to the documentation for your product for specific information about how it works with the adapter.
Rockwell Automation Support
Rockwell Automation, Inc. offers support services worldwide, with over
75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone.
In addition, Rockwell Automation, Inc. representatives are in every major country in the world.
Local Product Support
Contact your local Rockwell Automation, Inc. representative for:
•
Sales and order support
•
Product technical training
•
Warranty support
•
Support service agreements
About This Manual
P-3
Technical Product Assistance
If you need to contact Rockwell Automation, Inc. for technical assistance, please review the information in
first. If you still have problems, then call your local Rockwell
Automation, Inc. representative.
U.S. Allen-Bradley Drives Technical Support:
E-mail: [email protected]
Tel: (1) 262.512.8176
Fax (1) 262.512.2222
Online: www.ab.com/support/abdrives
UK Customer Support Center:
E-mail: [email protected]
Tel: +44 (0) 870 2411802
Fax: +44 (0) 1908 838804
Germany Customer Service Center:
E-mail: [email protected]
Tel: +49 (0) 2104 960-630
Fax: +49 (0) 2104 960-501
P-4
Notes:
About This Manual
Chapter
1
Getting Started
The 20-COMM-D DeviceNet adapter is a communication option intended for installation into a PowerFlex 7-Class drive. It can also be used with other Allen-Bradley products that support an internal DPI™
(Drive Peripheral Interface) adapter. The Series B 20-COMM-D adapter
(FRN v2.001 or higher) can be installed in an External DPI Comms Kit
(20-XCOMM-DC-BASE).
Topic
Page
Topic
Page
Components
Figure 1.1 Components of the Adapter
➊
➋
➍
➎
➌
Item Part
➊
Status
Indicators
Description
Three LEDs that indicate the status of the connected drive, adapter, and network. Refer to
,
➋
DPI Connector A 20-pin, single-row shrouded male header. An Internal Interface cable is connected to this connector and a connector on the drive.
➌
DeviceNet
Connector
A 5-pin connector to which a 5-pin linear plug can be connected.
➍
Node Address
Switches
➎
Data Rate
Switch
Switches for setting the node address. Refer to Chapter 2 ,
.
Switch for setting the DeviceNet data rate at which the adapter
communicates. Refer to Chapter 2
,
.
1-2
Getting Started
Features
The DeviceNet adapter features the following:
•
The adapter is normally mounted in the PowerFlex 7-Class drive. The
Series B 20-COMM-D adapter (FRN v2.001 or higher) can also be installed in an External DPI Comms Kit (20-XCOMM-DC-BASE). In either case, it receives the required power from the drive and from the
DeviceNet network.
•
Switches let you set a node address and network data rate before applying power to the PowerFlex drive. Alternatively, you can disable the switches and use parameters to configure these features.
•
Captive screws secure and ground the adapter to the drive or, when mounted in an External DPI Comms Kit, to the kit’s metal enclosure.
•
A number of configuration tools can be used to configure the adapter and connected drive. The tools include the PowerFlex HIM on the drive, network software such as RSNetWorx for DeviceNet, or drive-configuration software such as DriveExplorer (version 3.xx or higher) or DriveExecutive (version 3.xx or higher).
•
Status indicators report the status of the drive communications, adapter, and network.
•
I/O, including Logic Command/Reference and up to four pairs of
Datalinks, may be configured for your application using parameters.
•
Explicit and UCMM (Unconnected Message Manager) Messages are supported.
•
Multiple data exchange methods, including Polled, Cyclic, and
Change of State (COS), can be used to transmit data between the network and adapter.
•
Master-Slave or Peer-to-Peer hierarchies can be set up so that the adapter and connected PowerFlex drive transmit data to and from either a scanner or another PowerFlex drive on the network.
•
User-defined fault actions determine how the adapter and PowerFlex drive respond to communication disruptions on the network and controllers in idle mode.
•
Faulted node recovery is supported. You can configure a device even when it is faulted on the network if you have a configuration tool that uses faulted node recovery and have set the data rate switch to “PGM”
(Program). With the PGM setting, the adapter uses parameter settings for the data rate and node address instead of switch settings.
Getting Started
1-3
Compatible Products
DPI is a second generation peripheral communication interface. The
DeviceNet adapter is compatible with Allen-Bradley PowerFlex 7-Class drives and other products that support DPI. DPI is a functional
enhancement to SCANport (see Glossary
). At the time of publication, compatible products include:
•
PowerFlex 70 drives
•
PowerFlex 700 drives
•
PowerFlex 700H drives
•
PowerFlex 700S drives
•
PowerFlex 7000 drives
•
External DPI Comms Kit
Required Equipment
Equipment Shipped with the Adapter
When you unpack the adapter, verify that the package includes:
❑
One DeviceNet adapter
❑
A 2.54 cm (1 in.) and a 15.24 cm (6 in.) Internal Interface cable
(only one cable is needed to connect the adapter to the drive)
❑
One five-pin linear DeviceNet plug
(connected to the DeviceNet connector on the adapter)
❑
This manual
User-Supplied Equipment
To install and configure the DeviceNet adapter, you must supply:
❑
A small flathead screwdriver
❑
DeviceNet cable – thin cable with an outside diameter of 6.9 mm
(0.27 in.) is recommended
❑
Configuration tool, such as:
– PowerFlex 7-Class HIM (20-HIM-*)
– DriveExplorer (version 2.01 or higher)
– DriveExecutive stand-alone software (version 3.01 or higher) or bundled with the DriveTools SP suite (version 1.01 or higher)
– RSNetWorx for DeviceNet
– Smart Self-powered Serial Converter (1203-SSS, v3.001 or higher)
❑
Computer with a DeviceNet communications adapter installed
(Examples: 1784-PCD, 1784-PCID, 1784-PCIDS, or 1770-KFD)
❑
Controller configuration software
(Examples: RSLogix5, RSLogix500, or RSLogix 5000)
1-4
Getting Started
Safety Precautions
Please read the following safety precautions carefully.
!
!
!
!
!
!
ATTENTION:
Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove all power from the PowerFlex drive, and then verify power has been removed before installing or removing a DeviceNet adapter.
ATTENTION:
Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the associated machinery should plan or implement the installation, start-up, configuration, and subsequent maintenance of the product using a
DeviceNet adapter. Failure to comply may result in injury and/or equipment damage.
ATTENTION:
Risk of equipment damage exists. The DeviceNet adapter contains ESD (Electrostatic Discharge) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, refer to
Guarding Against
Electrostatic Damage
, Publication 8000-4.5.2.
ATTENTION:
Risk of injury or equipment damage exists. DPI or
SCANport host products must not be directly connected together via
1202 cables. Unpredictable behavior due to timing and other internal procedures can result if two or more devices are connected in this manner.
ATTENTION:
Risk of injury or equipment damage exists. If the
DeviceNet adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting an adapter.
ATTENTION:
Risk of injury or equipment damage exists.
Parameters 10 - [Comm Flt Action]
,
11 - [Idle Flt Action]
, and
34 - [Peer Flt Action]
let you determine the action of the adapter and connected PowerFlex drive if communications are disrupted or the controller is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations
(for example, a disconnected cable or a faulted controller.)
Getting Started
1-5
!
!
ATTENTION:
Risk of injury or equipment damage exists. When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing.
ATTENTION:
Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.
1-6
Getting Started
Quick Start
This section is provided to help experienced users quickly start using the
DeviceNet adapter. If you are unsure how to complete a step, refer to the referenced chapter.
Step Refer to…
1 Review the safety precautions for the adapter.
Throughout This Manual
2 Verify that the PowerFlex drive is properly installed.
Drive User Manual
3 Commission the adapter.
Set a unique node address and the appropriate data rate using the switches on the adapter. If desired, you can disable the switches and use parameter settings instead.
4 Install the adapter.
Verify that the PowerFlex drive and DeviceNet network are not powered. Then, connect the adapter to the network using a DeviceNet cable and to the drive using the Internal
Interface cable. Use the captive screws to secure and ground the adapter to the drive.
5 Apply power to the adapter.
The adapter receives power from the drive and network.
Apply power to the network and to the drive. The status indicators should be green. If they flash red, there is a problem. Refer to
,
6 Configure the adapter for your application.
Verify that the master and network are installed and functioning in accordance with DeviceNet standards, and then apply power to them.
8 Configure the scanner to communicate with the adapter.
Set the parameters for the following features as required by your application:
•
Node address and data rate (if the Data Rate switch is set to “PGM”).
•
I/O configuration.
•
Change of State, Cyclic, or polled I/O data exchange.
•
Master-slave or peer-to-peer hierarchy.
•
Fault actions.
7 Apply power to the DeviceNet master and other devices on the network.
DeviceNet Cable System
Planning and Installation
Manual
Use a network tool such as RSNetWorx for DeviceNet to configure the scanner on the network. Make sure to:
•
Set up the scan list.
•
Map the adapter data to the scan list.
•
Save your DeviceNet configuration to the scanner and a file.
9 Create a ladder logic program.
Use a programming tool such as RSLogix to create a ladder logic program that enables you to:
•
Control the adapter and connected drive using I/O.
•
Monitor or configure the drive using Explicit Messages.
Getting Started
1-7
Modes of Operation
The adapter uses three status indicators to report its operating status. They
can be viewed on the adapter or through the drive cover. See Figure 1.2
Figure 1.2 Status Indicators
(location on drive may vary)
➊
➋
➌
PWR
STS
PORT
MOD
NET A
NET B
➊
➋
➌
➍
Item Status
Indicator
➊
➋
PORT
MOD
Status
(1)
Green
Flashing
Green
Green
Flashing
Green
➌
NET A Green
Flashing
Green
➍
NET B Off
Description
Normal Operation. The adapter is properly connected and is communicating with the drive.
The adapter is in the process of establishing a connection to the drive. This status indicator will turn solid green or red.
Normal Operation. The adapter is operational and is transferring I/O data.
Normal Operation. The adapter is operational but is not transferring I/O data.
Normal Operation. The adapter is properly connected and communicating on the network.
The adapter is properly connected but is not communicating with any devices on the network.
Not used for DeviceNet.
(1)
If all status indicators are off, the adapter is not receiving power. Refer to
Installing the Adapter , for instructions on installing the adapter.
If any other conditions occur, refer to Chapter 7
,
1-8
Notes:
Getting Started
Chapter
2
Installing the Adapter
Chapter 2 provides instructions for installing the adapter in a PowerFlex
7-Class drive.
Topic
Page
Connecting the Adapter to the Network 2-3
Connecting the Adapter to the Drive 2-4
Preparing for an Installation
Before installing the DeviceNet adapter:
•
Read the
DeviceNet Product Overview Manual
, Publication DN-2.5, and the
DeviceNet Cable System Planning and Installation Manual
,
Publication DN-6.7.2. These manuals will provide information on selecting cables, setting up a network, and network basics.
•
Verify that you have all required equipment. Refer to Chapter 1 ,
Commissioning the Adapter
To commission the adapter, you must set a unique node address and the
data rate that is used by the network. (Refer to the Glossary
for details about data rates and node addresses.)
Important:
New settings are recognized only when power is applied to the adapter or it is reset. If you change a setting, cycle power or reset the adapter.
!
ATTENTION:
Risk of equipment damage exists. The DeviceNet adapter contains ESD (Electrostatic Discharge) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, refer to
Guarding Against
Electrostatic Damage
, Publication 8000-4.5.2.
2-2
Installing the Adapter
1.
Set the node address switches on the adapter.
Figure 2.1 Setting the Node Address
1
0
9
2
8
3
4
7
6
5 0
1
9
2
8
3
4
5
7
6
Tens
Digit
Ones
Digit
Setting Description
0-63 Node address used by the adapter if switches are enabled. The default switch setting is 63. Node address 63 is also the default address used by all uncommissioned devices. We recommend that you do not use this address as the final adapter address.
Important:
If the Data Rate switch is set to “PGM” (Program), the adapter will use the setting of
Parameter 03 - [DN Addr Cfg
] for the node address. The default parameter setting is 63. Refer to
.
64 – 99 Do not use. The adapter will not recognize these addresses.
2.
Set the data rate switch on the adapter.
Figure 2.2 Setting the Data Rate
500K
250K
125K
AUTO
PGM
Setting
Auto
Description
The adapter is set to the data rate used by other network devices.
Another device on the network must be set to a data rate.
125K, 250K, 500K The adapter is set to the respective data rate.
PGM The adapter uses the setting of
Parameter 05 - [DN Rate Cfg]
for the data rate. This is the default parameter setting. Refer to
Chapter 3 , Configuring the Adapter .
The switch settings can be verified using a PowerFlex HIM,
DriveExplorer software, or DriveExecutive software, and viewing
Diagnostic Device Item numbers 29 and 30 (
).
Installing the Adapter
2-3
Connecting the Adapter to the Network
!
ATTENTION:
Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove power from the drive, and then verify power has been discharged before installing or removing an adapter.
1.
Remove power from the network and drive.
2.
Use static control precautions.
3.
Connect a DeviceNet cable to the network, and route it through the bottom of the PowerFlex drive (see
cable with an outside diameter of 6.9 mm (0.27 in.) is recommended.
Important:
Maximum cable length depends on data rate. Refer to
.
4.
Connect a 5-pin linear plug to the DeviceNet cable.
A 10-pin linear plug is not supported. A 5-pin linear plug is shipped with the adapter.
Figure 2.3 Connecting a 5-Pin Linear Plug to the Cable
5
4
3
2
1
Red
White
Bare
Blue
Black
2
1
4
3
Terminal Color
5 Red
White
Bare
Blue
Black
Signal
V+
CAN_H
SHIELD
CAN_L
V–
Function
Power Supply
Signal High
Shield
Signal Low
Common
5.
Connect the DeviceNet cable to the adapter, and secure it with the two screws. (See
2-4
Installing the Adapter
Connecting the Adapter to the Drive
1.
Remove power from the drive and network.
2.
Use static control precautions.
3.
Connect the Internal Interface cable to the DPI port on the drive and then to the DPI connector on the adapter.
Figure 2.4 DPI Ports and Internal Interface Cables
DeviceNet Adapter
➊
➋
➌
➍
PowerFlex 70 Drive
PowerFlex 700 or 700S Drive
Frames 0 - 1
PowerFlex 700 or 700S Drive
Frames 2 and Larger
Item Description Item Description
➊
15.24 cm (6 in.) Internal Interface cable
➌
DeviceNet cable
➋
DPI Connector
➍
2.54 cm (1 in.) Internal Interface cable
Installing the Adapter
2-5
4.
On a PowerFlex 70, fold the Internal Interface cable behind the adapter and mount the adapter on the drive using the four captive screws. On a PowerFlex 700 or PowerFlex 700S, just mount the adapter on the drive using the four captive screws to secure and ground it to the drive.
Important:
All screws must be tightened since the adapter is grounded through a screw. Recommended torque is 0.9 N-m (8.0 lb.-in.).
Figure 2.5 Mounting the Adapter
Drive
Adapter
Internal Interface Cable folded behind the adapter and in front of the drive.
PowerFlex 70 Drive
Adapter mounts in drive.
PowerFlex 700 or 700S Drive
(Frames 0 - 1)
Adapter mounts on door.
PowerFlex 700 or 700S Drive
(Frames 2 and Larger)
Adapter mounts in drive.
2-6
Installing the Adapter
Applying Power
!
ATTENTION:
Risk of equipment damage, injury, or death exists.
Unpredictable operation may occur if you fail to verify that parameter settings and switch settings are compatible with your application.
Verify that settings are compatible with your application before applying power to the drive.
1.
Close the door or reinstall the cover on the drive. The status indicators can be viewed on the front of the drive after power has been applied.
2.
Ensure that the adapter will have a unique address on the network and is set at the correct data rate or to autobaud. If a new data rate or
address is needed, reset its switches (see Commissioning the Adapter
in this chapter).
3.
Apply power to the network.
4.
Apply power to the PowerFlex drive. The adapter receives its power from the connected drive and network. When you apply power to the product and network for the first time, the status indicators should be green after an initialization. If the status indicators go red, there is a problem. Refer to
.
5.
If the data rate switch is set to “PGM,” use a configuration tool to set the data rate and node address parameters in the adapter (
Configuring the Adapter ). If you are using RSNetWorx for
DeviceNet, you need to create a point-to-point connection to the drive.
6.
Apply power to the master device (scanner) and other devices on the network.
Chapter
3
Configuring the Adapter
Chapter 3 provides instructions and information for setting the parameters in the adapter.
Topic
Using RSNetWorx for DeviceNet 3-3
Page Topic
Page
Selecting Master-Slave or Peer-to-Peer 3-8
Selecting COS, Cyclic, or Polled I/O 3-14
Viewing the Adapter Configuration
For a list of parameters, refer to Appendix B , Adapter Parameters . For
definitions of terms in this chapter, refer to the
Configuration Tools
The DeviceNet adapter stores parameters and other information in its own non-volatile memory. You must, therefore, access the adapter to view and edit its parameters. The following tools can be used to access the adapter parameters:
Tool
PowerFlex HIM
RSNetWorx for DeviceNet
Software
DriveExplorer Software
(version 3.xx or higher)
DriveExecutive Software
(version 1.xx or higher)
Refer to…
page
page
DriveExplorer Getting Results Manual
, Publication
9306-GR001… (Download only), or the online help
DriveExecutive Product Profile
, Publication
9303-PP002…, or the online help
RSNetWorx for DeviceNet (version 2.22.18) and RSLinx (version
2.10.118) were used for examples in this manual. Different versions of software may differ in appearance and procedures.
TIP:
Explicit Messaging can also be used to configure an adapter and
drive. Refer to Chapter 6 , Using Explicit Messaging .
3-2
Configuring the Adapter
Using the PowerFlex HIM
If your drive has either an LED or LCD HIM (Human Interface Module), you can use it to access parameters in the adapter as shown below. It is recommended that you read through the steps for your HIM before performing the sequence. For additional HIM information, refer to your
PowerFlex Drive User Manual or the HIM Quick Reference card.
Using an LED HIM
Step
1.
Press ALT and then Sel (Device) to display the Device Screen.
Key(s)
ALT
2.
Press the Up Arrow or Down
Arrow to scroll to the DeviceNet adapter. Letters represent files in the drive, and numbers represent ports. The adapter is usually connected to port 5.
OR
Device
Sel
Example Screens
3.
Press the Enter key to enter your selection. A parameter database is constructed, and then the first parameter is displayed.
4.
Edit the parameters using the same techniques that you use to edit drive parameters.
Using an LCD HIM
Step
1.
In the main menu, press the Up
Arrow or Down Arrow to scroll to
Device Select
.
Key(s)
OR
2.
Press Enter to enter your selection.
3.
Press the Up Arrow or Down
Arrow to scroll to the DeviceNet adapter (20-COMM-D).
OR
4.
Press Enter to select the
DeviceNet adapter. A parameter database is constructed, and then the main menu for the adapter is displayed.
5.
Edit the parameters using the same techniques that you use to edit drive parameters.
Example Screens
F-> Stopped
0.00
Main Menu:
Diagnostics
Parameter
Device Select
Hz
Auto
Port 5 Device
20-COMM-D
Main Menu:
Diagnostics
Parameter
Device Select
Configuring the Adapter
3-3
Using RSNetWorx for DeviceNet
RSNetWorx for DeviceNet is a Rockwell Software application that can be used to set up DeviceNet networks and configure connected devices.
To set up RSLinx for RSNetWorx for DeviceNet
To use RSNetWorx for DeviceNet, you must first set up a driver in
RSLinx. The driver provides a communications link between the computer and DeviceNet network.
Step
1.
Start RSLinx, and select
Communications > Configure
Drivers
to display the Configure Drivers dialog box.
2.
In the Available Driver Types box, select
DeviceNet
Drivers
, and then click
Add New
. The DeviceNet Driver
Selection dialog box appears.
3.
In the Available DeviceNet Drivers list, select the adapter connected to your computer, and then click
Select
. A Driver
Configuration dialog box appears.
Icons
4.
Configure the driver for your computer and network settings, and then click
OK
. The Configure Drivers dialog box reports the progress of the configuration. Then, the
Add New RSLinx Driver dialog box appears.
5.
Type a name (if desired), and then click
OK
. The Configure
Drivers dialog box reappears, and the new driver is in the
Configured Drivers List ( Figure 3.1
6.
Click
Close
to close the dialog box. Leave RSLinx running.
Shortcut to
RSLinx
Figure 3.1 Configure Drivers Dialog Box with a Configured Driver
3-4
Configuring the Adapter
To go online with RSNetWorx for DeviceNet
You can view the devices on a DeviceNet network by going online. A device may appear as an unrecognized device (node 63 in
) if
RSNetWorx for DeviceNet does not have an EDS file for it.
Step
1.
After setting up a driver in RSLinx, start RSNetWorx for
DeviceNet.
2.
Select
Network > Online
. If the Browse for Network dialog box appears, RSLinx has multiple drivers configured.
Select your DeviceNet network, and click
OK
. A prompt appears.
3.
Click
OK
to go online. The devices on the network appear in the Configuration View. You can select Graph,
Spreadsheet, or Master/Slave views.
example network in a Graph view.
Icons
Shortcut to
RSNetWorx
Figure 3.2 Example DeviceNet Network
Configuring the Adapter
3-5
To create an EDS file
If the adapter and drive appear as an unrecognized device, create an EDS file for it.
Step
1.
Right-click the “Unrecognized Device” icon, and select
Register Device
in the menu. The EDS Wizard appears
(
2.
Click
Next
to display the next step.
3.
Select
Upload EDS
, and then click
Next
.
4.
Type a description (if desired), and then click
Next
.
5.
Under Polled, select
Enabled
, type
4
in the Input Size and
Output Size boxes, and then click
Next
. RSNetWorx will upload the EDS file from the drive and adapter.
6.
Click
Next
to display the icon options for the node. We recommend that you use the icon for your product. You can change icons by clicking
Change icon
.
7.
Click
Next
to view a summary, and then click
Next
again to accept it.
8.
Click
Finish
to finish the EDS creation. A new icon represents the PowerFlex drive and adapter in the
Configuration View.
Important:
RSNetWorx for DeviceNet (versions 2.22.18 and earlier) replaces 32-bit values with exponential values.
For the EDS file to work in RSNetWorx, you must edit the
EDS file, replacing exponential values with 32-bit values
(typically 4294967295), and then restart RSNetWorx.
Icons
Figure 3.3 EDS Wizard
3-6
Configuring the Adapter
To access and edit parameters
Parameters in the drive and adapter can be edited with RSNetWorx. The adapter parameters are appended to the list of drive parameters. For example, in
the drive has 387 parameters, so parameter 388 is the first adapter parameter.
Step
1.
After creating an EDS file, right-click on the icon for the
PowerFlex drive and adapter and select
Properties
. The
PowerFlex Drive dialog box appears.
2.
Click the
Device Parameters
tab (
Editor message appears, click
Upload
to load the parameter values in the drive to the computer.
Parameters are displayed in numerical order under
Parameter. You can either scroll through the list or select a specific group of parameters in the Groups box. The available groups and the numbers of the adapter parameters will vary based on the type of drive that is connected to the adapter.
3.
In the Current Value column, double-click a value to edit it.
4.
Click
Apply
to save changes to the device.
Icons
Figure 3.4 Example PowerFlex Drive Dialog Box
Configuring the Adapter
3-7
Setting the Node Address
If the adapter Data Rate switch is set to “PGM,” the value of
Parameter
03 - [DN Addr Cfg]
determines the node address. We recommend that you do not use node address 63 because all new devices use it as the default address. Address 63 is also used for Automatic Device Recovery
(ADR).
1.
Set the value of
Parameter 03 - [DN Addr Cfg]
to a unique node address.
Figure 3.5 DeviceNet Node Address Screen on an LCD HIM
Default = 63
Port 5 Device
20-COMM-D
Parameter #: 3
DN Addr Cfg
63
0 <> 63
2.
Reset the adapter. See
Resetting the Adapter section in this chapter.
TIP:
If you are using RSNetWorx for DeviceNet, select
Network >
Single Browse Path
to see the new address; then delete the old address.
Setting the Data Rate
If the adapter Data Rate switch is set to “PGM,” the value of
Parameter
05 - [DN Rate Cfg]
determines the DeviceNet data rate. The Autobaud setting will detect the data rate used on the network if another device is setting the data rate. Your application may require a different setting.
1.
Set the value of
Parameter 05 - [DN Rate Cfg]
to the data rate at which your network is operating.
Figure 3.6 DeviceNet Data Rate Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 5
DN Rate Cfg
Autobaud
3
1
2
Value Baud Rate
0 125 kbps
3
250 kbps
500 kbps
Autobaud (Default)
2.
Reset the adapter. See
Resetting the Adapter section in this chapter.
3-8
Configuring the Adapter
Setting the I/O Configuration
The I/O configuration determines the type of data that is sent to and from the drive. Logic Command/Status, Reference/Feedback, and Datalinks may be enabled or disabled. A “1” enables the I/O. A “0” disables it.
1.
Set the bits in
Parameter 13 - [DPI I/O Config]
:
Figure 3.7 I/O Configuration Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 13
DPI I/O Config x x x x x x x x x x x 0 0 0 0 1
Cmd/Ref b00
Bit Description
0
1
Logic Command/Reference (Default)
Datalink A
2
3
Datalink B
Datalink C
4 Datalink D
5 - 15 Not Used
Bit 0 is the right-most bit. In Figure 3.7
, it is highlighted and equals
“1.”
2.
Set a Master-Slave or Peer-to-Peer hierarchy. Refer to the Selecting
Master-Slave or Peer-to-Peer section in this chapter.
3.
If you enabled Logic Command/Reference, configure the drive to accept the Logic Command and Reference from the adapter. For example, set
Parameter 90 - [Speed Ref A Sel]
in a PowerFlex 70 or 700 drive to “DPI Port 5” so that the drive uses the Reference from the adapter. Also, verify that the mask parameters in the drive (for example,
Parameter 276 - [Logic Mask]
) are configured to receive the desired logic from the adapter.
4.
If you enabled one or more Datalinks, configure the drive to determine the source and destination of data in the Datalink(s). Also, ensure that the DeviceNet adapter is the only adapter using the enabled Datalink(s).
5.
Reset the adapter. See
Resetting the Adapter section in this chapter.
Selecting Master-Slave or Peer-to-Peer
A hierarchy determines the type of device with which the adapter exchanges data. In a Master-Slave hierarchy, an adapter exchanges data with a scanner. In a Peer-to-Peer hierarchy, an adapter can exchange data with one or more DeviceNet adapter(s) connected to PowerFlex drives that have similar data structures (same data sizes: 16-bit or 32-bit).
Configuring the Adapter
3-9
To set a Master-Slave hierarchy
1.
Enable the desired I/O in
Parameter 13 - [DPI I/O Config]
. Refer to
.
2.
Set the bits in
Parameter 25 - [M-S Input]
. This parameter determines the data transmitted from the scanner to the drive. A “1” enables the I/O. A “0” disables the I/O.
Figure 3.8 Master-Slave Input Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 25
M-S Input x x x x x x x x x x x 0 0 0 0 1
Cmd/Ref b00
Bit Description
0
1
Logic Command/Reference (Default)
Datalink A Input
2
3
Datalink B Input
Datalink C Input
4 Datalink D Input
5 - 15 Not Used
Bit 0 is the right-most bit. In Figure 3.8
, it is highlighted and equals
“1.”
3.
Set the bits in
Parameter 26 - [M-S Output]
. This parameter determines the data transmitted from the drive to the scanner. A “1” enables the I/O. A “0” disables the I/O.
Figure 3.9 Master-Slave Output Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 26
M-S Output x x x x x x x x x x x 0 0 0 0 1
Status/Fdbk b00
1
2
Bit Description
0 Status/Feedback (Default)
Datalink A Output
Datalink B Output
3
4
Datalink C Output
Datalink D Output
5 - 15 Not Used
Bit 0 is the right-most bit. In Figure 3.9
, it is highlighted and equals
“1.”
4.
Reset the adapter. See
Resetting the Adapter section in this chapter.
The adapter is ready to receive I/O from the master (i.e., scanner). You must now configure the scanner to recognize and transmit I/O to the adapter. Refer to
Chapter 4 , Configuring the Scanner .
3-10
Configuring the Adapter
To set an adapter to transmit Peer-to-Peer data
1.
Verify that
Parameter 41 - [Peer Out Enable]
is set to
Off
. This parameter must be set to Off while you configure some of the peer output parameters.
Figure 3.10 Peer Out Enable Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 41
Peer Out Enable
0
Off
Value Setting
0 Off (Default)
1 On
2.
Select the source of the data to output to the network in
Parameter
39 - [Peer A Output]
.
Figure 3.11 Peer A Output Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 39
Peer A Output
1
Cmd/Ref
Value Description
0 Off (Default)
1 Logic Command/Reference
2 - 5 Datalink A, B, C, or D Input
6 - 9 Datalink A, B, C, or D Output
If you are transmitting a 32-bit Reference or 32-bit Datalink, only
Peer A Output will be available. Peer B Output cannot be used.
3.
If desired, select an additional source of the data to output to the network in
Parameter 40 - [Peer B Output]
.
Figure 3.12 Peer B Output Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 40
Peer B Output
DL A Input
2
Value Description
0
1
Off (Default)
Logic Command/Reference
2 - 5 Datalink A, B, C, or D Input
6 - 9 Datalink A, B, C, or D Output
Configuring the Adapter
3-11
4.
Set
Parameters 42 - [Peer Out Time]
and
43 - [Peer Out Skip]
to establish the minimum and maximum intervals between Peer messages. The minimum interval is set in
Parameter 42 - [Peer Out
Time]
. The maximum interval is the value of
Parameter 42 - [Peer
Out Time]
multiplied by the value of
Parameter 43 - [Peer Out
Skip]
.
Figure 3.13 Min Peer TX Time and Peer Out Skip Screens on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 42
Peer Out Time
10.00
Secs.
0 <> 10.00
Port 5 Device
20-COMM-D
Parameter #: 43
Peer Out Skip
1
1 <>16
5.
Set
Parameter 41 - [Peer Out Enable]
to
On
. The adapter will transmit the data selected in
Parameters 39 - [Peer A Output]
and
40 - [Peer B Output]
to the network. Another adapter must be configured to receive the data.
To set an adapter to receive Peer-to-Peer data
Important:
The device receiving peer data must match the data sizes of the sending device. For example, if the sending device uses a 16-bit Reference, the receiving device must also use a
16-bit Reference. Datalinks, if used, must also be the same size.
1.
Verify that
Parameter 37 - [Peer Inp Enable]
is set to
Off
. This parameter must be set to Off while you configure some of the peer input parameters.
Figure 3.14 Peer Input Enable Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 37
Peer Inp Enable
0
Off
Value Setting
0 Off (Default)
1 On
3-12
Configuring the Adapter
2.
Select the node from which you want to receive data in
Parameter
35 - [Peer Node to Inp]
. Valid nodes must have 20-COMM-D adapters connected to drives with similar data structures.
Figure 3.15 Peer Node to Input Screen on an LCD HIM
Default = 0
Port 5 Device
20-COMM-D
Parameter #: 35
Peer Node to Inp
0
0 <>63
3.
Select the destination of the data that is input to the drive in
Parameter 30 - [Peer A Input]
.
Figure 3.16 Peer A Input Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 30
Peer A Input
Cmd/Ref
1
Value Description
0 Off (Default)
1 Logic Command/Reference
2 - 5 Datalink A, B, C, or D Input
If you are receiving a 32-bit Reference or 32-bit Datalink, only Peer
A Input will be available. Peer B Input cannot be used.
4.
If desired, select the destination of the data to input to the drive in
Parameter 31 - [Peer B Input]
.
Figure 3.17 Peer B Input Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 31
Peer B Input
2
DL A Input
Value Description
0 Off (Default)
1 Logic Command/Reference
2 - 5 Datalink A, B, C, or D Input
5.
If you are receiving a Logic Command, set the bits in it that should be used in
Parameter 32 - [Peer Cmd Mask]
. The bit definitions for the Logic Command word will depend on the drive to which the adapter is connected. Refer to the drive documentation.
Configuring the Adapter
3-13
Figure 3.18 Peer Logic Command Mask Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 32
Peer Cmd Mask
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Bit 0 B00
Value Description
0 Ignore this command bit.
(Default)
1 Use this command bit.
If the adapter receives a Logic Command from both a Master device and a Peer device, each command bit must have only one source. The source of command bits set to “0” will be the Master device. The source of command bits set to “1” will be the Peer device.
6.
If you are receiving a Reference, you can scale it using
Parameter
33 - [Peer Ref Adjust]
. It can be scaled between 0.00 and 199.99%.
!
ATTENTION:
To guard against equipment damage and/or personal injury, note that changes to
Parameter 33 - [Peer Ref Adjust]
take effect immediately. A drive receiving its Reference from peer I/O will receive the newly scaled Reference, resulting in a change of speed.
Figure 3.19 Peer Reference Adjust Screen on an LCD HIM
Default = 0.00%
Port 5 Device
20-COMM-D
Parameter #: 33
Peer Ref Adjust
0.00
%
0.00 <> 199.99
7.
Set
Parameter 36 - [Peer Inp Timeout]
to the maximum amount of time the adapter will wait for a message before timing out.
Important:
This value must be greater than the product of
Parameter 42 - [Peer Out Time]
multiplied by
Parameter 43 - [Peer Out Skip]
in the adapter from which you are receiving I/O.
Figure 3.20 Minimum Peer Receiving Time Screen on an LCD HIM
Default = 10.00 Secs
Port 5 Device
20-COMM-D
Parameter #: 36
Peer Inp Timeout
10.00
Secs.
0.01 <> 180.00
3-14
Configuring the Adapter
8. Parameter 34 - [Peer Flt Action]
sets the action that the adapter will take if it times out.
!
ATTENTION:
Risk of injury or equipment damage exists.
Parameter
34 - [Peer Flt Action]
lets you determine the action of the adapter and connected drive if communications are disrupted. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage.
Figure 3.21 Peer Fault Action Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 34
Peer Flt Action
Fault
0
2
3
4
Value Description
0
1
Fault (Default)
Stop
Zero Data
Hold Last
Send Flt Cfg
For details, see
Setting a Fault Action section in this chapter.
9.
Set
Parameter 37 - [Peer Inp Enable]
to On. The adapter is now configured to receive I/O from the specified node. Ensure that the specified node is configured to transmit I/O.
10.
Set
Parameter 9 - [Reset Module]
to “Reset Module”. The adapter will reset and the parameter will display “Ready” after the command has been performed.
Selecting COS, Cyclic, or Polled I/O
The data exchange (sometimes called allocation) is the method that the adapter uses to exchange data on the DeviceNet network. The adapter can be configured to use one of the following data exchanges:
•
COS (Change of State)
•
Cyclic
•
Polled
•
Polled and COS
•
Polled and Cyclic
If “Polled and COS” or “Polled and Cyclic” is used, the adapter receives the I/O from the polled messages. It transmits its Logic Status and
Feedback in COS or Cyclic messages. Other data is transmitted in Polled messages.
Cyclic and Polled data exchanges are configured in the scanner, so you only need to set the I/O configuration in the adapter. COS data exchange must be configured in both the adapter and the scanner. You need to set the I/O configuration and COS parameters in the adapter.
Configuring the Adapter
3-15
To use COS (Change of State) data exchange
1.
Set bit 0 (the Logic Command/Reference bit) in
Parameter 13 -
[DPI I/O Config]
to
1
(enabled) and bit 0 (the Logic Status/
Feedback bit) in
Parameter 26 - [M-S Output]
to
1
(enabled).
Changes to bits in the Logic Status or Feedback trigger messages in
COS data exchange.
Figure 3.22 I/O Configuration Screens on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 13
DPI I/O Config x x x x x x x x x x x 0 0 0 0 1
Cmd/Ref b00
Port 5 Device
20-COMM-D
Parameter #: 26
M-S Output x x x x x x x x x x x 0 0 0 0 1
Status/Fdbk b00
2.
Set the bits in the Logic Status word that should be checked for changes in
Parameter 27 - [COS Status Mask]
. The bit definitions for the Status Mask will depend on the drive to which you are connected. Refer to its documentation.
Figure 3.23 COS Status Mask Configuration Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 27
COS Status Mask
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Bit 0 b00
Value Description
0 Ignore this logic bit. (Default)
1 Check this logic bit.
3.
Set the amount of change to the Feedback that is required to trigger a
Change of State message in
Parameter 28 - [COS Fdbk Change]
.
Figure 3.24 COS Fdbk Change Configuration Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 28
COS Fdbk Change
0
0 <> 4294967295
The adapter is now configured for COS data exchange. You must configure the scanner to allocate it using COS (
Chapter 4 , Configuring the Scanner
).
3-16
Configuring the Adapter
Setting a Fault Action
By default, when communications are disrupted (for example, a cable is disconnected) or the scanner is idle, the drive responds by faulting if it is using I/O from the network. You can configure a different response to communication disruptions using
Parameter 10 - [Comm Flt Action]
and a different response to an idle scanner using
Parameter 11 - [Idle
Flt Action]
.
!
ATTENTION:
Risk of injury or equipment damage exists.
Parameters 10 - [Comm Flt Action]
and
11 - [Idle Flt Action]
let you determine the action of the adapter and connected drive if communications are disrupted or the scanner is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage.
When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or faulted controller).
To change the fault action
•
Set the values of
Parameters 10 - [Comm Flt Action]
and
11 - [Idle
Flt Action]
to the desired responses:
Value Action
0
1
2
Fault (default)
Stop
Zero Data
Description
The drive is faulted and stopped. (Default)
The drive is stopped, but not faulted.
3 Hold Last
The drive is sent 0 for output data after a communications disruption. This does not command a stop.
The drive continues in its present state after a communications disruption.
4 Send Flt Cfg The drive is sent the data that you set in the fault configuration parameters (Parameters 15 - [Flt Cfg Logic] through 24 - [Flt Cfg D2 In]).
Figure 3.25 Fault Action Screens on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 10
Comm Flt Action
0
Fault
Port 5 Device
20-COMM-D
Parameter #: 11
Idle Flt Action
Fault
0
Changes to these parameters take effect immediately. A reset is not required.
Configuring the Adapter
3-17
To set the fault configuration parameters
If you set
Parameter 10 - [Comm Flt Action]
,
11 - [Idle Flt Action]
, or
34 - [Peer Flt Action]
to “Send Flt Cfg,” the values in the following parameters are sent to the drive after a communications fault and/or idle fault occurs. You must set these parameters to values required by your application.
Parameter Name
15
16
17 – 24
Flt Cfg Logic
Flt Cfg Ref
Flt Cfg x1 In or
Flt Cfg x2 In
Description
A 16-bit value sent to the drive for Logic Command.
A 32-bit value (0 – 4294967295) sent to the drive as a
Reference or Datalink.
Important:
If the drive uses a 16-bit Reference or 16-bit
Datalinks, the most significant word of the value must be set to zero (0) or a fault will occur.
Changes to these parameters take effect immediately. A reset is not required.
Resetting the Adapter
Changes to switch settings or some adapter parameters require that you reset the adapter before the new settings take effect. You can reset the adapter by cycling power to the drive or by using the following parameter:
!
ATTENTION:
Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting a connected adapter.
•
Set
Parameter 09 - [Reset Module]
to
Reset Module
:
Figure 3.26 Reset Screen on an LCD HIM
Port 5 Device
20-COMM-D
Parameter #: 9
Reset Module
1
Reset Module
1
2
Value Description
0 Ready (Default)
Reset Module
Set Defaults
When you enter
1 = Reset Module
, the adapter will be immediately reset.
When you enter
2 = Set Defaults
, the adapter will set all adapter parameters to their factory-default settings. After performing a Set Defaults, enter
1 =
Reset Module
so that the new values take effect. The value of this parameter will be restored to
0 = Ready
after the adapter is reset.
3-18
Configuring the Adapter
Viewing the Adapter Configuration
The following parameters provide information about how the adapter is configured. You can view these parameters at any time.
Number Name
01
02
04
06
07
DPI Port
Description
The port on the drive to which the adapter is connected.
Usually, it is port 5.
DPI Data Rate The data rate used by DPI in the drive. It will be either 125 or 500 kbps. It is set in the drive, and the adapter detects it.
DN Addr Actual The node address used by the adapter. This will be one of the following values:
•
The address set by the rotary switches.
•
The value of Parameter 03 - [DN Addr Cfg] if the switches have been disabled.
•
An old address of the switches or parameter if they have been changed and the adapter has not been reset.
DN Rate Actual The data rate used by the adapter. This will be one of the following values:
•
The data rate set by the DIP switch.
•
The value of Parameter 05 - [DN Rate Cfg] if the switches have been disabled.
•
An old data rate of the switches or parameter if they have been changed and the adapter has not been reset.
Ref/Fdbk Size The size of the Reference/Feedback. It will either be 16 bits or 32 bits. It is set in the drive and the adapter automatically uses the correct size.
08
12
14
Datalink Size The size of the Datalinks. It will either be 16 bits or 32 bits. It is set in the drive and the adapter automatically uses the correct size.
DN Active Cfg Source from which the adapter node address and data rate are taken. This will be either switches or parameters in
EEPROM. It is determined by the settings of the switches on the adapter.
DPI I/O Active The Reference/Feedback and Datalinks used by the adapter. This value is the same as Parameter 13 - [DPI I/O
Config] unless the parameter was changed and the adapter was not reset.
Bit
Default
7 6
x
5
x x
4
0
3
0
2
0
1
0
0
1
Bit Definitions
0 = Cmd/Ref
1 = Datalink A
2 = Datalink B
3 = Datalink C
4 = Datalink D
5 = Not Used
6 = Not Used
7 = Not Used
Chapter
4
Configuring the Scanner
Chapter 4 provides instructions on how to configure a scanner to communicate with the adapter and connected PowerFlex drive.
Topic
Mapping the Drive Data in the Scanner
Page
Example Network
After the adapter is configured, the connected drive and adapter will be a single node on the network. This chapter describes the steps needed to
configure a simple network like the network in Figure 4.1
example, we will configure the drive for using Logic Command/Status and Reference Feedback over the network.
Figure 4.1 Example DeviceNet Network
Node 0
SLC 500 Controller with
1747-SDN Scanner
Node 62
Computer with 1770-KFD and
RSNetWorx for DeviceNet
Node 1
PowerFlex 70 Drive with
DeviceNet Adapter
4-2
Configuring the Scanner
Setting Up the Scan List
For the scanner to communicate with a drive, the scanner must be configured and the drive’s node number must be added to its scan list.
1.
Go online with RSNetWorx for DeviceNet. Refer to
section. The devices on the network are displayed in the configuration view.
Figure 4.2 Configuration View (Graph)
2.
Right-click the DeviceNet scanner (node 00 in
) and select
Properties
. The Scanner Module dialog box appears.
Important:
If your scanner is an unrecognized device, you must create an EDS file for it and then configure the scanner.
Create an EDS file by following the instructions in
in the Using RSNetWorx for DeviceNet
section. Configure the scanner using the General and
Module tabs. If you need more information, click
Help
or refer to your scanner documentation.
3.
Click the
Scanlist
tab. A message box prompts you to upload.
4.
Click
Upload
. Data is uploaded from the scanner, and then the
5.
Select the
Automap on Add
box (a check mark will appear).
Configuring the Scanner
6.
Under Available Devices, select the drive, and then click
>
(Right
Arrow) to add it to the scanlist.
Figure 4.3 Scanlist Page in the Scanner Module Dialog Box
4-3
7.
Under Scanlist, select the drive, and then click
Edit I/O Parameters
.
The Edit I/O Parameters dialog box (
Figure 4.4 Edit I/O Parameters Dialog Box
8.
Select the type(s) of data exchange (Polled, Change of State, and /or
Cyclic). In our example, we selected Polled.
4-4
Configuring the Scanner
9.
Type the number of bytes that are required for your I/O in the Rx
Size and Tx Size boxes. The size will depend on the following:
•
I/O that you enabled in the adapter. This information can be found in
Parameter 14 - [DPI I/O Active]
in the adapter.
•
Size of the Reference/Feedback and Datalinks in your drive. This information can be viewed using
Parameters 07 - [Ref/Fdbk
Size]
and
08 - [Datalink Size]
in the adapter. A 16-bit word is two bytes, and a 32-bit word is four bytes.
•
The actual size value used in the Rx Size box can be determined by the setting of the M-S Input parameter as shown in
or
•
The actual size value used in the Tx Size box can be determined
by the setting of the M-S Output parameter as shown in Table E.C
or
for “Poll Only.”
•
show common configuration
Tx/Rx sizes.
In our example, we typed 4 in the Rx Size and Tx Size boxes because we enabled only the Logic Command/Status for I/O in the adapter and our drive uses a 16-bit Reference/Feedback.
Both the M-S Input and M-S Output parameters are set to 00001.
Therefore, the Logic Command/Status uses 2 bytes and the
Reference/Feedback uses 2 bytes totaling 4 bytes.
Table 4.A PowerFlex 70/700 and SCM-Flex (16-bit Reference/Feedback & Datalinks)
Rx
Size
4
8
12
16
20
Tx
Size
4
8
12
16
20
Logic Command/
Status
✔
✔
✔
✔
✔
Reference/
Feedback (16-bit)
✔
✔
✔
✔
✔
A
Datalinks (16-bit)
B C D
✔
✔
✔
✔
✔
✔
✔
✔
✔ ✔
Table 4.B PowerFlex 700VC (16-bit Reference/Feedback & 32-bit Datalinks)
Rx
Size
4
12
20
28
36
Tx
Size
4
12
20
28
36
Logic Command/
Status
✔
✔
✔
✔
✔
Reference/
Feedback (16-bit)
✔
✔
✔
✔
✔
A
Datalinks (32-bit)
B C D
✔
✔
✔
✔
✔
✔
✔
✔
✔ ✔
Configuring the Scanner
4-5
Table 4.C PowerFlex 700S (32-bit Reference/Feedback & Datalinks)
Rx
Size
8
16
24
32
40
Tx
Size
8
16
24
32
40
Logic Command/
Status
✔
✔
✔
✔
✔
Reference/
Feedback (32-bit)
✔
✔
✔
✔
✔
A
Datalinks (32-bit)
B C D
✔
✔
✔
✔
✔
✔
✔
✔
✔ ✔
10.
Set the scan rate. (Click
Help
for more information.)
Data Exchange
Polled
Change of State
Cyclic
Rate to set
Polled Rate
Heartbeat Rate
Send Rate
11.
Click
OK
. If you changed any settings, a Scanner Applet asks if it is
OK to unmap the I/O. Click
Yes
to continue. The Edit I/O Parameters dialog box closes and then the Scanner Module dialog box
) reappears. You will map the I/O in the next section in this chapter.
4-6
Configuring the Scanner
Mapping the Drive Data in the Scanner
Data from I/O messages must be mapped in the scanner. This mapping determines where a ladder logic program can find data that is passed over the network. You must map both the Input I/O and the Output I/O.
For:
Refer to…
Mapping the Input I/O
1.
In the Scanner Module dialog box, click the
Input
tab. (If necessary, right-click the scanner in the configuration view (
) to display this dialog box.)
Figure 4.5 Input Page on the Scanner Module Dialog Box
If you selected the
Automap on Add
box in the Scanlist page
), RSNetWorx has already mapped the I/O. If it is not mapped, click
Automap
to map it. If you need to change the mapping, click
Advanced
and change the settings. Click
Help
for assistance.
Configuring the Scanner
4-7
2.
In the Memory box, select a location in scanner memory.
Scanner
1747-SDN
1756-DNB
1771-SDN
Memory Locations
Discrete or M-File
Assembly Data
Block Xfer 62 – 57
In our example, we are using a 1747-SDN and selected Discrete.
3.
In the Start Word box, select the word in memory at which the data should start. In our example, we selected 1. Logic Status and Speed
Feedback information will be found in I:1.1 and I:1.2, respectively.
Mapping the Output I/O
1.
In the Scanner Module dialog box, click the
Output
tab. To display this dialog box, right-click the scanner in the configuration view
).
Figure 4.6 Output Page on the Scanner Module Dialog Box
If you selected the
Automap on Add
box in the Scanlist page
), RSNetWorx has already mapped the I/O. If it is not mapped, click
Automap
to map it. If you need to change the mapping, click
Advanced
and change the settings. Click
Help
for assistance.
4-8
Configuring the Scanner
2.
In the Memory box, select a location in scanner memory.
Scanner
1747-SDN
1756-DNB
1771-SDN
Memory Locations
Discrete or M-File
Assembly Data
Block Xfer 62 – 57
In our example, we are using a 1747-SDN and selected Discrete.
3.
In the Start Word box, select the word in memory at which the data should start. In our example, we selected 1. Logic Command and
Speed Reference data will be written to O:1.1 and O:1.2, respectively.
Saving the Configuration
After configuring a scanner, you must download the configuration to the scanner. You should also save it to a file on your computer.
1.
In the Scanner Module dialog box (
), click
Apply
to save the configuration to the scanner. A Scanner Configuration Applet appears and asks if it is OK to download the changes.
2.
Click
Yes
to download the changes. The changes are downloaded and then the Scanner Module dialog box reappears.
3.
Click
OK
to close the Scanner Module dialog box.
4.
Select
File > Save
. If this is the first time that you saved the project, the Save As dialog box appears. Navigate to a folder, type a file name, and click
Save
to save the configuration to a file.
Chapter
5
Using I/O Messaging
Chapter 5 provides information and examples that explain how to use a
ControlLogix, PLC-5, or SLC controller to send I/O Messaging to control, configure, and monitor a PowerFlex 7-Class drive.
Topic
Page
Topic Page
Example Ladder Logic Programs 5-8
!
ATTENTION:
Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.
About I/O Messaging
On DeviceNet, I/O Messaging is used to transfer the data which controls the PowerFlex drive and sets its Reference. I/O can also be used to transfer data to and from Datalinks in PowerFlex drives.
The DeviceNet adapter provides many options for configuring and using
I/O, including:
•
Configuring the size of I/O by enabling or disabling the Logic
Command/Reference and Datalinks.
•
Setting up Master-Slave hierarchy or Peer-to-Peer communications.
•
Using a Change of State, Cyclic or Polled data exchange method.
Chapter 3 , Configuring the Adapter and
Scanner discuss how to configure the adapter and scanner on the network
for these options. The
Glossary defines the different options. This
chapter discusses how to use I/O after you have configured the adapter and scanner.
5-2
Using I/O Messaging
Understanding the I/O Image
The DeviceNet specification requires that the terms
input
and
output
be defined from the scanner’s point of view. Therefore, Output I/O is data that is output from the scanner and consumed by the DeviceNet adapter.
Input I/O is status data that is produced by the adapter and consumed as input by the scanner. The I/O image table will vary based on the:
•
Size (either 16-bit or 32-bit) of the Reference/Feedback words and
Datalink words used by the drive.
•
Configuration of I/O (
Parameter 13 - [DPI I/O Config]
). If all I/O is not enabled, the image table is truncated. The image table always uses consecutive words starting at word 0.
illustrates an example of an I/O image with 16-bit words.
Figure 5.1 Example I/O Image with All I/O Enabled
Controller
DeviceNet
Scanner
Output
Image
(Write)
Adapter
Word and I/O
0 Logic Command
1 Reference
2 Datalink In A1
3 Datalink In A2
4 Datalink In B1
5 Datalink In B2
6 Datalink In C1
7 Datalink In C2
8 Datalink In D1
9 Datalink In D2
DPI
PowerFlex Drive
Logic Command
Reference
Data In A1
Data In A2
Data In B1
Data In B2
Data In C1
Data In C2
Data In D1
Data In D2
Input
Image
(Read)
0 Pad Word
(1)
1 Pad Word
(1)
2 Logic Status
3 Feedback
4 Datalink Out A1
5 Datalink Out A2
6 Datalink Out B1
7 Datalink Out B2
8 Datalink Out C1
9 Datalink Out C2
10 Datalink Out D1
11 Datalink Out D2
Logic Status
Feedback
Data Out A1
Data Out A2
Data Out B1
Data Out B2
Data Out C1
Data Out C2
Data Out D1
Data Out D2
Message
Handler
Message
Buffer
Message
Handler
1
Required by ControlLogix. May or may not be required by other controllers.
Using I/O Messaging
5-3
In
, the configuration is shown using 10 words of output and
12 words of input (the adapter adds two pad words at the beginning of the input). Depending on your application needs, this may vary. For example, an image that uses 32-bit words for Reference and four
Datalinks would change the I/O image in
Word
0
1
2 - 3
Output I/O
Logic Command/Status
Pad Word
Reference/Feedback
4 - 7
8 - 11
Datalink A1/A2
Datalink B1/B2
12 - 15 Datalink C1/C2
16 - 19 Datalink D1/D2
2
3
Word
0 - 1
Input I/O
Pad Word
Logic Command/Status
Pad Word
4 - 5
6 - 9
Reference/Feedback
Datalink A1/A2
11 - 13 Datalink B1/B2
14 - 17 Datalink C1/C2
18 - 21 Datalink D1/D2
An image that uses a 16-bit Reference and 32-bit Datalinks would change the I/O image in
1
2
Word
0
Output I/O
Logic Command/Status
Pad Word
Reference/Feedback
3
4 - 7
Pad Word
Datalink A1/A2
8 - 11 Datalink B1/B2
12 - 15 Datalink C1/C2
16 - 19 Datalink D1/D2
2
3
Word
0 - 1
Input I/O
Pad Word
Logic Command/Status
Pad Word
4
5
Reference/Feedback
Pad Word
6 - 9 Datalink A1/A2
11 - 13 Datalink B1/B2
14 - 17 Datalink C1/C2
18 - 21 Datalink D1/D2
illustrates an example of an I/O image that does not use all of
the I/O data. Only the Logic Command/Reference and Datalink B are enabled. In this example, the Reference is a 32-bit word, and Datalinks are 16-bit words.
5-4
Using I/O Messaging
Figure 5.2 Example I/O Image with Only Logic/Reference and Datalink B Enabled
Controller
DeviceNet
Scanner
Output
Image
(Write)
Adapter
Word and I/O
0 Logic Command
1 Pad Word
2 Reference (LSW)
(2)
3 Reference (MSW)
(2)
4 Datalink In B1
5 Datalink In B2
DPI
PowerFlex Drive
Logic Command
Reference
Data In A1
Data In A2
Data In B1
Data In B2
Data In C1
Data In C2
Data In D1
Data In D2
Input
Image
(Read)
0 Pad Word
(1)
1 Pad Word
(1)
2 Logic Status
3 Pad Word
4 Feedback (LSW)
5 Feedback (MSW)
6 Datalink Out B1
7 Datalink Out B2
Logic Status
Feedback
Data Out A1
Data Out A2
Data Out B1
Data Out B2
Data Out C1
Data Out C2
Data Out D1
Data Out D2
Message
Handler
Message
Buffer
Message
Handler
1
Required by ControlLogix. May or may not be required by other controllers.
2
LSW is Least Significant Word (Bits 15 - 0). MSW is Most Significant Word (Bits 31 - 16).
Using Logic Command/Status
When enabled, the Logic Command/Status word is always word 0 in the output image and word 2 in the input image. The
Logic Command
is a
16-bit word of control produced by the scanner and consumed by the adapter. The
Logic Status
is a 16-bit word of status produced by the adapter and consumed by the scanner.
This manual contains the bit definitions for compatible products
available at the time of publication in Appendix D
,
. For other products, refer to their documentation.
Using I/O Messaging
5-5
Using Reference/Feedback
When enabled, Reference/Feedback begins at word 1 (16-bit) or word 2
(32-bit) in the I/O image. The
Reference
(16 bits or 32 bits) is produced by the controller and consumed by the adapter. The
Feedback
(16 bits or
32 bits) is produced by the adapter and consumed by the controller. The size of the Reference/Feedback is determined by the drive and displayed in
Parameter 07 - [Ref/Fdbk Size]
in the adapter.
Size Valid Values In I/O Image Example
16-bit -32768 to 32767 Word 1
32-bit -2147483648 to 2147483647 Word 2 and Word 3
The Reference value is a scaled value; it is not an engineering value. For example, in PowerFlex 70/700 drives, the Reference is scaled based on the value of
Parameter 55 - [Maximum Freq]
, where “32,676” equals the
Parameter 55 frequency value, and “0” equals 0 Hz. Note that the commanded maximum speed can never exceed the value of
Parameter 82
- [Maximum Speed]
.
shows example References and their results on a PowerFlex 70/700 drive that has its
Parameters 55 -
[Maximum Freq]
set to 130 Hz and
82 - [Maximum Speed]
set to 60 Hz.
Table 5.A Example Speed Reference and Feedback for a PowerFlex 70/700
Reference
Value
32767
16384
8192
0
(1)
Scale
Percent
100%
50%
25%
0%
Value
130 Hz
65 Hz
32.5 Hz
0 Hz
Output Speed
60 Hz
(2)
60 Hz
32.5 Hz
0 Hz
Feedback
Value
15123
8192
0
(3)
(1)
A value of 32767 is equivalent to the Parameter 55 frequency value. The effects of values greater than 32767 depend on whether the DPI product uses a bipolar or unipolar direction mode. Refer to the documentation for your DPI product.
(2)
The drive runs at 60 Hz instead of 130 Hz or 65 Hz because Parameter 82 - [Maximum
Speed] sets 60 Hz as the maximum speed.
(3)
The Feedback value is also scaled based on the value of Parameter 55 - [Maximum
Freq], For example, 60/130 = 0.46 so 32767 x 0.46 = 15123.
For Reference/Feedback details about other DPI Hosts, refer to their respective User Manuals.
5-6
Using I/O Messaging
Using Datalinks
A Datalink is a mechanism used by PowerFlex drives to transfer data to and from the controller. Datalinks allow a parameter value to be changed without using an Explicit Message. When enabled, each Datalink occupies two 16-bit or 32-bit words in both the input and output image.
Parameter 08 - [Datalink Size]
will indicate whether the drive uses
16-bit or 32-bit words for Datalinks.
Rules for Using Datalinks
•
Each set of Datalink parameters in a PowerFlex drive can be used by only one adapter. If more than one adapter is connected to a single drive, multiple adapters must not try to use the same Datalink.
•
Parameter settings in the drive determine the data passed through the
Datalink mechanism. Refer to the documentation for your drive.
•
When you use a Datalink to change a value, the value is not written to the Non-Volatile Storage (NVS). The value is stored in volatile memory and lost when the drive loses power. Thus, use Datalinks when you need to change a value of a parameter frequently.
32-Bit Parameters using 16-Bit Datalinks
To read (and/or write) a 32-bit parameter using 16-bit Datalinks, typically both Datalinks of a pair (A, B, C, D) are set to the same 32-bit parameter. For example, to read
Parameter 09 - [Elapsed MWh]
in a
PowerFlex 70, both Datalink A1 and A2 are set to “9.” Datalink A1 will contain the least significant word (LSW) and Datalink A2 will contain the most significant word (MSW). In this example, the Parameter 9 value of 5.8 MWh is read as a “58” in Datalink A1.
Datalink Most/Least Significant Word
A1 LSW
A2 MSW
Parameter Data (decimal)
9 58
9 0
Regardless of the Datalink combination, x1 will always contain the LSW and x2 will always contain the MSW. In the following examples
Parameter 242 - [Power Up Marker]
in a PowerFlex 70 contains a value of 88.4541 hours.
Datalink Most/Least Significant Word
A1 LSW
A2 - Not Used -
Parameter Data (decimal)
242 32573
0 0
Using I/O Messaging
Datalink Most/Least Significant Word
A1 - Not Used -
A2 MSW
Parameter Data (decimal)
0 0
242 13
Datalink Most/Least Significant Word
A2 MSW
B1 LSW
32-bit data is stored in binary as follows:
MSW
LSW
2
31
through 2
16
2
15
through 2
0
Parameter Data (decimal)
242 13
242 32573
Example:
Parameter 242 - [Power Up Marker]
= 88.4541 hours
MSW = 13 decimal
= 1101 binary
= 2
16
+ 2
18
+ 2
19
= 851968
LSW = 32573
851968 + 32573 = 884541
5-7
5-8
Using I/O Messaging
Example Ladder Logic Programs
These example ladder logic programs ( Figure 5.4
with PowerFlex 70 or PowerFlex 700 drives.
Functions of the Example Programs
The example programs use an operator station wired to an I/O module in
Slot 0, Module Group 0, Rack 0. These example programs enable you to:
•
Obtain Logic Status information from the drive.
•
Use the Logic Command to control the drive (for example, start, stop).
•
Send a Reference to the drive and receive Feedback from the drive.
Adapter Settings for the Example Programs
•
Node address 1 is set using the switches.
•
Logic Command/Reference and Datalink A are enabled in
Parameter 13 - [DN I/O Config]
.
•
Master-Slave Hierarchy is set using
Parameters 25 - [M-S Input]
and
26 - [M-S Output]
.
•
Polled I/O was enabled during the scanner configuration.
Scanner Settings for the Example Programs
•
The scanner is node 0 on the DeviceNet network.
•
The scanner is in slot 1.
•
The adapter I/O is mapped in word 0 and word 1.
•
Data files, when used, are pointed out in the examples.
Logic Command/Status Words
These examples use the Logic Command word and Logic Status word
for PowerFlex 70 and PowerFlex 700 drives. Refer to Appendix D
,
Logic Command/Status Words , to view these. The definition of the bits
in these words may vary if you are using a different DPI product. Refer to the documentation for your drive.
Using I/O Messaging
5-9
ControlLogix Example
For this example program, the following controller tags are used.
Figure 5.3 Controller Tags for Example ControlLogix Ladder Logic Program
Tag Name
Local:1:I
Local:1:O
DriveCommandClearFault
DriveCommandJog
DriveCommandStart
DriveCommandStop
Type
DINT[]
DINT[]
BOOL
BOOL
BOOL
BOOL
Tag Name
DriveFeedback
DriveInputImage
DriveOutputImage
DriveReference
DriveStatusFaulted
DriveStatusRunning
Type
INT
INT[2]
INT[2]
INT
BOOL
BOOL
Figure 5.4 Example ControlLogix Ladder Logic Program
This rung enables the DeviceNet scanner.
Local:1:O.CommandRegister.Run
0
1
This rung copies the 32-bit DeviceNet scanner input image into an array of two 16-bit words. The length in this instruction is two because two 16-bit array elements of the destination are used.
COP
Copy File
Source Local:1:I.Data[0]
Dest DriveInputImage[0]
Length 2
These rungs read the Running and Faulted status bits from the input image of the drive and place the data in respective tags.
2
DriveInputImage[0].1
DriveStatusRunning
3
DriveInputImage[0].7
This rung reads the drive’s Feedback word and places it in the Feedback tag.
4
DriveStatusFaulted
COP
Copy File
Source DriveInputImage[1]
Dest DriveFeedback
Length 1
5
These rungs move the inputs of the operator from the operator station to the drive’s output image.
DriveCommandStart
DriveCommandStop
6
DriveCommandJog
7
DriveOutputImage[0].1
DriveOutputImage[0].0
DriveOutputImage[0].2
5-10
Using I/O Messaging
Figure 5.4 Example ControlLogix Ladder Logic Program (Continued)
8
9
10
DriveCommandClearFault
This rung transfers the reference tag to the drive’s output image.
DriveOutputImage[0].3
COP
Copy File
Source DriveReference
Dest DriveOutputImage[1]
Length 1
This rung copies the output image into the 32-bit
DeviceNet scanner output structure. The length in this instruction is one because only one 32-bit array element of the destination is used.
COP
Copy File
Source DriveOutputImage[0]
Dest Local:1:O.Data[0]
Length 1
(End)
Using I/O Messaging
5-11
PLC-5 Example
Figure 5.5 Control File for Block Transfers
EN ST DN ER CO EW NR TO RW RLEN DLEN FILE ELEM R G S
BT20:0 0 0 0 0 0 0 0 0 0 62 0 9 0 00 0 0
BT20:1 0 0 0 0 0 0 0 0 0 62 0 10 0 00 0 0
0000
Figure 5.6 Example PLC-5 Ladder Logic Program
The scanner gathers drive status data via the DeviceNet network. The Block Transfer Read in this rung then moves the drive status data from the scanner to the N9 data file in the PLC.
BT20:0
EN
BTR
Block Transfer Read
Module Type Generic Block Transfer
Rack 000
Group
Module
Control Block
Data File
Length
Continuous
0
0
BT20:0
N9:0
62
No
EN
DN
ER
0001
0002
0003
0004
0005
PowerFlex 70
RUNNING
Status Bit
N9:1
1
PowerFlex 70
FAULTED
Status Bit
N9:1
7
These rungs move the drive status from the Block
Transfer Read data file to an operator display.
Operator Display
Drive Running
Status Bit
O:000
10
Operator Display
Drive Faulted
Status Bit
O:000
11
Operator Display
Drive Feedback
Status Word
MOV
Move
Source
Dest
N9:2
0<
N21:1
0<
This rung enables the scanner.
Operator Input
Drive Start
Command Bit
I:000
10
These rungs move the inputs of the operator from the operator station to the Block Transfer Write data file. They will then be sent to the scanner and out to the drive via the DeviceNet network.
1771-SDN Scanner
Port A Enable
N10:0
0
PowerFlex 70
START
Command Bit
N10:1
1
5-12
Using I/O Messaging
Figure 5.6 Example PLC-5 Ladder Logic Program (Continued)
0006
Operator Input
Drive Stop
Command Bit
I:000
11
Operator Input
Drive Jog
Command Bit
I:000
0007
0008
12
Operator Input
Drive Clear Faults
Command Bit
I:000
13
0009
0010
3
PowerFlex 70
REFERENCE
Command Word
MOV
Move
Source
Dest
N21:0
0<
N10:2
0<
The Block Transfer Write in this rung sends the drive command data to the scanner and out to the drive via the DeviceNet network.
BT20:1
EN
BTW
Block Transfer Write
Module Type Generic Block Transfer
Rack
Group
Module
000
0
0
Control Block
Data File
Length
Continuous
BT20:1
N10:0
62
No
EN
DN
ER
PowerFlex 70
STOP
Command Bit
N10:1
0
PowerFlex 70
JOG
Command Bit
N10:1
2
PowerFlex 70
CLEAR FAULT
Command Bit
N10:1
0011 END
Using I/O Messaging
5-13
SLC Example
Figure 5.7 Example SLC Ladder Logic Program
0000
The scanner gathers drive status data via the DeviceNet network. The M-File is copied into the N9 data file in the SLC to move the drive status information to a convenient location.
CO P
Copy File
Source
Dest
Length
#M1:1:0
#N9:0
128
0001
0002
0003
0004
0005
0006
0
1746-I*16
Operator Input
Drive Stop
Command Bit
I:2.0
1
1746-I*16
Operator Input
Drive Jog
Command Bit
I:2.0
2
1746-I*16
PowerFlex 70
RUNNING
Status Bit
N9:0
These rungs move the drive status from the N9 data file to an operator display.
Operator Display
Drive Running
Status Bit
O:3.0
1
PowerFlex 70
FAULTED
Status Bit
N9:0
7
Operator Input
Drive Start
Command Bit
I:2.0
These rungs move the inputs of the operator from the operator station to the
N9 data file. They will then be sent to the scanner and out to the drive via the
DeviceNet network.
Operator Display
Drive Feedback
Status Word
Move
MOV
Source
0
1746-O*8
Operator Display
Drive Faulted
Status Bit
O:3.0
1
1746-O*8
Dest
N9:1
0<
N21:1
0<
PowerFlex 70
START
Command Bit
N10:0
1
PowerFlex 70
STOP
Command Bit
N10:0
0
PowerFlex 70
JOG
Command Bit
N10:0
2
5-14
Using I/O Messaging
Figure 5.7 Example SLC Ladder Logic Program (Continued)
0007
0008
Operator Input
Drive Clear Faults
Command Bit
I:2.0
3
1746-I*16
PowerFlex 70
REFERENCE
Command Word
Move
Source
MOV
Dest
PowerFlex 70
CLEAR FAULTS
Command Bit
N10:0
3
N21:0
0<
N10:1
0<
0009
0010
This rung enables the scanner. It changes the scanner to RUN mode.
This rung copies the drive command data to the scanner and out to the drive via the DeviceNet network.
1747-SDN
Scanner
Enable
Bit
O:1.0
0
1747-SDN
COP
Copy File
Source
Dest
Length
#N10:0
#M0:1.0
128
0011 END
Chapter
6
Using Explicit Messaging
Chapter 6 provides information and examples that explain how to use
Explicit Messaging to configure and monitor the DeviceNet adapter installed and connected to the PowerFlex 7-Class drive.
Topic
Page
!
!
ATTENTION:
Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.
ATTENTION:
Risk of equipment damage exists. If Explicit Messages are programmed to write parameter data to Non-Volatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses
Explicit Messages to write parameter data to NVS. Datalinks do not write to NVS and should be used for frequently changed parameters.
Refer to Chapter 5 for information about the I/O image using Logic
Command/Status and Reference/Feedback.
About Explicit Messaging
Explicit Messaging is used to transfer data that does not require continuous updates. With Explicit Messaging, you can configure and monitor a slave device’s parameters on the DeviceNet network.
6-2
Using Explicit Messaging
Formatting Explicit Messages
Explicit Messages for a ControlLogix Controller
ControlLogix scanners accommodate both downloading Explicit
Message Requests and uploading Explicit Message Responses. The scanner module can accommodate one request or response for each transaction block. Each transaction block must be formatted as shown in
Figure 6.1 ControlLogix Message Format in RSLogix 5000
➊
➋
➌
➍
➎
➏
➐
➑
➒
Refer to Page 6-3 for a description of the data that is required in each
box (1 – 9).
TIP:
To display the Message Configuration dialog box in RSLogix
5000, add a message instruction (MSG), create a new tag for the message (properties: Base tag type, MESSAGE data type, controller scope), and click the
Configure
button.
Using Explicit Messaging
6-3
The following table identifies the number of Explicit Messages that can be executed at a time.
Scanner
1756-DNB 5
Messages at
One Time Refer to…
ControlLogix Message Requests and Responses
Box Description
➊
Message Type
The message type must be CIP Generic.
➋
Service Code
The service code is the requested DeviceNet service. Available services depend on the class and instance that you are using. Refer to
➌
Object Type
The object type is a DeviceNet class. Refer to Appendix C
,
, for available classes.
➍
Object ID
The object ID is an instance of a DeviceNet class. Refer to Appendix C
,
Objects , for available instances.
➎
Object Attribute
The object attribute is a class or instance attribute. Refer to
Objects , for available classes.
➏
Source
This box contains the name of the tag for any service data to be sent from the scanner to the adapter and drive. A tag must be specified even if it is not used.
➐
Num. of Elements
This box contains the number of bytes of service data to be sent or received in the message.
➑
Destination
This box contains the name of the tag that will receive service response data from the adapter and drive. A tag must be specified even if it is not used.
➒
Path
The path includes the following:
•
Name of the DeviceNet scanner.
•
Communication port on the front of the 1756-DNB scanner. Always 2.
•
Node address of the DeviceNet adapter. This is set with switches or parameters in the DeviceNet adapter.
Tip:
Click
Browse
to find the path or type in the name of a module that you previously mapped.
6-4
Using Explicit Messaging
Explicit Messages for a PLC or SLC Controller
Transaction blocks in PLC and SLC scanners accommodate both downloading Explicit Message Requests and uploading Explicit
Message Responses. The scanner module can accommodate one request or response for each transaction block. Each transaction block must be formatted as shown in
Figure 6.2 PLC Explicit Message Format
Request
Word 0
Bit 15
TXID
Port
Service
Class
Instance
Attribute
Word 6 - 31 Service Data
Word 32 TXID
Port
Service
Class
Instance
Attribute
Word 38 - 63 Service Data
Command
Size
Address
Command
Size
Address
Figure 6.3 SLC Explicit Message Format
0
Request
Word 0
Bit 15
TXID
Port
Service
Class
Instance
Attribute
Word 6 - 31 Service Data
Command
Size
Address
0
Response
15
TXID
Port
Service
Status
Size
Address
Service Response Data
TXID
Port
Status
Size
Service Address
Service Response Data
Response
15
TXID
Port
Service
Status
Size
Address
Service Response Data
for a description of the data that is required in each word.
0
0
Using Explicit Messaging
6-5
The following table identifies the number of transaction blocks within a scanner that are reserved for Explicit Messaging.
Scanner
Number of
Transaction Blocks
1747-SDN 10
1771-SDN 10
Words in Each
Transaction Block Refer to…
32
32 (two blocks can be moved at once)
PLC/SLC Explicit Message Requests
Word Description
0
Command
(Least Significant Byte)
The Command is a code that instructs the scanner how to administer the request during each download.
00 = Ignore transaction block (empty)
01 = Execute this transaction block
02 = Get status of transaction TXID
03 = Reset all client/server transactions
1
04 = Delete this transaction block (available only for SLC)
05 – 255 = Reserved
TXID
(Most Significant Byte)
The Transaction ID is a 1-byte integer between 1 and 255. It is assigned in the ladder logic program when the processor creates and downloads a request to the scanner. The scanner uses it to track the transaction to completion. It returns this value with the response that matches the request downloaded by the processor.
Size
(Least Significant Byte)
The size of the service data is in bytes. Service data includes the words for the class, instance, attribute, and any data. The maximum size is 58 bytes (29 words).
Port
(Most Significant Byte)
The port that is used by the message is always zero (Channel A) on an SLC scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.
2
3
Address
(Least Significant Byte)
The node address of the slave device to which the transaction is sent. For the
Explicit Message to be successful, the slave device must be in the scanlist of the scanner, and it must be online.
Service
(Most Significant Byte)
Available services depend on the class and instance that you are using.
Refer to
Appendix C , DeviceNet Objects .
Class
Refer to
Appendix C , DeviceNet Objects , for available classes.
Instance
4
5
Refer to
Appendix C , DeviceNet Objects , for available instances.
Attribute
Refer to
Appendix C , DeviceNet Objects , for available attributes.
6 – 31
Request Data
This is data used for the message. For example, it may be the value written to a parameter.
6-6
Using Explicit Messaging
PLC/SLC Explicit Message Responses
Word Description
0
Status
(Least Significant Byte)
One of the following status codes is provided during each upload:
00 = Ignore transaction block (empty)
01 = Transaction completed successfully
02 = Transaction in progress (not ready)
03 = Slave not in scan list
04 = Slave offline
05 = DeviceNet port disabled or offline
06 = Transaction TXID unknown
08 = Invalid command code
09 = Scanner out of buffers
10 = Other client/server transaction in progress
11 = Could not connect to slave device
12 = Response data too large for block
1
2
13 = Invalid port
14 = Invalid size specified
15 = Connection busy
16 – 255 = Reserved
TXID
(Most Significant Byte)
The transaction ID is a 1-byte integer in word 31 with a range of 1 to 255. It is assigned in the ladder logic program when the processor creates and downloads a request to the scanner. The scanner uses it to track the transaction to completion. It returns this value with the response that matches the request downloaded by the processor.
Size
(Least Significant Byte)
The size of the service data is in bytes. The service data includes words used for the response data. The maximum size is 58 bytes (29 words).
Port
(Most Significant Byte)
The port that is used by the message is always zero (Channel A) on an SLC scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.
Address
(Least Significant Byte)
The node address of the slave device to which the transaction is sent. For the
Explicit Message to be successful, the slave device must be in the scanlist of the scanner, and it must be online.
Service
(Most Significant Byte)
If the message was successful, 0x80 is added to the service. If it is unsuccessful,
0x94 is returned.
3 – 31
Response Data
This is data used for the message. For example, it may be the value read from a parameter.
Refer to Page 6-5 for a description of the words in a PLC/SLC Explicit
Message request.
Using Explicit Messaging
6-7
Performing Explicit Messages
There are five basic events in the Explicit Messaging process defined below. The details of each step will vary depending on the controller
(ControlLogix, PLC, or SLC). Refer to the documentation for your controller.
Important:
There must be a request message and a response message for all Explicit Messages, whether you are reading or writing data.
Figure 6.4 Explicit Message Process
➊ Set up and send
Explicit Message Request
PWR
STS
➎
Complete Explicit
Message
➍ Retreive Explicit
Message Response
➋
➌
PORT
MOD
NET A
NET B
Event
1.
You format the required data and set up the ladder logic program to send an Explicit Message request to the scanner module (download).
2.
The scanner module transmits the Explicit Message Request to the slave device over the DeviceNet network.
3.
The slave device transmits the Explicit Message Response back to the scanner. The data is stored in the scanner buffer.
4.
The controller retrieves the Explicit Message Response from the scanner’s buffer (upload).
5.
The Explicit Message is complete. If you are using a PLC or SLC, delete the transaction ID so that it can be reused.
Note:
The scanner module may be integrated with the controller (for example, ControlLogix).
6-8
Using Explicit Messaging
ControlLogix Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to
Formatting Explicit Messages in this chapter for a description of
the content in each box.
Configuration
Service Code
Object Type
Object ID
Object Attribute
Example Value Description
e (Hex.) f (Hex.)
101 (Dec.)
1 (Hex.)
Code for Get_Attribute_Single
Parameter Object
Parameter Address
Parameter Value
Refer to…
—
Using Explicit Messaging
6-9
0
1
Configuration
Service Code
Object Type
Object ID
Object Attribute
Example Value Description
10 (Hex.) f (Hex.)
101 (Dec.)
1 (Hex.)
Code for Set_Attribute_Single
Parameter Object
Parameter Address
Parameter Value
Refer to…
—
Figure 6.5 Tags for the Example Explicit Messaging Program
Tag Names for Read Message
StartParameterRead
Type
BOOL
ParameterReadDestination INT
ParameterReadMessage MESSAGE
ParameterReadSource INT
Tag Names for Write Messages
StartParameterWrite
Type
BOOL
ParameterWriteDestination INT
ParameterWriteMessage MESSAGE
ParameterWriteSource INT
Figure 6.6 Example ControlLogix Ladder Logic Program
This rung reads the value of parameter 101. The value is in the ReadDestination tag.
StartParameterRead
Type - CIP Generic
Message Control
MSG
ParameterReadMessage ...
EN
DN
ER
This rung writes the value of parameter 101. The value is taken from the WriteSource tag.
StartParameterWrite
MSG
Type - CIP Generic
Message Control ParameterWriteMessage
...
EN
DN
ER
(End)
6-10
Using Explicit Messaging
PLC-5 Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to
Formatting Explicit Messages in this chapter for a description of
the content of the data file.
Request Data for Read of Drive Parameter 101
Address Value (Hex.) Description
N30:0 0101
N30:1 0006
N30:2 0E01
TXID = 01, Command = 01 (execute)
Port = 00, Size = 06 bytes
Service = 0E (Get_Attribute_Single)
Address = 01 (Node Address)
N30:3 000F
N30:4 0065
N30:5 0001
Class = 0F (Parameter Object)
Instance = Parameter 101 (65 hex)
Attribute = 01 (Parameter Value)
Refer to…
—
Response Data for Read of Drive Parameter 101
Address Value (Hex.) Description
N30:70 0101
N30:71 0002
N30:72 8E01
TXID = 01, Status = 01 (successful)
Port = 00, Size = 02 bytes
N30:73 03E8
Refer to…
Service = 8E (successful), Address = 01 (Node
Address)
Response Data = 1000 (3E8 hex) = 10.00 seconds —
Request Data for Write to Drive Parameter 101
Address Value (Hex.) Description
N30:0 0101
N30:1 0008
N30:2 1001
TXID = 01, Command = 01 (execute)
Port = 00, Size = 08 bytes
Service = 10 (Set_Attribute_Single)
Address = 01 (Node Address)
N30:3 000F
N30:4 0065
N30:5 0001
N30:6 07D0
Class = 0F (Parameter Object)
Instance = Parameter 101 (65 hex)
Attribute = 01 (Parameter Value)
Data = 2000 (7D0 hex) = 20.00 seconds
Response Data for Write to Drive Parameter 101
Address Value (Hex.) Description
N30:70 0101
N30:71 0000
N30:72 9001
TXID = 01, Status = 01 (successful transaction)
Port = 00, Size = 00 bytes
Service = 90 (successful)
Address = 01 (Node Address)
Refer to…
—
—
Refer to…
Using Explicit Messaging
Ladder Logic Program
Figure 6.7 Example PLC-5 Ladder Logic Program
6-11
0000
When I:000/17 is set to true, a one-time Block Transfer Write sends data to the scanner. The Move instruction then initializes the first word of the data file that is used by the Block Transfer Read instruction in the next rung.
I:000
17
B3:0
ONS
0
BTW
Block Transfer Write
Module Type 1771-SDN DeviceNet Scanner Module
Rack 000
Group
Module
Control Block
0
0
BT20:2
Data File
Length
Continuous
N30:0
64
No
EN
DN
ER
When BT20:2.DN is true, the Block Transfer Write is complete.
The compare instruction compares the first word of data sent from the scanner to the first word of data you send to the scanner. When the messaging function is complete, the two words are equal. If the Block Transfer Read is not enabled, this instruction enables it when BT20:2.DN and the compare are true.
The Block Transfer Read reads 64 words of data.
MOV
Move
Source
Dest
0
0<
N30:70
257<
0001
BT20:2
DN
CMP
Comparison
Expression N30:70 <> N30:0
BT20:3
EN
BTR
Block Transfer Read
Module Type 1771-SDN DeviceNet Scanner Module
Rack
Group
000
0
Module
0
Control Block
BT20:3
Data File
N30:70
Length
Continuous
64
No
EN
DN
ER
0002 END
6-12
Using Explicit Messaging
SLC Example
Data Format for a Read and Write Parameter
The data in this example is for a PowerFlex drive at node address 1.
Refer to
Formatting Explicit Messages in this chapter for a description of
the content of the data file.
Request Data for Read of Drive Parameter 101
Address Value (Hex.) Description
N20:10 0101 TXID = 01, Command = 01 (execute)
N20:11 0006
N20:12 0E01
Port = 00, Size = 06 bytes
Service = 0E (Get_Attribute_Single)
N20:13 000F
N20:14 0065
N20:15 0001
Address = 01 (Node Address)
Class = 0F (Parameter Object)
Instance = Parameter 101 (65 hex)
Attribute = 01 (Parameter Value)
—
Refer to…
Response Data for Read of Drive Parameter 101
Address Value (Hex.) Description
N20:50 0101 TXID = 01, Status = 01 (successful)
N20:51 0002
N20:52 8E01
N20:53 03E8
Port = 00, Size = 02 bytes
Service = 8E (successful)
Address = 01 (Node Address)
Refer to…
Response Data = 1000 (3E8 hex) = 10.00 seconds —
Request Data for Write to Drive Parameter 101
Address Value (Hex.) Description
N20:10 0101 TXID = 01, Command = 01 (execute)
N20:11 0008
N20:12 1001
Port = 00, Size = 08 bytes
Service = 10 (Set_Attribute_Single)
N20:13 000F
N20:14 0065
N20:15 0001
N20:16 07D0
Address = 01 (Node Address)
Class = 0F (Parameter Object)
Instance = Parameter 101 (65 hex)
Attribute = 01 (Parameter Value)
Data = 2000 (7D0 hex) = 20.00 seconds
Response Data for Write to Drive Parameter 101
Address Value (Hex.) Description
N20:50 0101
N20:51 0000
N20:52 9001
TXID = 01, Status = 01 (successful transaction)
Port = 00, Size = 00 bytes
Service = 90 (successful)
Address = 01 (Node Address)
—
—
Refer to…
Refer to…
Using Explicit Messaging
6-13
Program
Important:
To originate a scanner transaction, use a copy operation to
M0:[slot number]:224. Then, use a copy operation to read
M1:1.224 for the result. If more than one message is enabled, use the TXID to determine which message you are reading.
Figure 6.8 Example SLC Ladder Logic Program
0000
Initiate
Explicit
Message
B3:0
When B3:0/0 is set to true, this rung will copy the 32 words of Explicit Message from the buffer at N20:10 to M0-File Explicit
Message buffer. The scanner will send the message out over DeviceNet.
0
When I:1.0/15 is set to true and the Explicit
Message Response has been received in the
M1-File, this rung performs the following:
- Copies the response message into N10:50.
- Copies a command of four (4) into the
M1-File.The four (4) commands the 1747-SDN scanner to discard the response data so that the buffer can be used for the next message response.
Explicit
Message
COP
Copy File
Source
Dest
Length
#N20:10
#M0:1:224
32
Initiate
Explicit
Message
B3 :0
U
0
0001
Explicit
Message
Response
Available
I:1.0
15
1747-SDN
Explicit
Message
Response
Dest
COP
Copy File
Source
Length
#M1:1:224
#N20:50
32
0002
Equal
EQU
Source A
Source B
N20:10
257 <
N20:50
257 <
Explicit
Message
MVM
Mask Move
Source
Mask
Dest
N20:0
4<
00FFh
255 <
M0:1.224
?<
END
6-14
Notes:
Using Explicit Messaging
Chapter
7
Troubleshooting
Chapter 7 provides information for diagnosing and troubleshooting potential problems with the adapter.
Topic Page
Understanding the Status Indicators 7-1
Topic Page
Viewing Adapter Diagnostic Items 7-5
Viewing and Clearing Events 7-6
Understanding the Status Indicators
The DeviceNet adapter has three status indicators. They can be viewed on the adapter or through the drive cover. See
Figure 7.1 Status Indicators
(location on drive may vary)
➊
➋
➌
PWR
STS
PORT
MOD
NET A
NET B
➊
➋
➌
➍
Item Status Indicator Description
➊
PORT DPI Connection Status
➋
MOD
➌
NET A
➍
NET B
Adapter Status
DeviceNet Status
Not Used for DeviceNet
Page
—
7-2
Troubleshooting
PORT Status Indicator
Status
Off
Flashing
Red
Solid
Red
Cause
The adapter is not powered or is not connected properly to the drive.
The adapter is not receiving a ping message from the drive.
The drive has refused an
I/O connection from the adapter.
Another DPI peripheral is using the same DPI port as the adapter.
Corrective Action
•
Securely connect the adapter to the drive using the Internal Interface (ribbon) cable.
•
Apply power to the drive.
•
Verify that cables are securely connected.
•
Cycle power to the drive.
Important:
Cycle power to the drive after making any of the following corrections.
•
Verify that all DPI cables are securely connected and not damaged. Replace cables if necessary.
•
Verify that the DPI Host supports Datalinks.
•
Configure the adapter to use a Datalink that is not already being used by another peripheral.
Orange The adapter is connected to a product that does not support
Allen-Bradley DPI communications.
Flashing
Green
The adapter is establishing an
I/O connection to the drive.
Solid
Green
The adapter is properly connected and is communicating with the drive.
Connect the adapter to a product that supports Allen-Bradley DPI communications
(for example, PowerFlex drives).
No action required. Normal behavior if no DPI
I/O is enabled.
No action required.
Troubleshooting
7-3
MOD Status Indicator
Status Cause
Off
Corrective Action
The adapter is not powered.
•
Securely connect the adapter to the drive using the Internal Interface (ribbon) cable.
Flashing
Red
The adapter has failed the firmware test.
The adapter is being flash upgraded.
The node address switch setting is invalid.
•
Apply power to the drive.
•
Clear faults in the adapter.
•
Cycle power to the drive.
•
If cycling power does not correct the problem, the parameter settings may have been corrupted. Reset defaults and reconfigure the adapter.
•
If resetting defaults does not correct the problem, flash the adapter with the latest firmware release.
Solid
Red
Flashing
Green
The adapter has failed the hardware test.
The adapter is operational, but is not transferring I/O data.
•
Verify that node address switch setting is between 0 and 63.
•
Cycle power to the drive.
•
Replace the adapter.
•
Place the scanner in RUN mode.
•
Program the controller to recognize and transmit I/O to the adapter.
Solid
Green
The adapter is operational and transferring I/O data.
•
Configure the adapter for the program in the controller.
•
Normal behavior if no DPI I/O is enabled.
No action required.
7-4
Troubleshooting
NET A Status Indicator
Status Cause
Off The adapter and/or network is not powered, or the adapter is not connected properly to the network.
Solid
Red
Flashing
Red
Flashing
Red/
Green
Flashing
Green
Solid
Green
The adapter failed duplicated node detection test or bus off.
A DeviceNet I/O connection has timed out.
The adapter has received an Identify Comm Fault request.
The adapter is properly connected but is not communicating with any devices on the network.
The adapter is properly connected and communicating on the network.
Corrective Actions
•
Securely connect the adapter to the drive using the Internal Interface (ribbon) cable and to the network using a DeviceNet cable.
•
Correctly connect the DeviceNet cable to the
DeviceNet plug.
•
Apply power to the drive and network.
•
Configure the adapter to use a unique node address on the DeviceNet network.
•
Configure the adapter to use the correct network data rate.
•
Ensure network has correct media installed.
•
Place the scanner in RUN mode, or apply power to the peer device that will send I/O.
•
Check the amount of traffic on the network.
•
Wait for the faulted node recovery to complete.
•
Place the controller in RUN mode, or apply power to the peer device that will send I/O.
•
Program a controller or peer device to recognize and transmit I/O or make a messaging connection to the adapter.
•
Configure the adapter for the program in the controller or the I/O from the peer device.
No action required.
Troubleshooting
7-5
Viewing Adapter Diagnostic Items
The following adapter diagnostic items can be viewed using
DriveExplorer (version 2.01 or higher) software, DriveExecutive (version
1.01 or higher) software, or an LCD PowerFlex HIM (Diagnostics/
Device Items). These diagnostic items can help you or Rockwell
Automation personnel troubleshoot communications problems.
No. Name
1 Common Logic
2
Cmd
Prod Logic Cmd
Description
Current value of the common Logic Command being transmitted to the drive by this adapter.
Current value of the product-specific Logic Command being transmitted to the drive by this adapter.
3 Reference
4 Common Logic Sts Current value of the common Logic Status being received from the drive by this adapter.
5 Prod Logic Sts Current value of the product-specific Logic Status being received from the drive by this adapter.
6 Feedback
Current value of the product-specific Reference being transmitted to the drive by this adapter.
7
8
9
Datalink A1 In
Datalink A2 In
Datalink B1 In
10 Datalink B2 In
Current value of the product-specific Feedback being received from the drive by this adapter.
Current value of respective Datalink In being transmitted to the drive by this adapter. (If not using a Datalink, this parameter should have a value of zero.)
11 Datalink C1 In
12 Datalink C2 In
13 Datalink D1 In
14 Datalink D2 In
15 Datalink A1 Out
16 Datalink A2 Out
17 Datalink B1 Out
18 Datalink B2 Out
19 Datalink C1 Out
20 Datalink C2 Out
21 Datalink D1 Out
22 Datalink D2 Out
23 Field Flash Cnt
24 DPI Rx Errors
25 DPI Tx Errors
26 DN Rx Errors
27 DN Tx Errors
28 DN Image Size
29 Data Rate SW
Current value of respective Datalink Out being received from the drive by this adapter. (If the drive indicates a 16-bit datalink size, the value appears in the least significant 16 bits of this diagnostic item, and the most significant 16 bits are zero.)
Number of times the firmware in the adapter has been flash updated.
Current value of the DPI Receive error counter.
Current value of the DPI Transmit error counter.
Number of receive errors reported by the DeviceNet hardware.
Number of transmit errors reported by the DeviceNet hardware.
Size of I/O image on DeviceNet network.
Current value of data rate switch.
30 Node Address SW Current value of node address switches.
31 OPT Status Operating status of optional I/O board (in External Comms Kit).
For bit status indications, see
32 OPT RX Errors Number of optional I/O board receive errors.
33 OPT FW Version Firmware version of optional I/O board (in External Comms Kit).
7-6
Troubleshooting
Viewing and Clearing Events
The adapter maintains an event queue that reports the history of its actions. You can view the event queue using an LCD PowerFlex HIM,
DriveExplorer (2.01 or higher) software, or DriveExecutive (1.01 or higher) software.
To view and clear events
Step
Viewing Events
1.
Access parameters in the adapter.
Refer to Using the PowerFlex HIM
in
.
Keys
2.
Press the Up Arrow or Down Arrow to scroll to
Diagnostics
.
3.
Press Enter to display the
Diagnostics menu in the adapter.
OR
4.
Repeat steps 2 and 3 to enter the
Events
option and then
View Event
Queue
option.
5.
Press the Up Arrow or Down Arrow to scroll through the events. The most recent event is Event 1.
OR
Clearing Events
1.
Access parameters in the adapter.
Refer to Using the PowerFlex HIM
in
.
2.
Press the Up Arrow or Down Arrow to scroll to
Diagnostics
.
3.
Press Enter to display the
Diagnostics menu in the adapter.
4.
Repeat steps 2 and 3 to enter the
Events
option and then the
Clear
Event
option or
Clr Event Queue
option.
A message will pop up to confirm that you want to clear the message or queue.
5.
Press Enter to clear all events out of the event queue. All event queue entries will then display “No Event.”
OR
Example Screen
Main Menu:
Diagnostics
Parameter
Device Select
Event Q: 1
Ping Time Flt
Dgn: Events
View Event Queue
Clear Event
Clr Event Queue
E3
Troubleshooting
7-7
Events
Many events in the Event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Allen-Bradley personnel troubleshoot the problem. The following events may appear in the event queue:
10
11
12
13
4
5
Code Event Description
1 No Event Empty event queue entry.
2
3
DPI Bus Off Flt A bus-off condition was detected on DPI. This event may be caused by loose or broken cables or by noise.
Ping Time Flt A ping message was not received on DPI within the specified time.
6
7
Port ID Flt
Port Change
Flt
The adapter is not connected to a correct port on a DPI product.
The DPI port changed.
Host Sent
Reset
EEPROM Sum
Flt
The drive sent a reset event message.
The EEPROM in the adapter is corrupt.
8
9
14
15
Online @
125kbps
Online @
500kBps
The adapter detected that the drive is communicating at 125 kbps.
The adapter detected that the drive is communicating at 500 kbps.
Bad Host Flt The adapter was connected to an incompatible product.
Dup. Port Flt Another peripheral with the same port number is already in use.
Type 0 Login The adapter has logged in for type 0 control.
Type 0 Time
Flt
The adapter has not received a type 0 status message within the specified time.
DL Login The adapter has logged into a Datalink.
DL Reject Flt The drive rejected an attempt to log in to a Datalink because the
Datalink is not supported or is used by another peripheral.
16
17
18
19
20
21
22
23
24
25
DL Time Flt The adapter has not received a Datalink message within the specified time.
Control
Disabled
The adapter has sent a “Soft Control Disable” command to the drive.
Control
Enabled
PCCC IO Time
Flt
The adapter has sent a “Soft Control Enable” command to the drive.
The adapter has not received a PCCC control message within the specified PCCC Control Timeout interval.
Normal
Startup
Message
Timeout
The adapter successfully started up.
A Client-Server message sent by the adapter was not completed.
DPI Fault Msg The drive has faulted.
DN Poll
Timeout
A Polled I/O connection has timed out.
DN I/O Too
Long
Reconfigure the I/O length in the scanner.
Bad I/O
Fragment
A DeviceNet I/O fragment was received out of sequence.
Possible line noise problem.
7-8
Troubleshooting
Code Event Description
26 Idle I/O
Message
The DeviceNet scanner was placed in program mode.
27
28
Peer I/O
Timeout
DPI Fault
Clear
The adapter has not received Peer I/O from another device on the network within the specified time-out interval.
The drive issued this because a fault was cleared.
29 A Change of State (COS) connection has timed out.
30
31
32
DN COS
Timeout
DN Poll
Allocate
DN COS
Allocate
DN Poll
Closed
A Polled connection has been allocated.
A Change of State (COS) I/O connection has been allocated.
A Polled I/O connection was explicitly closed.
33
34
35
36
37
38
39
40
DN COS
Closed
A Change of State (COS) connection was explicitly closed.
Flt Cfg Error At least one of the Flt Cfg xx parameters is set to a value greater than 65535 and the DPI host requires a 16-bit value.
DN Dup MAC
Fault
The adapter has detected another node on DeviceNet using the same node address that it is using.
Manual Reset The adapter was reset by changing Parameter 09 - [Reset
Module].
Language
CRC Bad
The language text memory segment is corrupt.
OPT Timeout Communication between the adapter and I/O option was disrupted.
OPT Open
OPT Close
The adapter began exchanging I/O data with the I/O option.
The adapter forced a fault condition on the I/O option.
Chapter
8
Using the Adapter in an External DPI
Comms Kit
Chapter 8 provides information and examples that explain how to use the adapter in an External DPI Comms Kit (20-XCOMM-DC-BASE).
The adapter is typically installed in the internal communication slot on the PowerFlex drive. However, there are some instances when an externally mounted adapter may be desired:
•
The PowerFlex drive is already connected to an existing network, such as Remote I/O, and a second network is desired for software tools (DriveExplorer, DriveExecutive, etc.), data collection, etc.
•
The PowerFlex drive is remotely located next to some I/O devices that also need to be networked. The External DPI Comms Kit has an option slot for general-purpose network I/O that a controller can use.
Both the drive and I/O devices are handled as one node on the network, saving network node count.
Topic
External DPI Comms Kit (20-XCOMM-DC-BASE)
I/O Board Option (20-XCOMM-IO-OPT1)
Page
Understanding the I/O Image (Drive + I/O Option) 8-3
Configuring the Communication Adapter to Use the Optional I/O Data 8-4
Viewing Optional I/O Diagnostic Items 8-5
8-2
Using the Adapter in an External DPI Comms Kit
External DPI Comms Kit (20-XCOMM-DC-BASE)
This adapter can be installed in an External DPI Comms Kit.
Figure 8.1 Mounting and Connecting the Adapter
Comms Kit
Enclosure Base
Comms Kit Enclosure Cover
(with adapter mounted inside)
Internal Interface Cable
(connects power supply board in enclosure base to adapter)
For further information, refer to the 20-XCOMM-DC-BASE Installation
Instructions (
Publication Number 20COMM-IN001…
).
I/O Board Option (20-XCOMM-IO-OPT1)
The I/O Board option can be used with the adapter (Series B, Firmware
2.xxx or higher required) when installed in the External DPI Comms Kit.
The I/O Board provides (6) DC inputs and (2) Relay outputs for use by a controller on the network.
Figure 8.2 I/O Connector Function Descriptions
1
IN1
IN2
IN3
2 3 4 5
IN4
IN5
IN6
INPUT COM
6 7 8 9 10 11 12
O2 - NO
O1 - COM
O1 - NO
O2 - COM
O1 - NC
OUT1
OUT2
For further information, refer to the 20-XCOMM-IO-OPT1 Installation
Instructions (
Publication Number 20COMM-IN002…
).
Using the Adapter in an External DPI Comms Kit
8-3
Understanding the I/O Image (Drive + I/O Option)
The data for the optional I/O Board is sent over the I/O connection using
Datalink D. When the optional I/O Board is installed in the External
DPI Comms Kit, Datalink D is dedicated for this function only and is not available for other uses. When the 20-COMM-D adapter detects the presence of the optional I/O Board, the I/O image is modified as shown in
.
Figure 8.3 Example I/O Image with Datalink D Dedicated to I/O Board and All I/O Enabled
Controller
DeviceNet
Scanner
Output
Image
(Write)
Adapter
Word and I/O
0 Logic Command
1 Reference
2 Datalink In A1
3 Datalink In A2
4 Datalink In B1
5 Datalink In B2
6 Datalink In C1
7 Datalink In C2
8 Datalink In D1
9 Datalink In D2
Input
Image
(Read)
0 Pad Word
(1)
1 Pad Word
(1)
2 Logic Status
3 Feedback
4 Datalink Out A1
5 Datalink Out A2
6 Datalink Out B1
7 Datalink Out B2
8 Datalink Out C1
9 Datalink Out C2
10 Datalink Out D1
11 Datalink Out D2
Opt. I/O
Board
(Outputs)
DPI
Opt. I/O
Board
(Inputs)
Message
Handler
Message
Buffer
1
Required by ControlLogix. May or may not be required by other controllers.
PowerFlex Drive
Logic Command
Reference
Data In A1
Data In A2
Data In B1
Data In B2
Data In C1
Data In C2
Data In D1
Data In D2
Logic Status
Feedback
Data Out A1
Data Out A2
Data Out B1
Data Out B2
Data Out C1
Data Out C2
Data Out D1
Data Out D2
Message
Handler
The data from the I/O Board is loaded into the Datalink word starting with bit 0 of Datalink D1 and concluding with bit 14. Bit 15 of Datalink D1 is reserved as an input valid Status flag. When the input data is valid, bit 15 = 1.
For example, for the 20-XCOMM-IO-OPT1, the digital inputs are mapped as follows:
8-4
Using the Adapter in an External DPI Comms Kit
Datalink Out D1 Word
Bit 15 14
✷
13 12 11 10 9 8 7 6 5
✷
4
✷
3
✷
2
✷
1
✷
0
✷
Status IN6
. . .
IN1
The digital outputs are mapped as follows:
Bit
Datalink In D1 Word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
✷ ✷
OUT1
OUT2
Important:
On power-up or reset, the outputs will be in a
“non-activated” state.
Configuring the Communication Adapter to Use the
Optional I/O Data
To configure the Communication Adapter to use the optional I/O Board,
Parameters 13 - [DPI I/O Cfg], 25 - [M-S Input]
and
26 - [M-S
Output]
must be set.
To send Input and Output data from the optional I/O board to the network
•
Turn on bit 4 in
Parameter 25 - [M-S Input]
(“1xxxx”).
•
Turn on bit 4 in
Parameter 26 - [M-S Output]
(“1xxxx”).
•
Turn off bit 4 in
Parameter 13 - [DPI I/O Cfg]
(“0xxxx”).
Setting the Datalink D bit 4 in the M-S Input and M-S Output parameters directs the Communication Adapter to send Datalink D back to the controller. Turning off bit 4 in the DPI I/O Cfg parameter directs the
Communication Adapter to not send Datalink D data back to the drive.
For more information on I/O Messaging and Configuring Datalinks,
please see Chapter 5 , Using I/O Messaging .
If the I/O Board Fault Action Jumper (JMP1) is set to the Fault
Configurable position,
Parameter 23 - [Flt Cfg D1 In]
is used to set the states of the outputs when the I/O Board takes its Fault Action. For details on setting the Fault Action jumper, see the 20-XCOMM-IO-OPT1
Installation Instructions (
Publication Number 20COMM-IN002…
).
Using the Adapter in an External DPI Comms Kit
8-5
Viewing Optional I/O Diagnostic Items
Viewing communication adapter diagnostic item 31 (OPT Status) shows the operating status of the optional I/O board:
1
2
Bit State
0 1 (On)
3
1 (On)
1 (On)
1 (On)
Status Indication
OPT Present
OPT Faulted
Hold Last
Send Flt Cfg
Description
I/O data is being exchanged with the host.
Slave is taking its fault action.
Fault Action is “Hold Last.”
Fault Action is “Fault Config.”
Viewing communication adapter diagnostic item 32 (OPT RX Errors) shows the number of I/O board receive errors.
Viewing communication adapter diagnostic item 33 (OPT FW Version) shows the present firmware version on the optional I/O board.
Diagnostic item 13 (Datalink D1 In) will show the status of the outputs as a combined decimal value. For example, a “0” decimal (“00” binary) indicates both outputs are off and a “3” decimal (“11” binary) indicates both outputs are on.
Note:
A status bit is not used for outputs.
Diagnostic item 21 (Datalink D1 Out) will show the status of the inputs as a combined decimal value, including the status bit 15. For example, inputs valid and all on would show:
Datalink Out D1 Word
32831 decimal =
Bit 15 14
1
13 12 11 10 9 8 7 6
0 0 0 0 0 0 0 0 0
5 4 3 2 1 0
1 1 1 1 1 1
Status IN6
. . .
IN1
Inputs valid and all off (zero) would show:
Datalink Out D1 Word
32768 decimal =
Bit 15 14
1
13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Status IN6
. . .
IN1
8-6
Notes:
Using the Adapter in an External DPI Comms Kit
Appendix
A
Specifications
Appendix A presents the specifications for the adapter.
Topic
Page
Communications
Network
Protocol
Data Rates
Drive
Protocol
Data Rates
DeviceNet
125K, 250K, 500K, Autobaud, PGM
The PGM (Program) setting on the switch is used to set the data rate using the adapter parameter. Autobaud can be set only if another device on the network is setting a data rate.
DPI
125 kbps or 500 kbps
Electrical
Consumption
Drive
Network
150 mA @ 5 VDC supplied through the drive
60 mA @ 24 VDC supplied through DeviceNet
Use the 60 mA value to size the network current draw from the power supply.
Mechanical
Dimensions
Height
Length
Width
Weight
19 mm (0.75 inches)
86 mm (3.39 inches)
78.5 mm (3.09 inches)
85g (3 oz.)
A-2
Specifications
Environmental
Temperature
Operating
Storage
-10 to 50
°
C (14 to 149
°
F)
-40 to 85
°
C (-40 to 185
°
F)
Relative Humidity -5 to 95% non-condensing
Atmosphere
Important:
Adapter
must not
be installed in an area where the ambient atmosphere contains volatile or corrosive gas, vapors or dust. If the adapter is not going to be installed for a period of time, it must be stored in an area where it will not be exposed to a corrosive attmosphere.
Regulatory Compliance
UL UL508C cUL CAN /CSA C22.2 No. 14-M91
CE
CTick
EN50178 and EN61800-3
EN61800-3
NOTE: This is a product of category C2 according to IEC 61800-3. In a domestic environment this product may cause radio interference in which case supplementary mitigation measures may be required.
Appendix
B
Adapter Parameters
Appendix B provides information about the DeviceNet adapter parameters.
Topic Page
About Parameter Numbers
The parameters in the adapter are numbered consecutively. However, depending on which configuration tool you use, they may have different numbers.
Configuration Tool
•
DriveExplorer
•
DriveTools 2000
•
HIM
•
Explicit Messaging
•
RSNetWorx for
DeviceNet
Numbering Scheme
The adapter parameters begin with parameter 01. For example, Parameter 01 - [DPI Port] is parameter 01 as indicated by this manual.
The adapter parameters are appended to the list of drive parameters. For example, with a drive with 300 parameters, Parameter 01- [DPI Port] is parameter 301.
Parameter List
Parameter
No. Name and Description
01
[DPI Port]
Displays the port to which the adapter is connected. This will usually be port 5.
02
[DPI Data Rate]
Displays the data rate used by the drive. This data rate is set in the drive, and the adapter detects it.
03
[DN Addr Cfg]
Configures the DeviceNet node address if the
Data Rate switch is set to “PGM” (Program).
Details
Default:
Minimum:
Maximum:
Type:
5
0
7
Read Only
Default:
Values:
0 = 125 kbps
0 = 125 kbps
1 = 500 kbps
Read Only Type:
Default:
Minimum:
Maximum:
Type:
63
0
63
Read/Write
Reset Required: Yes
B-2
Adapter Parameters
Parameter
No. Name and Description
04
[DN Addr Actual]
05
06
Displays the DeviceNet node address actually used by the adapter.
[DN Rate Cfg]
Configures the DeviceNet data rate at which the adapter communicates if the data rate switch is set to “PGM” (Program).
[DN Rate Actual]
Displays the DeviceNet data rate currently being used by the adapter.
07
[Ref/Fdbk Size]
Displays the size of the Reference/Feedback. The drive determines the size of the Reference/
Feedback.
08
[Datalink Size]
Displays the size of each Datalink word. The drive determines the size of Datalinks.
09
[Reset Module]
No action if set to “Ready.” Resets the adapter if set to “Reset Module.” Restores the adapter to its factory default settings if set to “Set Defaults.” This parameter is a command. It will be reset to “0 =
Ready” after the command has been performed.
Details
Default:
Minimum:
Maximum:
Type:
63
0
63
Read Only
Default:
Values:
3 = Autobaud
0 = 125 kbps
1 = 250 kbps
2 = 500 kbps
Type:
3 = Autobaud
Read/Write
Reset Required: Yes
Default:
Values:
Type:
Default:
Value:
Type:
0 = 125 kbps
0 = 125 kbps
1 = 250 kbps
2 = 500 kbps
Read Only
0 = 16-bit
0 = 16-bit
1 = 32-bit
Read Only
Default:
Values:
Type:
0 = 16-bit
0 = 16-bit
1 = 32-bit
Read Only
Default:
Values
0 = Ready
0 = Ready
1 = Reset Module
2 = Set Defaults
Type: Read/Write
Reset Required: No
!
ATTENTION:
Risk of injury or equipment damage exists. If the adapter is transmitting I/O that controls the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting a connected adapter.
10
[Comm Flt Action]
Sets the action that the adapter and drive take if the adapter detects that DeviceNet communications have been disrupted. This setting is effective only if I/O that controls the drive is transmitted through the adapter.
Default:
Values:
0 = Fault
0 = Fault
1 = Stop
2 = Zero Data
3 = Hold Last
4 = Send Flt Cfg
Type: Read/Write
Reset Required: No
!
ATTENTION:
Risk of injury or equipment damage exists.
Parameter 10 - [Comm
Flt Action]
lets you determine the action of the adapter and connected drive if communications are disrupted. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable).
Adapter Parameters
B-3
Parameter
No. Name and Description
11
[Idle Flt Action]
Sets the action that the adapter and drive will take if the adapter detects that the controller is set to program mode or faulted. This setting is effective only if I/O that controls the drive is transmitted through the adapter.
Details
Default:
Values:
0 = Fault
0 = Fault
1 = Stop
2 = Zero Data
3 = Hold Last
4 = Send Flt Cfg
Type: Read/Write
Reset Required: No
12
!
ATTENTION:
Risk of injury or equipment damage exists.
Parameter 11 - [Idle Flt
Action]
lets you determine the action of the adapter and connected drive if the controller is idle. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a faulted controller).
[DN Active Cfg]
Displays the source from which the adapter node address and data rate are taken. This will either be switches or parameters in EEPROM. It is determined by the settings of the switches on the adapter.
13
[DPI I/O Config]
Sets the I/O that is transferred through the adapter.
Default:
Values:
Type:
Default:
Bit Values:
Type:
1 = Switches
0 = EEPROM
1 = Switches
Read Only xxx0 0001
0 = I/O disabled
1 = I/O enabled
Read/Write
Reset Required: Yes
Bit
Default
7 6
x
5
x x
4
0
3
0
2
0
1
0
0
1
14
[DPI I/O Active]
Displays the I/O that the adapter is actively transmitting. The value of this parameter will usually be equal to the value of Parameter 13 -
[DPI I/O Config].
Bit Definitions
0 = Cmd/Ref
1 = Datalink A
2 = Datalink B
3 = Datalink C
4 = Datalink D
5 = Not Used
6 = Not Used
7 = Not Used
Default:
Bit Values:
Type: xxx0 0001
0 = I/O disabled
1 = I/O enabled
Read Only
Bit
Default
7 6
x
5
x x
4
0
3
0
2
0
1
0
0
1
Bit Definitions
0 = Cmd/Ref
1 = Datalink A
2 = Datalink B
3 = Datalink C
4 = Datalink D
5 = Not Used
6 = Not Used
7 = Not Used
B-4
Adapter Parameters
Parameter
No. Name and Description
15
[Flt Cfg Logic]
Sets the Logic Command data that is sent to the drive if any of the following is true:
•
Parameter 10 - [Comm Flt Action] is set to
“Send Flt Cfg” and communications are disrupted.
•
Parameter 11 - [Idle Flt Action] is set to “Send
Flt Cfg” and the scanner is idle.
•
Parameter 34 - [Peer Flt Action] is set to “Send
Flt Cfg” and communications are disrupted.
The bit definitions will depend on the product to which the adapter is connected.
16
[Flt Cfg Ref]
Sets the Reference data that is sent to the drive if any of the following is true:
•
Parameter 10 - [Comm Flt Action] is set to
“Send Flt Cfg” and communications are disrupted.
•
Parameter 11 - [Idle Flt Action] is set to “Send
Flt Cfg” and the scanner is idle.
•
Parameter 34 - [Peer Flt Action] is set to “Send
Flt Cfg” and communications are disrupted.
21
22
23
24
17
18
19
20
[Flt Cfg A1 In]
[Flt Cfg A2 In]
[Flt Cfg B1 In]
[Flt Cfg B2 In]
[Flt Cfg C1 In]
[Flt Cfg C2 In]
[Flt Cfg D1 In]
[Flt Cfg D2 In]
Sets the data that is sent to the Datalink in the drive if any of the following is true:
•
Parameter 10 - [Comm Flt Action] is set to
“Send Flt Cfg” and communications are disrupted.
•
Parameter 11 - [Idle Flt Action] is set to “Send
Flt Cfg” and the scanner is idle.
•
Parameter 34 - [Peer Flt Action] is set to “Send
Flt Cfg” and communications are disrupted.
25
[M-S Input]
Sets the Master-Slave input data. This data is produced by the scanner and consumed by the adapter.
Bit
Default
7 6
x
5
x x
4
0
3
0
2
0
1
0
0
1
Details
Default:
Minimum:
Maximum:
Type:
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
Read/Write
Reset Required: No
Default:
Minimum:
Maximum:
Type:
0
0
4294967295
Read/Write
Reset Required: No
Important:
If the drive uses a 16-bit
Reference, the most significant word of this value must be set to zero (0) or a fault will occur.
Default:
Default:
Default:
Default:
Default:
Default:
Default:
Default:
0
0
0
0
0
0
0
0
Minimum:
Maximum:
0
4294967295
Type: Read/Write
Reset Required: No
Important:
If the drive uses 16-bit
Datalinks, the most significant word of this value must be set to zero (0) or a fault will occur.
Default:
Bit Values: xxx0 0001
0 = I/O disabled
Type:
1 = I/O enabled
Read/Write
Reset Required: Yes
Bit Definitions
0 = Cmd/Ref
1 = Datalink A Input
2 = Datalink B Input
3 = Datalink C Input
4 = Datalink D Input
5 = Not Used
6 = Not Used
7 = Not Used
Adapter Parameters
B-5
Parameter
No. Name and Description
26
[M-S Output]
Sets the Master-Slave output data. This data is produced by the adapter and consumed by the
Master device (for example, scanner).
Bit
Default
7 6
x
5
x x
4
0
3
0
2
0
1
0
0
1
27
[COS Status Mask]
Configures the mask for the 16-bit Logic Status word. Unless they are masked out, the bits in the
Logic Status word are checked for changes when the adapter is allocated using COS (Change of
State). If a bit changes, it is reported as a change in the Change of State operation.
Details
Default:
Bit Values: xxx0 0001
0 = I/O disabled
Type:
1 = I/O enabled
Read/Write
Reset Required: Yes
Bit Definitions
0 = Status/Fdbk
1 = Datalink A Output
2 = Datalink B Output
3 = Datalink C Output
4 = Datalink D Output
5 = Not Used
6 = Not Used
7 = Not Used
Default:
Minimum:
Maximum:
Values:
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
0 = Ignore bit
Type:
1 = Use bit
Read/Write
Reset Required: No
If the mask bit is 0 (Off), the bit is ignored. If the mask bit is 1 (On), the bit is checked.
Important:
The bit definitions in the Logic Status word depend on the drive.
28
[COS Fdbk Change]
Sets the hysteresis band to determine how much the Feedback word can change before it is reported as a change in the COS (Change of
State) operation.
29
[COS/Cyc Interval]
Displays the amount of time that a scanner will wait to check for data in the adapter. When COS
(Change of State) data exchange has been set up, this is the maximum amount of time between scans. Scans will happen sooner if data changes.
When Cyclic data exchange has been set up, this interval is the fixed time between scans. This interval is configured in the scanner.
30
31
[Peer A Input]
[Peer B Input]
Sets the destination in the drive of the Peer I/O
Input. The adapter receives this data from the network and sends it to the drive.
Important:
Changes to these parameters are ignored when Parameter 37 - [Peer Inp Enable] is
On.
Default:
Minimum:
Maximum:
Type:
Default:
Minimum:
Maximum:
Type:
0
0
4294967295
Read/Write
Reset Required: No
0 Seconds
0 Seconds
655.35 Seconds
Read Only
Default:
Default:
Values:
0 = Off
0 = Off
0 = Off
1 = Cmd/Ref
2 = Datalink A Input
3 = Datalink B Input
4 = Datalink C Input
5 = Datalink D Input
Type: Read/Write
Reset Required: No
Important:
If a 32-bit Datalink or Reference is used in Parameter 30 - [Peer A Input], Parameter
31 - [Peer B Input] cannot be used.
B-6
Adapter Parameters
Parameter
No. Name and Description
32
[Peer Cmd Mask]
Configures the mask for the Logic Command word when it is received through peer input. If the mask bit is 0 (Off), the command bit is ignored and not used. If the mask bit is 1 (On), the command bit is checked and used.
Details
Default:
Minimum:
Maximum:
Values:
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
0 = Ignore bit
Type:
1 = Use bit
Read/Write
Reset Required: Yes
Important:
If the adapter receives a Logic
Command from both a Master device and a Peer device, each command bit must have only one source. The source of command bits set to “0” will be the Master device. The source of command bits set to “1” will be the Peer device.
33
[Peer Ref Adjust]
Scales the Reference received from a peer.
Default:
Minimum:
Maximum:
Type:
0.00%
0.00%
199.99%
Read/Write
Reset Required: No
!
ATTENTION:
To guard against equipment damage and/or personal injury, note that changes to
Parameter 33 - [Peer Ref Adjust]
take effect immediately. A drive receiving its Reference from peer I/O will receive the newly scaled Reference, resulting in a change of speed.
34
[Peer Flt Action]
Sets the action that the adapter and drive will take if the adapter detects that DeviceNet communications with a peer have been disrupted.
This setting is effective only if I/O is transmitted through the adapter.
Default:
Values:
0 = Fault
0 = Fault
1 = Stop
2 = Zero Data
3 = Hold Last
4 = Fault Cfg
Type: Read/Write
Reset Required: No
!
ATTENTION:
Risk of injury or equipment damage exists.
Parameter 34 - [Peer
Flt Action]
lets you determine the action of the adapter and connected drive if the adapter is unable to communicate with the designated peer. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable).
35
[Peer Node to Inp]
Sets the node address of the node producing the peer I/O.
Important:
A change to this parameter is ignored when Parameter 37 - [Peer Inp Enable] is On.
Default:
Minimum:
Maximum:
Type:
0
0
63
Read/Write
Reset Required: No
Adapter Parameters
Parameter
No. Name and Description
36
[Peer Inp Timeout]
Sets the time-out for a Change of State peer-to-peer connection. If the time is reached without the adapter receiving (consuming) a message, the adapter will respond with the action specified in Parameter 34 - [Peer Flt Action].
Details
Default:
Minimum:
Maximum:
Type:
10.00 Seconds
0.01 Seconds
180.00 Seconds
Read/Write
Reset Required: No
37
38
39
40
41
42
On the Slave drive, this parameter should be set to the value calculated from the following formula:
Master Parameter 42 - [Peer Out Time] x Master
Parameter 43 - [Peer Out Skip].
[Peer Inp Enable]
Determines if Peer I/O input is on or off.
[Peer Inp Status]
Displays the status of the consumed peer input connection.
[Peer A Output]
[Peer B Output]
Selects the source of the Peer I/O output data.The adapter transmits this data to the network.
Important:
Changes to these parameters are ignored when Parameter 41 - [Peer Out Enable] is
On.
Important:
If a 32-bit Datalink or Reference is used in Parameter 39 - [Peer A Output], Parameter
40 - [Peer B Output] cannot be used.
[Peer Out Enable]
Determines if Peer I/O output is on or off.
[Peer Out Time]
Sets the minimum time that an adapter will wait when transmitting data to a peer.
Default:
Values:
0 = Off
0 = Off
Type:
1 = On
Read/Write
Reset Required: No
Default:
Values:
Type:
0 = Off
0 = Off
1 = Waiting
2 = Running
3 = Faulted
Read Only
Default:
Default:
Values:
0 = Off
0 = Off
0 = Off
1 = Cmd/Ref
2 = Datalink A Input
3 = Datalink B Input
4 = Datalink C Input
5 = Datalink D Input
6 = Datalink A Output
7 = Datalink B Output
8 = Datalink C Output
9 = Datalink D Output
Type: Read/Write
Reset Required: No
Default:
Values:
0 = Off
0 = Off
Type:
1 = On
Read/Write
Reset Required: No
Default:
Minimum:
Maximum:
Type:
10.00 Seconds
0.01 Seconds
10.00 Seconds
Read/Write
Reset Required: No
Important:
A change to this parameter is ignored when Parameter 41 - [Peer Out Enable] is On.
43
[Peer Out Skip]
Sets the maximum time that an adapter will wait when transmitting data to a peer. The value of
Parameter 42 - [Peer Out Time] is multiplied by the value of this parameter to set the time.
Default:
Minimum:
Maximum:
Type:
1
1
16
Read/Write
Reset Required: No
Important:
A change to this parameter is ignored when Parameter 41 - [Peer Out Enable] is On.
B-7
B-8
Notes:
Adapter Parameters
Appendix
C
DeviceNet Objects
Appendix C presents information about the DeviceNet objects that can be accessed using Explicit Messages.
For information on the format of
Explicit Messages and example ladder logic programs, refer to
Chapter 6 , Using Explicit Messaging .
Object
Class Code Page
Hex.
Dec.
0x01 1
0x05 5
0x07 7
0x0F 15
0x10 16
0x67 103
Object
Class Code Page
Hex.
Dec.
0x92 146
0x93 147
0x97 151
0x98 152
0x99 153
0x9B 155
TIP:
Refer to the DeviceNet specification for more information about
DeviceNet objects. Information about the DeviceNet specification is available on the ODVA web site (http://www.odva.org).
Supported Data Types
Data Type
BOOL
BOOL[n]
BYTE
CONTAINER
DINT
DWORD
INT
Description
Boolean (8-bit value -- low bit is true or false)
Array of n bits
8-bit string
32-bit parameter value - sign extended if necessary
Double Integer (32-bit signed integer)
Double Word (32-bit unsigned integer)
16-bit signed integer
LWORD
REAL
64-bit string
32-bit floating point
SHORT_STRING 1-byte length indicator + that many characters
SINT
STRING[n]
STRUCT
Short Integer (8-bit signed integer)
Array of n characters
Structure name only - no size in addition to elements
TCHAR
UDINT
UINT
USINT
WORD
8 or 16-bit character
Unsigned Double Integer (32-bit unsigned integer)
16-bit unsigned integer
Unsigned Short Integer (8-bit)
16-bit word
C-2
DeviceNet Objects
Identity Object
Class Code
Hexadecimal
0x01
Decimal
1
Instances
The number of instances depends on the number of components in the device connected to the adapter. This number of components can be read in Instance 0, Attribute 2.
Instance
0
1
2 … (n - 1)
Description
Class
Entire device (host and adapter)
Host components
Class Attributes
Attribute
ID
2
Access
Rule
Get
Name Data Type
Max Instance UINT
Description
Total number of instances
Instance Attributes
1
2
3
Attribute
ID
Access
Rule
Name
Get
Get
Get
Data Type
Vendor ID
Device Type
UINT
UINT
Product Code UINT
Description
1 = Allen-Bradley
121
Number identifying product name and rating
4
5
6
7
9
Get
Get
Get
Get
Get
Revision:
Major
Minor
Status
Serial Number
STRUCT of:
USINT
USINT
WORD
UDINT
Product Name SHORT_
STRING
EEPROM CCV UINT
Value varies
Value varies
Bit 0 = Owned
Bit 2 = Configured
Bit 10 = Recoverable fault
Bit 11 = Unrecoverable fault
Unique 32-bit number
Product name and rating
Checksum value of adapter and drive parameter configuration
DeviceNet Objects
C-3
Identity Object
(Continued)
Services
Service Code Implemented for:
0x05
Class
Yes
Instance
No
0x0E
0x11
Yes
Yes
Yes
N/A
Service Name
Reset
Get_Attribute_Single
Find_Next_Obj_Instance
C-4
DeviceNet Objects
Connection Object
Class Code
Hexadecimal
0x05
Decimal
5
Instances
2
4
Instance
1
6 – 10
Description
Master-Slave Explicit Message Connection
Polled I/O Connection
Change of State/Cyclic Connection
Explicit Message Connection
Instance Attributes
Refer to the DeviceNet Specification for more information.
Attribute
ID
1
2
3
4
5
6
7
8
9
Access
Rule
Get
Get
Get
Get
Get
Get
Get
Name
State
Data
Type
Description
USINT 0 = Nonexistent
1 = Configuring
2 = Waiting for connection ID
3 = Established
4 = Timed out
Instance Type USINT 0 = Explicit Message
1 = I/O Message
Transport
Class Trigger
USINT The Transport Class Trigger for this instance
USINT CAN Identifier to transmit on Produced
Cnxn ID
Consumed
Cnxn ID
USINT CAN Identifier to receive on
Initial Comm
Char
Produced
Cnxn Size
Get Consumed
Cnxn Size
Get/Set EPR
USINT Defines the DeviceNet message groups that the tx/rx Cnxn’s apply
UINT Max bytes to transmit across this connection
UINT
UINT
Max bytes to receive across this connection
Expected Packet Rate
(timer resolution = 2 msec.)
DeviceNet Objects
C-5
Connection Object
(Continued)
Instance Attributes
(Continued)
Refer to the DeviceNet Specification for more information.
Attribute
ID
12
13
14
15
16
Access
Rule
Get
Get
Get
Get
Name
Get/Set Watchdog
Action
Produced Path
Length
Produced
Connection
Path
Consumed
Path Length
Consumed
Connection
Path
Data
Type
Description
USINT 0 = Transition to timed out
1 = Auto delete
2 = Auto reset
UINT Number of bytes of data in the produced connection path
ARRAY of UINT
Byte stream which defines Application objects whose data is to be produced by this Connection object
UINT Number of bytes of data in the consumed connection path
ARRAY of
USINT
Byte stream which defines Application objects whose data is to be consumed by this Connection object
Services
Service Code
0x0E
Implemented for:
Class Instance
Yes Yes
Service Name
Get_Attribute_Single
C-6
DeviceNet Objects
Register Object
Class Code
Hexadecimal
0x07
Decimal
7
Instances
12
13
14
8
9
10
11
6
7
4
5
2
3
Instance Description
1 All polled data being read from the DPI device (read-only)
All polled data written to the DPI device (read/write)
Logic Status and Feedback data (read-only)
Logic Command and Reference data (read/write)
Datalink A (input data from device to scanner) (read only)
Datalink A (output data from scanner to device) (read/write)
Datalink B (input data from device to scanner) (read only)
Datalink B (output data from scanner to device) (read/write)
Datalink C (input data from device to scanner) (read only)
Datalink C (output data from scanner to device) (read/write)
Datalink D (input data from device to scanner) (read only)
Datalink D (output data from scanner to device) (read/write)
Logic Status and Feedback Data (read-only)
Mask
(1)
(read/write)
(1)
The mask command word is set to the value of the first word of the data where there are ones in the second word of the data. Command = (word 1 and not word 2) or (word 1 and word 2). This only controls specified bits in the Logic
Command data to the DPI product and does not change the Reference value.
Class Attributes
Not supported.
DeviceNet Objects
C-7
Register Object
(Continued)
Instance Attributes
3
4
Attribute
ID
1
Access Rule Name
Get Bad Flag
Data Type Description
BOOL
2 Get Direction BOOL
If set to 1, then attribute 4 may contain invalid, bad or otherwise corrupt data.
0 = good
1 = bad
Direction of data transfer
0 = Producer Register
1 = Consumer Register
Get
Conditional
(1)
Size
Data
UINT
ARRAY of
BITS
Size of register data in bits
Data to be transferred
(1)
The access rule of Set is optional if attribute 2, Direction = 1. If Direction = 0, the access rule is Get.
Important:
Setting a register object attribute can only be accomplished through a connection with a non-zero expected packet rate
(EPR). This feature is to prevent accidental control of a DPI device.
Services
Service Code
0x0E
0x10
Implemented for:
Class Instance
Yes
No
Yes
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-8
DeviceNet Objects
Parameter Object
Class Code
Hexadecimal
0x0F
Decimal
15
Instances
The number of instances depends on the number of parameters in the
DPI drive. The adapter parameters are appended to the list of drive parameters. The total number of parameters can be read in Instance 0,
Attribute 2.
Instance
0
1
Description
Class Attributes
Drive Parameter 1 Attributes n n + 1 n + 43
Last Drive Parameter Attributes
Adapter Parameter 1 Attributes
Last Adapter Parameter Attributes
Class Attributes
2
8
Attribute
ID
1
Access
Rule
Get
Get
Get
9 Get
Name Data Type Description
Revision UINT
Max Instance UINT
Parameter
Class
Descriptor
WORD
UINT
1
Number of parameters
0 = False, 1 = True
Bit 0 = Supports parameter instances
Bit 1 = Supports full attributes
Bit 2 = Must do NVS save command
Bit 3 = Parameters are stored in NVS
0
10 Get
Configuration
Assembly
Instance
Native
Language
USINT 0 = English
1 = French
2 = Spanish
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
DeviceNet Objects
C-9
Parameter Object
(Continued)
Instance Attributes
6
7
3
4
1
2
Attribute
ID
Access
Rule
(1)
Get
Name Data Type
Parameter Value
(2)
Link Path Size USINT
Description
(3)
0 = No link specified n = The size of Attribute 3 in bytes
(4)
Get
Get
Link Path
Descriptor WORD
5 Get Data Type USINT
0 = False, 1 = True
Bit 1 = Supports ENUMs
Bit 2 = Supports scaling
Bit 3 = Supports scaling links
Bit 4 = Read only
Bit 5 = Monitor
Bit 6 = Extended precision scaling
1 = WORD (16-bit)
2 = UINT (16-bit)
3 = INT (16-bit)
5 = SINT
6 = DINT
8 = USINT
9 = UDINT
11 = REAL
23 = SHORT_STRING
24 = BYTE
25 = DWORD
8
9
13
14
15
16
10
11
12
17
18
19
20
21
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Data Size
Parameter Name
String
Units String
Help String
Minimum Value
Maximum Value
Default Value
Scaling Multiplier UINT
Scaling Divisor UINT
Scaling Base
Scaling Offset
UINT
UINT
USINT
SHORT_
STRING
SHORT_
STRING
SHORT_
STRING
Multiplier Link
Divisor Link
Base Link
Offset Link
Decimal
Precision
UINT
UINT
UINT
UINT
USINT
0
(1)
(2)
(3)
(4)
Access rule is defined in bit 4 of instance attribute 4. 0 = Get/Set, 1 = Get.
Specified in descriptor, data type, and data size.
Value varies based on parameter instance.
Refer to the DeviceNet specification for a description of the connection path.
C-10
DeviceNet Objects
Parameter Object
(Continued)
Services
Service Code
0x01
0x05
0x0E
0x10
0x15
0x16
0x4B
Implemented for:
Class
No
Yes
Yes
No
Yes
Yes
No
Yes
No
No
Yes
Instance
Yes
No
Yes
Service Name
Get_Attribute_All
Reset
Get_Attribute_Single
Set_Attribute_Single
Restore_Request
Save_Request
Get_Enum_String
DeviceNet Objects
C-11
Parameter Group Object
Class Code
Hexadecimal
0x10
Decimal
16
Instances
The number of instances depends on the number of groups in the device.
A group of adapter parameters is appended to the list of groups in the device. The total number of groups can be read in Instance 0, Attribute 2.
Number Description
0 Class Attributes
1 Drive Group 1 Attributes n n + 1
Last Drive Group Attributes
Adapter Group Attributes
2
8
Class Attributes
Attribute
ID
1
Access
Rule
Get
Get
Get
Name
Parameter group version
Max Instance
Native
Language
Data
Type
UINT
Description
1
UINT Total number of groups
USINT 0 = English
1 = French
2 = Spanish (Mexican)
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
C-12
DeviceNet Objects
Parameter Group Object
(Continued)
Instance Attributes
Attribute
ID
1
Access
Rule
Get
2
3
4 n
Get
Get
Get
Get
Name Data
Type
Group Name String SHORT_
STRING
Number of Members in Group
UINT
1st Parameter Number in Group
UINT
2nd Parameter
Number in Group
UINT
UINT
Description
Group name
Number of parameters in group.
(1)
(1)
Value varies based on group instance.
Services
Service Code
0x0E
0x01
Implemented for:
Class
Yes
Yes
Instance
Yes
No
Service Name
Get_Attribute_Single
Set_Attribute_Single
DeviceNet Objects
C-13
PCCC Object
Class Code
Hexadecimal
0x67
Decimal
103
Instances
Not supported.
Class Attributes
Not supported.
Instance Attributes
Not supported.
Services
Service Code
0x4B
0x4D
Implemented for:
Class
No
No
Instance
Yes
Yes
Service Name
Execute_PCCC
Execute_Local_PCCC
Message Structure for Execute_PCCC
Request
Name Data
Type
Description
Length USINT Length of requestor
ID
Vendor UINT Vendor number of requestor
Serial
Number
UDINT ASA serial number of requestor
Other Product
Specific
Identifier of user, task, etc. on the requestor
CMD USINT Command byte
Response
Name Data
Type
Description
Length USINT Length of requestor
ID
Vendor UINT Vendor number of requestor
Serial
Number
Other
CMD
UDINT ASA serial number of
Product
Specific requestor
Identifier of user, task, etc. on the requestor
USINT Command byte
C-14
DeviceNet Objects
PCCC Object
(Continued)
Message Structure for Execute_PCCC
(Continued)
Request
Name Data
Type
Description
STS USINT 0
TNSW UINT Transport word
FNC
PCCC_ params
USINT Function code. Not used for all CMD’s.
ARRAY of
USINT
CMD/FNC specific parameters
Response
Name
STS
TNSW
Data
Type
Description
USINT Status byte
UINT Transport word.
Same value as the request.
EXT_STS USINT Extended status. Not used for all CMD’s.
PCCC_ results
ARRAY of
USINT
CMD/FNC specific result data
Message Structure for Execute_Local_PCCC
Request
Name Data
Type
CMD
STS
USINT
USINT
Description
Command byte
0
TNSW UINT Transport word
FNC
PCCC_ params
USINT Function code. Not used for all CMD’s.
ARRAY of
USINT
CMD/FNC specific parameters
Response
Name
CMD
STS
Data
Type
Description
USINT Command byte
USINT Status byte
TNSW UINT Transport word.
Same value as the request.
EXT_STS USINT Extended status. Not used for all CMD’s.
PCCC_ results
ARRAY of
USINT
CMD/FNC specific result data
DeviceNet Objects
C-15
DPI Device Object
Class Code
Hexadecimal
0x92
Decimal
146
Instances
The number of instances depends on the number of components in the device. The total number of components can be read in Instance 0, Class
Attribute 4.
Instances (Hex.) (Dec.)
0x0000 – 0x3FFF 0 – 16383
Device
Host
0x4000 – 0x43FF 16384 – 17407 Adapter
0x4400 – 0x47FF 17408 – 18431 DPI Port 1
0x4800 – 0x4BFF 18432 – 19455 DPI Port 2
0x4C00 – 0x4FFF 19456 – 20479 DPI Port 3
0x5000 – 0x53FF 20480 – 21503 DPI Port 4
0x5400 – 0x57FF 21504 – 22527 DPI Port 5
0x5800 – 0x5BFF 22528 – 23551 DPI Port 6
1
2
Example Description
0 Class Attributes (Drive)
Drive Component 1
Drive Component 2
16384 Class Attributes (Adapter)
16385 Adapter Component 1
Class Attributes
1
2
Attribute
ID
Access
Rule
0 Get
Name
Family Code
Data Type
BYTE
Description
0x00 = Communications Adapter
0x30 = PowerFlex 70
0x38, 0x39, or 0x3A = PowerFlex 700
0x40 = PowerFlex 7000
0x48, 0x49, or 0x4A = PowerFlex 700S
0xFF = HIM
3
4
Get
Get
Get
Family Text
Get/Set Language
Code
Number of
Components
STRING[16] Text identifying the device.
BYTE 0 = English
1 = French
2 = Spanish
3 = Italian
4 = German
5 = Japanese
6 = Portuguese
7 = Mandarin Chinese
8 = Russian
9 = Dutch
Product Series BYTE
BYTE
1 = A
2 = B
…
Number of components (e.g., main control board, I/O boards) in the device.
5
6
Get/Set User Definable
Text
Get Status Text
STRING[16] Text identifying the device with a user-supplied name
STRING[12] Text describing the status of the drive.
C-16
DeviceNet Objects
DPI Device Object
(Continued)
Class Attributes
(Continued)
Attribute
ID
Access
Rule
Name
7 Get
8
9
11
12
13
Get
Get
Get
Get
Get
Data Type Description
Configuration
Code
Configuration
Text
BYTE
Brand Code WORD
NVS
Checksum
WORD
WORD
Identification of variations.
STRING[16] Text identifying a variation of a family device.
0x0001 = Allen-Bradley
Checksum of the Non-Volatile Storage in a device.
2 = DPI Class
Revision
Character Set
Code
BYTE 0 = SCANport HIM
1 = ISO 8859-1 (Latin 1)
2 = ISO 8859-2 (Latin 2)
3 = ISO 8859-3 (Latin 3)
4 = ISO 8859-4 (Latin 4)
5 = ISO 8859-5 (Cyrillic)
6 = ISO 8859-6 (Arabic)
7 = ISO 8859-7 (Greek)
8 = ISO 8859-8 (Hebrew)
9 = ISO 8859-9 (Turkish)
10 = ISO 8859-10 (Nordic)
255 = ISO 10646 (Unicode)
15
16
17
18
19
20
128
129
130
Get
Get
Get
Get
Get/Set Language
Selected
Get/Set Customer-
Generated
Firmware
Get
Get
Get
Languages
Supported
Date of
Manufacture
STRUCT of:
BYTE
BYTE[n]
STRUCT of:
WORD
BYTE
BYTE
Product
Revision
STRUCT of:
BYTE
BYTE
Serial Number DWORD
BYTE
Number of Languages
Language Codes (See Class Attribute 2)
Year
Month
Day
Major Firmware Release
Minor Firmware Release
Value between 0x00 and 0xFFFFFFFF
0 = Default (HIM will prompt at start up)
1 = Language was selected (no prompt)
STRING[36] GUID (Globally Unique Identifier) identifying customer firmware flashed into the device.
Customization
Code
WORD
Customization
Revision
Number
WORD
Code identifying the customized device.
Revision of the customized device.
Customization
Device Text
STRING[32] Text identifying the customized device.
DeviceNet Objects
C-17
DPI Device Object
(Continued)
Instance Attributes
Attribute
ID
Access
Rule
3
4
5
6
7
8
Get
Get
Get
Get
Get
Get
Name
Component
Name
Component
Firmware
Revision
Data Type
STRUCT of:
BYTE
BYTE
BYTE Component
Hardware
Change Number
First Flash Object
Instance
Number of Flash
Object Instances
Component
Serial Number
WORD
BYTE
DWORD
Description
STRING[32] Name of the component
Major Revision
Minor Revision
0 = Not Available
Instance in the Flash Object used for the firmware in the component
Number of segments in memory that can be flashed.
Value between 0x00 and
0xFFFFFFFF
Services
Service Code
0x0E
0x10
Implemented for:
Class
Yes
Yes
Instance
Yes
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-18
DeviceNet Objects
DPI Parameter Object
Class Code
Hexadecimal
0x93
Decimal
147
Instances
The number of instances depends on the number of parameters in the device. The total number of parameters can be read in Instance 0,
Attribute 0.
Instances (Hex.) (Dec.)
0x0000 – 0x3FFF 0 – 16383
Device
Host
0x4000 – 0x43FF 16384 – 17407 Adapter
0x4400 – 0x47FF 17408 – 18431 DPI Port 1
0x4800 – 0x4BFF 18432 – 19455 DPI Port 2
0x4C00 – 0x4FFF 19456 – 20479 DPI Port 3
0x5000 – 0x53FF 20480 – 21503 DPI Port 4
0x5400 – 0x57FF 21504 – 22527 DPI Port 5
0x5800 – 0x5BFF 22528 – 23551 DPI Port 6
1
2
Example Description
0 Class Attributes (Drive)
Drive Parameter 1 Attributes
Drive Parameter 2 Attributes
16384
16385
Class Attributes (Adapter)
Adapter Parameter 1 Attributes
Class Attributes
7
8
Attribute
ID
Access
Rule
0 Get
1
2
Name
Number of
Instances
Get/Set Write Protect
Password
Set NVS Command
Write
3
4
5
9
Get
Get
Get
Get
Get
Set
NVS Parameter
Value Checksum
NVS Link Value
Checksum
First Accessible
Parameter
Class Revision
First Parameter
Processing Error
Link Command
Data Type Description
WORD
WORD
BYTE
WORD
WORD
WORD
WORD
WORD
BYTE
Number of parameters in the device
0 = Password disabled n = Password
0 = No Operation
1 = Store values in active memory to NVS
2 = Load values in NVS to active memory
3 = Load default values to active memory
Checksum of all parameter values in a user set in NVS
Checksum of parameter links in a user set in NVS
First parameter available if parameters are protected by passwords. A “0” indicates all parameters are protected.
2 = DPI
The first parameter that has been written with a value outside of its range. A “0” indicates no errors.
0 = No Operation
1 = Clear All Parameter Links (This does not clear links to function blocks.)
DeviceNet Objects
C-19
DPI Parameter Object
(Continued)
Instance Attributes
8
9
Attribute
ID
Access
Rule
Name
7 Get
Get
Data Type
DPI Online Read
Full
STRUCT of:
BOOL[32]
CONTAINER
(1)
CONTAINER
CONTAINER
CONTAINER
WORD
WORD
STRING[4]
UINT
UINT
UINT
INT
BYTE[3]
BYTE
STRING[16]
DPI Descriptor BOOL[32]
Various
10
Get/Set DPI Parameter
Value
Get/Set DPI RAM
Parameter Value
Various
11 Get/Set DPI Link BYTE[3]
Description
Descriptor (see pages
Parameter value
Minimum value
Maximum value
Default value
Next parameter
Previous parameter
Units (e.g., Amp, Hz)
Multiplier
Divisor
(2)
Base
Link (source of the value) (0 = no link)
Always zero (0)
Parameter name
Descriptor (see pages
Parameter value in NVS.
(3)
Parameter value in temporary memory.
12 Get
Link (parameter or function block that is the source of the value) (0 = no link)
ID for help text for this parameter
13
14
15
16
Get
Get
Get
Get
Help Object
Instance
WORD
DPI Read Basic STRUCT of:
BOOL[32]
CONTAINER
CONTAINER
CONTAINER
CONTAINER
STRING[16]
STRING[4]
DPI Parameter
Name
STRING[16]
DPI Parameter
Alias
STRING[16]
Parameter
Processing Error
BYTE
Descriptor (see pages
Parameter value
Minimum value
Maximum value
Default value
Parameter name
Units (e.g., Amp, Hz)
Parameter name
Customer supplied parameter name.
Only supported by PowerFlex 700S at time of publication.
0 = No error
1 = Value is less than the minimum
2 = Value is greater than the maximum
(1)
A CONTAINER is a 32-bit block of data that contains the data type used by a parameter value. If signed, the value is sign extended. Padding is used in the CONTAINER to ensure that it is always 32-bits.
(2)
This value is used in the formulas used to convert the parameter value between display units
and internal units. Refer to Formulas for Converting
on page
.
(3)
Do NOT continually write parameter data to NVS. Refer to the attention on page
.
C-20
DeviceNet Objects
DPI Parameter Object
(Continued)
14
15
16
11
12
13
Descriptor Attributes
Bit
0
1
2
3
4
5
6
7
8
9
10
17
18
Name
Data Type (Bit 1)
Data Type (Bit 2)
Data Type (Bit 3)
Sign Type
Description
Right bit is least significant bit (0).
000 = BYTE used as an array of Boolean
001 = WORD used as an array of Boolean
010 = BYTE (8-bit integer)
011 = WORD (16-bit integer)
100 = DWORD (32-bit integer)
101 = TCHAR (8-bit (not unicode) or 16-bits (unicode)
110 = REAL (32-bit floating point value)
111 = Use bits 16, 17, 18
0 = unsigned
1 = signed
Hidden
Not a Link Sink
Not Recallable
ENUM
0 = visible
1 = hidden
0 = Parameter can sink a link
1 = Parameter cannot sink a link
0 = Recallable from NVS
1 = Not Recallable from NVS
0 = No ENUM text
1 = ENUM text
Writable
Not Writable When
Enabled
Instance
0 = Read only
1 = Read/write
0 = Writable when enabled (e.g., drive running)
1 = Not writable when enabled
0 = Parameter value is not a Reference to another parameter
1 = Parameter value refers to another parameter
Must be zero Reserved
Decimal Place (Bit 0) Number of digits to the right of the decimal point.
Decimal Place (Bit 1)
0000 = 0
1111 = 15
Decimal Place (Bit 2)
Decimal Place (Bit 3)
Extended
Data Type (Bit 1)
Extended
Data Type (Bit 2)
Extended
Data Type (Bit 2)
Right bit is least significant bit (16).
000 = Reserved
001 = DWORD used as an array of Boolean
010 = Reserved
011 = Reserved
100 = Reserved
101 = Reserved
110 = Reserved
111 = Reserved
DPI Parameter Object
(Continued)
27
28
29
30
31
Descriptor Attributes (Continued)
21
22
23
24
Bit
19
20
25
26
Name
Parameter Exists
Not Used
Description
Reserved
Reserved
Formula Links Reserved
Access Level (Bit 1) Reserved
Access Level (BIt 2) Reserved
Access Level (Bit 3) Reserved
Writable ENUM
Not a Link Source
Reserved
0 = Parameter can be a source for a link
1 = Parameter cannot be a source for a link
Enhanced Bit ENUM Reserved
Enhanced ENUM Reserved
Not Used
Not Used
Not Used
Reserved
Reserved
Reserved
Formulas for Converting
Display Value = ((Internal Value + Offset) x Multiplier x Base) / (Divisor x 10
Decimal Places
)
Internal Value = ((Display Value x Divisor x 10
Decimal Places
) / (Multiplier x Base)) - Offset
Common Services
Service Code
0x0E
0x10
Implemented for:
Class Instance
Yes
Yes
Yes
Yes
Object Specific Services
Service Code
0x4B
0x4C
Implemented for:
Class
Yes
Yes
Instance
Yes
Yes
DeviceNet Objects
C-21
Service Name
Get_Attribute_Single
Set_Attribute_Single
Service Name
Get_Attributes_Scattered
Set_Attributes_Scattered
C-22
DeviceNet Objects
DPI Parameter Object
(Continued)
Format for Get_Attributes_Scattered Service (PLC/SLC)
The structure shown below can get up to eight parameters in a single message. In the Response Message, a parameter number with the high bit set indicates that the associated parameter value field actually contains an error code.
Word 0 TXID
1 Port
2 Service
3 Class
Request
Command
Size
Address
4 Instance
5 Attribute
6 Parameter Number
7 Pad Word
8 Pad Word
9 Parameter Number
10 Pad Word
11 Pad Word
12 Parameter Number
13 Pad Word
14 Pad Word
15 Parameter Number
16 Pad Word
17 Pad Word
18 Parameter Number
19 Pad Word
20 Pad Word
21 Parameter Number
22 Pad Word
23 Pad Word
24 Parameter Number
25 Pad Word
26 Pad Word
27 Parameter Number
28 Pad Word
29 Pad Word
30 Not Used
Word 31 Not Used
TXID
Port
Response
Status
Size
Service Address
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Parameter Number
Parameter Value LSW
Parameter Value MSW
Not Used
Not Used
Not Used
Not Used
Not Used
DeviceNet Objects
C-23
DPI Parameter Object
(Continued)
The PLC data in this example is for a Get_Attributes_Scattered of
PowerFlex 70 Parameters 1 - [Output Freq], 3 - [Output Current], and
6 - [Output Voltage] from a device at node address 1.
Request Data for Get_Attributes_Scattered
Address Value (Hex.) Description
N30:0 0101 TXID = 01, Command = 01 (execute)
N30:1
N30:2
0018
4B01
Port = 00, Size = 24 bytes (18 hex)
Service = 4B (Get_Attributes_Scattered)
N30:3
N30:4
N30:5
0093
0000
0000
Address = 01 (Node Address)
Class = 93 (DPI Parameter Object)
Instance = Class Attributes (drive)
Attribute (not used for this service)
N30:6
N30:7
N30:8
N30:9
0001
0000
0000
0003
N30:10 0000
N30:11 0000
N30:12 0006
N30:13 0000
N30:14 0000
Parameter Number 1
Pad Word
Pad Word
Parameter Number 3
Pad Word
Pad Word
Parameter Number 6
Pad Word
Pad Word
Response Data for Get_Attributes_Scattered
Address Value (Hex.) Description
N30:70 0101 TXID = 01, Status = 01 (successful transaction)
Refer to . . .
N30:71 0012
N30:72 CB01
Port = 00, Size = 18 bytes (12 hex)
Service = CB (successful)
N30:73 0001
N30:74 0258
N30:75 0000
Address = 01 (Node Address)
Parameter Number 1
Value = 600 (258 hex) = 60.0 Hz
—
—
—
Parameter Number 3
Value = 1 (1 hex) = 0.1A
N30:76 0003
N30:77 0001
N30:78 0000
N30:79 0006
N30:80 0864
N30:81 0000
Parameter Number 6
Value = 2148 (864 hex) = 214.8V AC
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Refer to . . .
C-24
DeviceNet Objects
DPI Parameter Object
(Continued)
Format for Set_Attributes_Scattered Service (PLC/SLC)
The structure shown below can get up to eight parameters in a single message. In the Response Message, a parameter number with the high bit set indicates that the associated pad word field contains an error code.
Word 0 TXID
1 Port
2 Service
Request
Command
Size
Address
3 Class
4 Instance
5 Attribute
6 Parameter Number
7 Parameter Value LSW
8 Parameter Value MSW
9 Parameter Number
10 Parameter Value LSW
11 Parameter Value MSW
12 Parameter Number
13 Parameter Value LSW
14 Parameter Value MSW
15 Parameter Number
16 Parameter Value LSW
17 Parameter Value MSW
18 Parameter Number
19 Parameter Value LSW
20 Parameter Value MSW
21 Parameter Number
22 Parameter Value LSW
23 Parameter Value MSW
24 Parameter Number
25 Parameter Value LSW
26 Parameter Value MSW
27 Parameter Number
28 Parameter Value LSW
29 Parameter Value MSW
30 Not Used
Word 31 Not Used
TXID
Port
Service
Response
Status
Size
Address
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Parameter Number
Pad Word or Error Code
Pad Word
Not Used
Not Used
Not Used
Not Used
Not Used
DeviceNet Objects
C-25
DPI Parameter Object
(Continued)
The PLC data in this example is for a Set_Attributes_Scattered of
PowerFlex 70 Parameters 140 - [Accel Time 1], 142 - [Decel Time 1], and 100 - [Jog Speed] to a device at node address 1.
Request Data for Set_Attributes_Scattered
Address Value (Hex.) Description
N30:0 0101 TXID = 01, Command = 01 (execute)
N30:1
N30:2
0018
4C01
Port = 00, Size = 24 bytes (18 hex)
Service = 4C (Set_Attributes_Scattered)
N30:3
N30:4
N30:5
N30:6
N30:7
N30:8
N30:9
0093
0000
0000
008C
0032
0000
008E
Address = 01 (Node Address)
Class = 93 (DPI Parameter Object)
Instance = Class Attributes (drive)
Attribute (not used for this service)
Parameter Number 140 (8C hex)
Value = 50 (32 hex) = 5.0 seconds
Parameter Number 142 (8E hex)
Value = 50 (32 hex) = 5.0 seconds N30:10 0032
N30:11 0000
N30:12 0064
N30:13 0064
N30:14 0000
Parameter Number 100 (64 hex)
Value = 100 (64 hex) = 10.0 Hz
—
—
—
—
—
—
—
—
—
Refer to . . .
—
Response Data for Set_Attributes_Scattered
Address Value (Hex.) Description
N30:70 0101 TXID = 01, Status = 01 (successful transaction)
Refer to . . .
N30:71 0012
N30:72 CC01
Port = 00, Size = 18 bytes (12 hex)
Service = CC (successful)
Address = 01 (Node Address)
Parameter Number 140 (8C hex) N30:73 008C
N30:74 0000
N30:75 0000
—
—
—
Parameter Number 142 (8E hex) N30:76 008E
N30:77 0000
N30:78 0000
N30:79 0064
N30:80 0000
N30:81 0000
Parameter Number 100 (64 hex)
—
—
—
—
—
—
C-26
DeviceNet Objects
DPI Parameter Object
(Continued)
ControlLogix Data Structure for Messaging
The ControlLogix data structure for messaging is different than the PLC/
SLC because some of the information is already contained in the
ControlLogix MSG instruction.
Example: Get Scattered of Parameters 100 and 101 in a PowerFlex 70
Send Data
Byte # Value (Hex.) Definition
0 0000 Attribute ID
1 0064
2 0000
Parameter Number Lo
Parameter Number Hi
3 0000
4 0000
5 0000
6 0000
Pad Byte
Pad Byte
Pad Byte
Pad Byte
7 0065
8 0000
9 0000
10 0000
11 0000
12 0000
Parameter Number Lo
Parameter Number Hi
Pad Byte
Pad Byte
Pad Byte
Pad Byte
Comments
Always zero
Parameter Number = 100 – [Jog Speed]
Always zero
Parameter Number = 101 – [Preset Speed 1]
Always zero
Reply Data
Byte # Value (Hex.) Definition
0 0064
1 0000
Parameter Number Lo
Parameter Number Hi
2 0032
3 0000
4 0000
5 0000
Parameter Value Lo
Parameter Value
Parameter Value
Parameter Value Hi
6 0065
7 0000
8 0064
9 0000
10 0000
11 0000
Parameter Number Lo
Parameter Number Hi
Parameter Value Lo
Parameter Value
Parameter Value
Parameter Value Hi
Comments
Parameter Number = 100 – [Jog Speed]
May be a BYTE, WORD or DWORD parameter – unused bytes are always a value of zero. In this example, value = 5.0
Hz. (50 decimal = 32 hexadecimal).
Parameter Number = 101 – [Preset Speed 1]
May be a BYTE, WORD or DWORD parameter – unused bytes are always a value of zero. In this example, value = 10.0
Hz. (100 decimal = 64 hexadecimal).
If an error occurs, the most significant bit of the Parameter Number in the Reply Data will be set (0x8000 + Parameter Number) and the
Parameter Value field will contain the DPI error code.
DeviceNet Objects
C-27
DPI Parameter Object
(Continued)
Example: Set Scattered of Parameters 100 and 101 in a PowerFlex 70
Send Data
Byte # Value (Hex.) Definition
0 0000
1 0064
Attribute ID
Parameter Number Lo
2 0000
3 0032
4 0000
5 0000
Parameter Number Hi
Parameter Value Lo
Parameter Value
Parameter Value
6 0000
7 0065
8 0000
9 0064
10 0000
11 0000
12 0000
Parameter Value Hi
Parameter Number Lo
Parameter Number Hi
Parameter Value Lo
Parameter Value
Parameter Value
Parameter Value Hi
Comments
Always zero
Parameter Number = 100 – [Jog Speed]
May be a BYTE, WORD or DWORD parameter – unused bytes are always a value of zero. In this example, value = 5.0
Hz. (50 decimal = 32 hexadecimal).
Parameter Number = 101 – [Preset Speed 1]
May be a BYTE, WORD or DWORD parameter – unused bytes are always a value of zero. In this example, value = 10.0
Hz. (100 decimal = 64 hexadecimal).
Reply Data
Byte # Value (Hex.) Definition
0 0064 Parameter Number Lo
1 0000
2 0000
Parameter Number Hi
Status
3 0000
4 0000
5 0000
6 0065
Pad Byte
Pad Byte
Pad Byte
Parameter Number Lo
7 0000
8 0000
9 0000
10 0000
11 0000
Parameter Number Hi
Status
Pad Byte
Pad Byte
Pad Byte
Comments
Parameter Number = 100 – [Jog Speed]
Status = 0x00 (Success)
Parameter Number = 101 – [Preset Speed 1]
Status = 0x00 (Success)
If an error occurs, the most significant bit of the Parameter Number in the Reply Data will be set (0x8000 + Parameter Number) and the Status field will contain the DPI error code.
C-28
DeviceNet Objects
DPI Fault Object
Class Code
Hexadecimal
0x97
Decimal
151
Products such as PowerFlex drives use this object for faults. Adapters use this object for events.
Instances
The number of instances depends on the maximum number of faults or events supported in the queue. The maximum number of faults/events can be read in Instance 0, Attribute 2.
Instances (Hex.) (Dec.) Device
0x0000 – 0x3FFF 0 – 16383 Host
0x4000 – 0x43FF 16384 – 17407 Adapter
0x4400 – 0x47FF 17408 – 18431 DPI Port 1
0x4800 – 0x4BFF 18432 – 19455 DPI Port 2
0x4C00 – 0x4FFF 19456 – 20479 DPI Port 3
0x5000 – 0x53FF 20480 – 21503 DPI Port 4
0x5400 – 0x57FF 21504 – 22527 DPI Port 5
0x5800 – 0x5BFF 22528 – 23551 DPI Port 6
Example Description
0
1
2
Class Attributes (Drive)
Most Recent Drive Fault
Second Most Recent Drive Fault
16384 Class Attributes (Adapter)
16385 Most Recent Adapter Event
Class Attributes
1
2
Attribute
ID
3
Access
Rule
Name
Get
Get
Set
Class Revision
Number of
Instances
Fault Command
Write
Data Type
WORD
WORD
BYTE
4
5
6
7
Get
Get
Get
Get
Fault Trip
Instance Read
WORD
Fault Data List
Number of
Recorded Faults
Fault Parameter
Reference
STRUCT of:
BYTE
BYTE
WORD[n]
WORD
WORD
Description
Revision of object
Maximum number of faults/events that the device can record in its queue
0 = No Operation
1 = Clear Fault/Event
2 = Clear Fault/Event Queue
3 = Reset Device
Fault that tripped the device. For adapters, this value is always 1 when faulted.
Reserved
Number of faults/events in the queue. A
“0” indicates the fault queue is empty.
Reserved
DeviceNet Objects
C-29
DPI Fault Object
(Continued)
Instance Attributes
Attribute
ID
0
Access
Rule
Get
Name
Full/All
Information
1 Get
Data Type
STRUCT of
WORD
STRUCT of:
BYTE
BYTE
STRING[16]
STRUCT of:
LWORD
BOOL[16]
Basic
Information
WORD
CONTAINER[n]
STRUCT of
WORD
STRUCT of:
BYTE
BYTE
STRUCT of:
LWORD
BOOL[16]
Description
Fault code
Fault source
DPI port
DPI Device Object
Fault text
Fault time stamp
Timer value (0 = Timer not supported)
BOOL[0]: (0 = invalid data, 1 = valid data)
BOOL[1]: (0 = elapsed time, 1 = real time)
BOOL[2 - 15]: Not used
Reserved
Reserved
Fault code
Fault source
DPI port
DPI Device Object
Fault time stamp
Timer value (0 = Timer not supported)
BOOL[0]: (0 = invalid data, 1 = valid data)
BOOL[1]: (0 = elapsed time, 1 = real time)
BOOL[2 - 15]: Not used
Services
Service Code
0x0E
0x10
Implemented for:
Class
Yes
Yes
Instance
Yes
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-30
DeviceNet Objects
DPI Alarm Object
Class Code
Hexadecimal
0x98
Decimal
152
Products such as PowerFlex drives use this object for alarms or warnings. Adapters do not support this object.
Instances
The number of instances depends on the maximum number of alarms supported by the queue. The maximum number of alarms can be read in
Instance 0, Attribute 2.
Instances (Hex.) (Dec.) Device
0x0000 – 0x3FFF 0 – 16383 Host
Only host devices can have alarms.
Example Description
0
1
2
Class Attributes (Drive)
Most Recent Alarm
Second Most Recent Alarm
Class Attributes
1
2
Attribute
ID
Access
Rule
Name
Get
Get
Class Revision
Number of
Instances
Data Type
WORD
WORD
Description
Revision of object
Maximum number of alarms that the device can record in its queue
3
4
Set
Get
Alarm Command
Write
BYTE 0 = No Operation
1 = Clear Alarm
2 = Clear Alarm Queue
3 = Reset Device
Reserved
5 Get
Fault Data List STRUCT of:
BYTE
BYTE
WORD[n]
Number of
Recorded Alarms
WORD Number of alarms in the queue. A
“0” indicates the alarm queue is empty.
DeviceNet Objects
C-31
DPI Alarm Object
(Continued)
Instance Attributes
Attribute
ID
0
1
Access
Rule
Name
Get
Get
Full/All
Information
Basic
Information
Data Type
STRUCT of
WORD
STRUCT of:
BYTE
BYTE
STRING[16]
STRUCT of:
LWORD
BOOL[16]
WORD
CONTAINER[n]
STRUCT of
WORD
STRUCT of:
BYTE
BYTE
STRUCT of:
LWORD
BOOL[16]
Description
Alarm code
Alarm source
DPI port
DPI Device Object
Alarm text
Alarm time stamp
Timer value (0 = Timer not supported)
BOOL[0]: (0 = invalid data, 1 = valid data)
BOOL[1]: (0 = elapsed time, 1 = real time)
BOOL[2 - 15] Reserved
Reserved
Reserved
Alarm code
Alarm source
DPI port
DPI Device Object
Alarm time stamp
Timer value (0 = Timer not supported)
BOOL[0]: (0 = invalid data, 1 = valid data)
BOOL[1]: (0 = elapsed time, 1 = real time)
BOOL[2 - 15] Reserved
Services
Service Code
0x0E
0x10
Implemented for:
Class
Yes
Yes
Instance
Yes
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-32
DeviceNet Objects
DPI Diagnostic Object
Class Code
Hexadecimal
0x99
Decimal
153
Instances
The number of instances depends on the maximum number of diagnostic items in the device. The total number of diagnostic items can be read in
Instance 0, Attribute 2.
Instances (Hex.) (Dec.)
0x0000 – 0x3FFF 0 – 16383
Device
Host
0x4000 – 0x43FF 16384 – 17407 Adapter
0x4400 – 0x47FF 17408 – 18431 DPI Port 1
0x4800 – 0x4BFF 18432 – 19455 DPI Port 2
0x4C00 – 0x4FFF 19456 – 20479 DPI Port 3
0x5000 – 0x53FF 20480 – 21503 DPI Port 4
0x5400 – 0x57FF 21504 – 22527 DPI Port 5
0x5800 – 0x5BFF 22528 – 23551 DPI Port 6
1
2
Example Description
0 Class Attributes (Drive)
Drive Diagnostic Item 1
Drive Diagnostic Item 2
16384 Class Attributes (Adapter)
16385 Adapter Diagnostic Item1
Class Attributes
1
2
Attribute
ID
3
Access
Rule Name
Get
Get
Get
Class Revision
Number of
Instances
ENUM Offset
Data Type
WORD
WORD
WORD
Description
1
Number of diagnostic items in the device
DPI ENUM object instance offset
DPI Diagnostic Object
(Continued)
Instance Attributes
Attribute
ID
0
Access
Rule
Get
Name Data Type
Full/All
Info
STRUCT of:
BOOL[32]
CONTAINER
(1)
CONTAINER
CONTAINER
CONTAINER
WORD
WORD
STRING[4]
UINT
UINT
UINT
INT
DWORD
STRING[16]
1 Get/Set Value Various
Description
Descriptor (see pages
Value
Minimum value
Maximum value
Default value
Pad Word
Pad Word
Units (e.g., Amp, Hz)
Multiplier
(2)
Divisor
Base
Link (source of the value) (0 = no link)
Always zero (0)
Parameter name
Diagnostic item value
(1)
A CONTAINER is a 32-bit block of data that contains the data type used by a value. If signed, the value is sign extended. Padding is used in the CONTAINER to ensure that it is always 32-bits.
(2)
This value is used in the formulas used to convert the value between display units and internal units. Refer to
Formulas for Converting on page C-21 .
Services
DeviceNet Objects
C-33
Service Code
0x0E
0x10
Implemented for:
Class Instance
Yes
Yes
Yes
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-34
DeviceNet Objects
DPI Time Object
Class Code
Hexadecimal
0x9B
Decimal
155
Instances
The number of instances depends on the number of timers in the device.
Instance 1 is always reserved for a real time clock although a device may not support it. The total number of timers can be read in Instance 0,
Attribute 2.
Instances (Hex.) (Dec.) Device
0x0000 – 0x3FFF 0 – 16383 Host
0x4000 – 0x43FF 16384 – 17407 Adapter
0x4400 – 0x47FF 17408 – 18431 DPI Port 1
0x4800 – 0x4BFF 18432 – 19455 DPI Port 2
0x4C00 – 0x4FFF 19456 – 20479 DPI Port 3
0x5000 – 0x53FF 20480 – 21503 DPI Port 4
0x5400 – 0x57FF 21504 – 22527 DPI Port 5
0x5800 – 0x5BFF 22528 – 23551 DPI Port 6
2
3
Example Description
0
1
Class Attributes (Drive)
Real Time Clock (Predefined)
(not always supported)
Timer 1
Timer 2
Class Attributes
Attribute
ID
1
Access
Rule
Get
Name
Class Revision
Data Type Description
WORD Revision of object
2
3
4
Get
Get
Set
Number of
Instances
First Device
Specific Timer
Time Command
Write
WORD
WORD
BYTE
Number of timers in the object, excluding the real time clock that is predefined.
Instance of the first timer that is not predefined.
0 = No Operation
1 = Clear all timers (Does not clear the real time clock or read only timers)
DeviceNet Objects
C-35
DPI Time Object
(Continued)
Instance Attributes
1
2
Attribute
ID
Access
Rule
Name
0 Get
Get
Data Type Description
Read Full STRUCT of:
STRING[16]
LWORD or
STRUCT
BOOL[16]
Name of the timer
Elapsed time in milliseconds unless timer is a real time clock (See attribute 2)
See Attribute 3
Timer Text STRING[16] Name of the timer
3
Get/Set Timer Value LWORD
-OR-
STRUCT of:
WORD
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE
Get Timer
Descriptor
BOOL[16]
Elapsed time in milliseconds unless the timer is a real time clock.
Real Time Clock Data:
Milliseconds (0 – 999)
Seconds (0 – 59)
Minutes (0 – 59)
Hours (0 – 23)
Days (1 – 31)
Months (1 = January, 12 = December)
Years (since 1972)
BOOL[0]: (0 = invalid data, 1 = valid data)
BOOL[1]: (0 = elapsed time, 1 = real time)
BOOL[2 - 15]: Not used
Services
Service Code
0x0E
0x10
Implemented for:
Class
Yes
Yes
Instance
Yes
Yes
Service Name
Get_Attribute_Single
Set_Attribute_Single
C-36
Notes:
DeviceNet Objects
Appendix
D
Logic Command/Status Words
Appendix D presents the definitions of the Logic Command and Logic
Status words that are used for some products that can be connected to the
EtherNet/IP adapter. If you do not see the Logic Command/Logic Status for the product that you are using, refer to your product’s documentation.
PowerFlex 70, PowerFlex 700, PowerFlex 700VC, and
PowerFlex 700H Drives
Logic Command Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command
x x x x x x x x x x x x x x x x Stop
Start
Jog
(1)
Clear Faults
Direction
Local Control
MOP Increment
Accel Rate
Decel Rate
Description
0 = Not Stop
1 = Stop
0 = Not Start
1 = Start
0 = Not Jog
1 = Jog
0 = Not Clear Faults
1 = Clear Faults
00 = No Command
01 = Forward Command
10 = Reverse Command
11 = Hold Direction Control
0 = No Local Control
1 = Local Control
0 = Not Increment
1 = Increment
00 = No Command
01 = Accel Rate 1 Command
10 = Accel Rate 2 Command
11 = Hold Accel Rate
00 = No Command
01 = Decel Rate 1 Command
10 = Decel Rate 2 Command
11 = Hold Decel Rate
Reference
Select
(3)
000 = No Command
001 = Ref. 1 (Ref A Select)
010 = Ref. 2 (Ref B Select)
011 = Ref. 3 (Preset 3)
100 = Ref. 4 (Preset 4)
101 = Ref. 5 (Preset 5)
110 = Ref. 6 (Preset 6)
111 = Ref. 7 (Preset 7)
MOP Decrement 0 = Not Decrement
1 = Decrement
(1)
(2)
(3)
A “0 = Not Stop” condition (logic 0) must first be present before a “1 = Start” condition will start the drive. The Start command acts as a momentary Start command. A “1” will start the drive, but returning to “0” will not stop the drive.
This Start will not function if a digital input (parameters 361-366) is programmed for 2-Wire Control (option 7, 8 or 9).
This Reference Select will not function if a digital input (parameters 361-366) is programmed for “Speed Sel 1, 2 or 3”
(option 15, 16 or 17). Note that Reference Select is “Exclusive Ownership.”
D-2
Logic Command/Status Words
PowerFlex 70, PowerFlex 700, PowerFlex 700 VC, and
PowerFlex 700H Drives
(Continued)
Logic Status Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status
x Ready x x x x x x x x x x x
Active
Command
Direction
Actual Direction
Accel
Decel
Alarm
Fault
At Speed
Local Control
(1) x x x x Reference
Description
0 = Not Ready
1 = Ready
0 = Not Active
1 = Active
0 = Reverse
1 = Forward
0 = Reverse
1 = Forward
0 = Not Accelerating
1 = Accelerating
0 = Not Decelerating
1 = Decelerating
0 = No Alarm
1 = Alarm
0 = No Fault
1 = Fault
0 = Not At Reference
1 = At Reference
000 = Port 0 (TB)
001 = Port 1
010 = Port 2
011 = Port 3
100 = Port 4
101 = Port 5
110 = Port 6
111 = No Local
0000 = Ref A Auto
0001 = Ref B Auto
0010 = Preset 2 Auto
0011 = Preset 3 Auto
0100 = Preset 4 Auto
0101 = Preset 5 Auto
0110 = Preset 6 Auto
0111 = Preset 7 Auto
1000 = Term Blk Manual
1001 = DPI 1 Manual
1010 = DPI 2 Manual
1011 = DPI 3 Manual
1100 = DPI 4 Manual
1101 = DPI 5 Manual
1110 = DPI 6 Manual
1111 = Jog Ref
(1)
See “Owners” in drive User Manual for further information.
Logic Command/Status Words
D-3
PowerFlex 700S Drives
Logic Command Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command
x x x x x x x Normal Stop
Description
0 = Not Normal Stop
1 = Normal Stop
Start
Jog 1
(1)
0 = Not Start
1 = Start
0 = Not Jog using [Jog Speed 1]
1 = Jog using [Jog Speed 1]
Clear Fault
(2)
Unipolar Direction 00 = No Command
01 = Forward Command
10 = Reverse Command
11 = Hold Direction Control
Reserved
0 = Not Clear Fault
1 = Clear Fault x x x x
Jog 2 0 = Not Jog using [Jog Speed 2]
1 = Jog using [Jog Speed 2]
Current Limit Stop 0 = Not Current Limit Stop
1 = Current Limit Stop
Coast Stop 0 = Not Coast to Stop
1 = Coast to Stop
Spd Ramp Hold
(3)
000 = Spd Ref A
001 = Spd Ref B
010 = Preset 2
011 = Ref. 3 (Preset 3)
100 = Ref. 4 (Preset 4)
101 = Ref. 5 (Preset 5)
110 = Ref. 6 (Preset 6)
111 = Ref. 7 (Preset 7) x x Reserved
x x
000 = Spd Ref A
001 = Spd Ref B
010 = Preset 2
011 = Ref. 3 (Preset 3)
100 = Ref. 4 (Preset 4)
101 = Ref. 5 (Preset 5)
110 = Ref. 6 (Preset 6)
111 = Ref. 7 (Preset 7)
000 = Spd Ref A
001 = Spd Ref B
010 = Preset 2
011 = Ref. 3 (Preset 3)
100 = Ref. 4 (Preset 4)
101 = Ref. 5 (Preset 5)
110 = Ref. 6 (Preset 6)
111 = Ref. 7 (Preset 7)
000 = Spd Ref A
001 = Spd Ref B
010 = Preset 2
011 = Ref. 3 (Preset 3)
100 = Ref. 4 (Preset 4)
101 = Ref. 5 (Preset 5)
110 = Ref. 6 (Preset 6)
111 = Ref. 7 (Preset 7) x Reserved
(1)
(2)
(3)
A Not Stop condition (logic bit 0 = 0, logic bit 8 = 0, and logic bit 9 = 0) must first be present before a 1 = Start condition will start the drive.
To perform this command, the value must switch from “0” to “1.”
This command is available only for PowerFlex 700S drives with Phase II Control. For drives with Phase I Control, the command is reserved.
D-4
Logic Command/Status Words
PowerFlex 700S Drives
(Continued)
Logic Status Word
Logic Bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status
x x x x x x x x x x x x x x x Enabled
Running
Command
Direction
Actual Direction
Accel
Decel
Jogging
Fault
Alarm
Flash Mode
Run Ready
At Limit
(1)
Tach Loss Sw
At Zero Spd
At Setpt Spd
Description
0 = Not Enabled
1 = Enabled
0 = Not Running
1 = Running
0 = Reverse
1 = Forward
0 = Reverse
1 = Forward
0 = Not Accelerating
1 = Accelerating
0 = Not Decelerating
1 = Decelerating
0 = Not Jogging
1 = Jogging
0 = No Fault
1 = Fault
0 = No Alarm
1 = Alarm
0 = Not in Flash Mode
1 = In Flash Mode
0 = Not Ready to Run
1 = Ready to Run
0 = Not At Limit
1 = At Limit
0 = Not Tach Loss Sw
1 = Tach Loss Sw
0 = Not At Zero Speed
1 = At Zero Speed
0 = Not At Setpoint Speed
1= At Setpoint Speed x Reserved
(1)
See Parameter 304 - [Limit Status] in the PowerFlex 700S drive for a description of the limit status conditions.
Appendix
E
Master-Slave I/O Configuration
Appendix E lists possible configurations for the M-S Input/Output parameters and the possible data size allocation associated with each value depending on the method of data transfer.
Topic
M-S Input Parameter Configurations
M-S Output Parameter Configurations
Page
M-S Input Parameter Configurations
Parameter 25 - [M-S Input]
has the following five configurable bits.
Figure E.1 Parameter 25 - [ M-S Input] Bits and Corresponding I/O
Datalink C
Datalink B
Datalink A
Datalink D Cmd/Ref xxx0 0000
0 = Peer or other input
1 = Master-Slave input
When you enable
Cmd/Ref
or
Datalink
in the adapter, you must set the corresponding bit in
Parameter 25 - [M-S Input]
if you want the input data to come from the scanner or master device.
list possible configurations for
Parameter 25 -
[M-S Input]
and the possible data size allocation associated with each value depending on the method of data transfer.
E-2
Master-Slave I/O Configuration
Table E.A Host Products using 16-bit Reference/Feedback & Datalinks
M-S
Input
M-S
Output
00000 xxxx0
00001 xxxx0
00010 xxxx0
00011 xxxx0
00100 xxxx0
00101 xxxx0
00110 xxxx0
00111 xxxx0
01000 xxxx0
01001 xxxx0
01010 xxxx0
01011 xxxx0
01100 xxxx0
01101 xxxx0
01110 xxxx0
01111 xxxx0
10000 xxxx0
10001 xxxx0
10010 xxxx0
10011 xxxx0
10100 xxxx0
10101 xxxx0
10110 xxxx0
10111 xxxx0
11000 xxxx0
11001 xxxx0
11011 xxxx0
11100 xxxx0
11101 xxxx0
11110 xxxx0
11111 xxxx0
00000 xxxx1
00001 xxxx1
00010 xxxx1
00011 xxxx1
00100 xxxx1
00101 xxxx1
00110 xxxx1
00111 xxxx1
01000 xxxx1
01001 xxxx1
01010 xxxx1
4
8
4
8
8
0
4
16
20
12
4
8
8
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
12
16
12
16
12
12
16
8
8
8
12
8
12
12
16
4
8
8
12
8
8
8
12
4
8
4
4
4
Allocation (Number of Bytes)
Data Size sent from the Controller to the Adapter
Poll Only COS Only Cyclic Only Poll & COS Poll & Cyclic
0 NA NA NA NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
4
8
4
8
8
0
4
NA
NA
12
4
8
8
4
8
4
8
8
0
4
NA
NA
12
4
8
8
NA
NA
0 & 0
4 & 0
4 & 0
8 & 0
4 & 0
8 & 0
8 & 0
12 & 0
4 & 0
8 & 0
8 & 0
NA
NA
0 & 0
4 & 0
4 & 0
8 & 0
4 & 0
8 & 0
8 & 0
12 & 0
4 & 0
8 & 0
8 & 0
Master-Slave I/O Configuration
E-3
Table E.A Host Products using 16-bit Reference/Feedback & Datalinks (Continued)
M-S
Input
M-S
Output
01011 xxxx1
01100 xxxx1
01101 xxxx1
01110 xxxx1
01111 xxxx1
10000 xxxx1
10001 xxxx1
10010 xxxx1
10011 xxxx1
10100 xxxx1
10101 xxxx1
10110 xxxx1
10111 xxxx1
11000 xxxx1
11001 xxxx1
11011 xxxx1
11100 xxxx1
11101 xxxx1
11110 xxxx1
11111 xxxx1
8
12
16
12
8
12
12
16
16
16
20
4
8
8
12
8
12
12
16
Allocation (Number of Bytes)
Data Size sent from the Controller to the Adapter
Poll Only COS Only Cyclic Only Poll & COS Poll & Cyclic
12 12 12 12 & 0 12 & 0
8
12
12
16
4
8
8
12
8
12
12
16
4
8
8
12
8 & 0
12 & 0
12 & 0
16 & 0
4 & 0
8 & 0
8 & 0
12 & 0
8 & 0
12 & 0
12 & 0
16 & 0
4 & 0
8 & 0
8 & 0
12 & 0
8
12
12
16
8
12
16
12
16
16
20
8
12
12
16
8
12
16
12
16
16
20
8 & 0
12 & 0
12 & 0
16 & 0
8 & 0
12 & 0
16 & 0
12 & 0
16 & 0
16 & 0
20 & 0
8 & 0
12 & 0
12 & 0
16 & 0
8 & 0
12 & 0
16 & 0
12 & 0
16 & 0
16 & 0
20 & 0
E-4
Master-Slave I/O Configuration
Table E.B Host Products using 32-bit Reference/Feedback & Datalinks
M-S
Input
M-S
Output
00000 xxxx0
00001 xxxx0
00010 xxxx0
00011 xxxx0
00100 xxxx0
00101 xxxx0
00110 xxxx0
00111 xxxx0
01000 xxxx0
01001 xxxx0
01010 xxxx0
01011 xxxx0
01100 xxxx0
01101 xxxx0
01110 xxxx0
01111 xxxx0
10000 xxxx0
10001 xxxx0
10010 xxxx0
10011 xxxx0
10100 xxxx0
10101 xxxx0
10110 xxxx0
10111 xxxx0
11000 xxxx0
11001 xxxx0
11011 xxxx0
11100 xxxx0
11101 xxxx0
11110 xxxx0
11111 xxxx0
00000 xxxx1
00001 xxxx1
00010 xxxx1
00011 xxxx1
00100 xxxx1
00101 xxxx1
00110 xxxx1
00111 xxxx1
01000 xxxx1
01001 xxxx1
01010 xxxx1
16
24
8
16
16
8
16
8
16
0
8
32
40
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
24
32
24
32
24
24
32
16
16
16
24
16
24
24
32
8
16
16
24
16
16
16
24
8
8
8
16
8
Allocation (Number of Bytes)
Data Size sent from the Controller to the Adapter
Poll Only COS Only Cyclic Only Poll & COS Poll & Cyclic
0 NA NA NA NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
16
24
8
16
16
8
16
8
16
0
8
NA
NA
16
24
8
16
16
8
16
8
16
0
8
NA
NA
NA
NA
0 & 0
8 & 0
8 & 0
16 & 0
8 & 0
16 & 0
16 & 0
24 & 0
8 & 0
16 & 0
16 & 0
NA
NA
0 & 0
8 & 0
8 & 0
16 & 0
8 & 0
16 & 0
16 & 0
24 & 0
8 & 0
16 & 0
16 & 0
Master-Slave I/O Configuration
E-5
Table E.B Host Products using 32-bit Reference/Feedback & Datalinks (Continued)
M-S
Input
M-S
Output
01011 xxxx1
01100 xxxx1
01101 xxxx1
01110 xxxx1
01111 xxxx1
10000 xxxx1
10001 xxxx1
10010 xxxx1
10011 xxxx1
10100 xxxx1
10101 xxxx1
10110 xxxx1
10111 xxxx1
11000 xxxx1
11001 xxxx1
11011 xxxx1
11100 xxxx1
11101 xxxx1
11110 xxxx1
11111 xxxx1
16
24
32
24
16
24
24
32
32
32
40
8
16
16
24
16
24
24
32
Allocation (Number of Bytes)
Data Size sent from the Controller to the Adapter
Poll Only COS Only Cyclic Only Poll & COS Poll & Cyclic
24 24 24 24 & 0 24 & 0
16
24
24
32
8
16
16
24
16
24
24
32
8
16
16
24
16 & 0
24 & 0
24 & 0
32 & 0
8 & 0
16 & 0
16 & 0
24 & 0
16 & 0
24 & 0
24 & 0
32 & 0
8 & 0
16 & 0
16 & 0
24 & 0
16
24
24
32
16
24
32
24
32
32
40
16
24
24
32
16
24
32
24
32
32
40
16 & 0
24 & 0
24 & 0
32 & 0
16 & 0
24 & 0
32 & 0
24 & 0
32 & 0
32 & 0
40 & 0
16 & 0
24 & 0
24 & 0
32 & 0
16 & 0
24 & 0
32 & 0
24 & 0
32 & 0
32 & 0
40 & 0
M-S Output Parameter Configurations
Parameter 26 - [M-S Output]
has the following five configurable bits.
Figure E.2 Parameter 26 - [M-S Ouput] Bits and Corresponding I/O
Datalink C
Datalink B
Datalink A
Datalink D Cmd/Ref xxx0, 0000
0 = Peer or other output
1 = Master-Slave output
When you enable
Cmd/Ref
or
Datalink
in the adapter, you must set the corresponding bit in
Parameter 26 - [M-S Output]
if you want the output data to be sent to the scanner or master device.
E-6
Master-Slave I/O Configuration
list possible configurations for
Parameter 26 -
[M-S Output]
and the possible data size allocation associated with each value depending on the method of data transfer. xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx
M-S
Input
xxxxx xxxxx xxxxx xxxxx xxxxx
Table E.C Host Products using 16-bit Reference/Feedback & Datalinks
11110 16
00001 4
00011 8
00101 8
00111 12
01011 12
01101 12
01111 16
10001 8
10011 12
10101 12
10111 16
11001 12
11011 16
11101 16
11111 20
Allocation (Number of Bytes)
Data Size sent from the Adapter to the Controller
M-S
Output
Poll Only COS Only Cyclic Only Poll & COS Poll & Cyclic
00000 0 NA NA NA NA
00010 4
00100 4
NA
NA
NA
NA
NA
NA
NA
NA
00110 8
01000 4
01010 8
01100 8
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
11100 12
10000 4
10010 8
10100 8
10110 12
11000 8
11010 12
11100 12
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
NA
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
NA
4 & 4
8 & 4
8 & 4
12 & 4
12 & 4
12 & 4
16 & 4
8 & 4
12 & 4
12 & 4
16 & 4
12 & 4
16 & 4
16 & 4
20 & 4
8 & 4
12 & 4
12 & 4
16 & 4
12 & 4
16 & 4
16 & 4
20 & 4
NA
4 & 4
8 & 4
8 & 4
12 & 4
12 & 4
12 & 4
16 & 4
Master-Slave I/O Configuration
E-7
xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx xxxxx
M-S
Input
xxxxx xxxxx xxxxx xxxxx xxxxx
Table E.D Host Products using 32-bit Reference/Feedback & Datalinks
11110 32
00001 8
00011 16
00101 16
00111 24
01011 24
01101 24
01111 32
10001 16
10011 24
10101 24
10111 32
11001 24
11011 32
11101 32
11111 40
Allocation (Number of Bytes)
Data Size sent from the Adapter to the Controller
M-S
Output
Poll Only COS Only Cyclic Only Poll & COS Poll & Cyclic
00000 0 NA NA NA NA
00010 8
00100 8
NA
NA
NA
NA
NA
NA
NA
NA
00110 16
01000 8
01010 16
01100 16
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
11100 24
10000 8
10010 16
10100 16
10110 24
11000 16
11010 24
11100 24
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
NA
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
NA
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
NA
8 & 8
16 & 8
16 & 8
24 & 8
24 & 8
24 & 8
32 & 8
16 & 8
24 & 8
24 & 8
32 & 8
24 & 8
32 & 8
32 & 8
40 & 8
16 & 8
24 & 8
24 & 8
32 & 8
24 & 8
32 & 8
32 & 8
40 & 8
NA
8 & 8
16 & 8
16 & 8
24 & 8
24 & 8
24 & 8
32 & 8
E-8
Notes:
Master-Slave I/O Configuration
Glossary
A
Adapter
Devices such as drives, controllers, and computers usually require an adapter to provide a communication interface between them and a network such as DeviceNet. An adapter reads data on the network and transmits it to the connected device. It also reads data in the device and transmits it to the network.
The 20-COMM-D DeviceNet adapter connects PowerFlex drives to a
DeviceNet network. Adapters are sometimes also called “cards,”
“embedded communication options,” “gateways,” “modules,” and
“peripherals.”
Automatic Device Replacement (ADR)
A means for replacing a malfunctioning device with a new unit, and having the device configuration data set automatically. The DeviceNet scanner is set up for ADR using RSNetWorx. The scanner uploads and stores a devices configuration. Upon replacing a malfunctioning device with a new unit (node 63), the scanner automatically downloads the configuration data and sets the node address.
B
Bus Off
A bus off condition occurs when an abnormal rate of errors is detected on the Control Area Network (CAN) bus in a device. The bus-off device cannot receive or transmit messages on the network. This condition is often caused by corruption of the network data signals due to noise or data rate mismatch.
C
CAN (Controller Area Network)
A CAN is a serial bus protocol on which DPI is based.
Change of State (COS) I/O Data Exchange
A device that is configured for Change of State I/O data exchange transmits data at a specified interval if its data remains unchanged. If its data changes, the device immediately transmits the change. This type of exchange can reduce network traffic and save resources since unchanged data does not need to be transmitted or processed.
CIP (Common Industrial Protocol)
CIP is the transport and application layer protocol used for messaging over DeviceNet. The protocol is used for implicit messaging (real time
I/O) and explicit messaging (configuration, data collection, and diagnostics).
G-2
Glossary
Class
A class is defined by the DeviceNet specification as “a set of objects that all represent the same kind of system component. A class is a generalization of an object. All objects in a class are identical in form and behavior, but may contain different attribute values.”
ControlFLASH
ControlFLASH is an Allen-Bradley software tool that lets users electronically update firmware on printed circuit boards. The tool takes advantage of the growing use of flash memory (electronic erasable chips) across industrial control products.
Controller
A controller, also called programmable logic controller, is a solid-state control system that has a user-programmable memory for storage of instructions to implement specific functions such as I/O control, logic, timing, counting, report generation, communication, arithmetic, and data file manipulation. A controller consists of a central processor, input/ output interface, and memory. See also Scanner.
Cyclic I/O Data Exchange
A device configured for Cyclic I/O data exchange transmits data at a user-configured interval. This type of exchange ensures that data is updated at an appropriate rate for the application, preserves bandwidth for rapidly-changing devices, and allows data to be sampled at precise intervals for better determinism.
D
Data Rate
The data rate is the speed at which data is transferred on the DeviceNet network. The available data rates depend on the type of cable and total cable length used on the network:
Cable
Thick Trunk Line
Thin Trunk Line
Maximum Drop Length
Cumulative Drop Length
Maximum Cable Length
125 K 250 K 500 K
500 m (1,640 ft.) 250 m (820 ft.) 100 m (328 ft.)
100 m (328 ft.) 100 m (328 ft.) 100 m (328 ft.)
6 m (20 ft.)
156 m (512 ft.)
6 m (20 ft.)
78 m (256 ft.)
6 m (20 ft.)
39 m (128 ft.)
Each device on a DeviceNet network must be set for the same data rate.
You can set the DeviceNet adapter to 125 K, 250 K, or 500 K. You can set it to Autobaud if another device on the network has set the data rate.
Glossary
G-3
Datalinks
A Datalink is a type of pointer used by some PowerFlex drives to transfer data to and from the controller. Datalinks allow specified parameter value(s) to be accessed or changed without using explicit messages. When enabled, each Datalink consumes either four bytes or eight bytes in both the input and output image table of the controller. The drive determines the size of Datalinks.
DeviceNet Network
A DeviceNet network uses a producer/consumer Controller Area
Network (CAN) to connect devices (for example, controllers, drives, and motor starters). Both I/O and explicit messages can be transmitted over the network. A DeviceNet network can support a maximum of 64 devices. Each device is assigned a unique node address and transmits data on the network at the same data rate.
A cable is used to connect devices on the network. It contains both the signal and power wires. Devices can be connected to the network with drop lines, in a daisy chain connection, or a combination of the two.
General information about DeviceNet and the DeviceNet specification are maintained by the Open DeviceNet Vendor’s Association (ODVA).
ODVA is online at http://www.odva.org.
DPI (Drive Peripheral Interface)
DPI is a second generation peripheral communication interface used by various Allen-Bradley drives and power products, such as PowerFlex 70 and PowerFlex 700 drives. It is a functional enhancement to SCANport.
DPI Peripheral
A device that provides an interface between DPI and a network or user.
Peripheral devices are also referred to as “adapters” or “modules.” The serial converter and PowerFlex 7-Class HIMs (20-HIM-xxx) are examples of DPI peripherals.
DPI Product
A device that uses the DPI communications interface to communicate with one or more peripheral devices. For example, a motor drive such as a PowerFlex 7-Class drive is a DPI product. In this manual, a DPI product is also referred to as “drive” or “host.”
G-4
Glossary
DriveExplorer Software
DriveExplorer software is a tool for monitoring and configuring
Allen-Bradley products and adapters. It can be run on computers running
Microsoft Windows 95, Windows 98, Windows ME, Windows NT 4.0
SP6a, Windows 2000, Windows XP, and Windows CE (version 2.0 or higher) operating systems. DriveExplorer (version 3.xx or higher) can be used to configure this adapter and PowerFlex drives. Information about
DriveExplorer software and a free lite version can be accessed at http:// www.ab.com/drives/driveexplorer.
DriveTools SP Software
A software suite designed for Microsoft Windows 98 Second Edition,
Windows ME, Windows NT 4.0 SP6a, Windows 2000 SP3, and
Windows XP operating systems. This software suite provides a family of tools, including DriveExecutive, that you can use to program, monitor, control, troubleshoot, and maintain Allen-Bradley products. DriveTools
SP (version 1.01 or higher) can be used with PowerFlex drives.
Information about DriveTools SP can be accessed at http://www.ab.com/ drives/drivetools.
E
EDS (Electronic Data Sheet) Files
EDS files are simple text files that are used by network configuration tools such as RSNetWorx for DeviceNet to describe products so that you can easily commission them on a network. EDS files describe a product device type, revision, and configurable parameters. EDS files for many
Allen-Bradley products can be found at http://www.ab.com/networks/ eds.
Explicit Messaging
Explicit Messages are used to transfer data that does not require continuous updates. They are typically used to configure, monitor, and diagnose a device over the network.
F
Fault Action
A fault action determines how the adapter and connected drive act when a communications fault (for example, a cable is disconnected) occurs or when the controller is switched out of run mode. The former uses a communications fault action, and the latter uses an idle fault action.
Fault Configuration
When communications are disrupted (for example, a cable is disconnected), the adapter and PowerFlex drive can respond with a user-defined fault configuration. The user sets the data that is sent to the drive in the fault configuration parameters (
Parameters 15 - [Flt Cfg
Logic]
through
24 - [Flt Cfg D2 In]
). When a fault action parameter is
Glossary
G-5
set to use the fault configuration and a fault occurs, the data from these parameters is sent as the Command Logic, Reference, and/or
Datalink(s).
Faulted Node Recovery
This DeviceNet feature lets you change a configuration of a device that is faulted on the network. For example, if you add a device to a network and it does not have a unique address, it will fault. If you have a configuration tool that supports faulted node recovery and your adapter is using parameters to set its node address and data rate, you can change the node address.
Flash Update
The process of updating firmware in the adapter. The adapter can be flash updated using the Allen-Bradley software tool ControlFLASH, the
X-modem protocol and a 1203-SSS Smart Self-powered Serial converter
(version 3.xx or higher firmware), or the built-in flash capability of
DriveExplorer (version 4.01 or higher).
H
Heartbeat Rate
The heartbeat rate is used in Change of State (COS) data exchange. It is associated with producing data once every EPR (Expected Packet Rate) duration. There may be four heartbeats before a time-out happens.
HIM (Human Interface Module)
A device that can be used to configure and control a PowerFlex 7-Class drive. PowerFlex 7-Class HIMs (20-HIM-xxx) can be used to configure connected peripherals.
Hold Last
When communications are disrupted (for example, a cable is disconnected), the adapter and PowerFlex drive can respond by holding last. Hold last results in the drive receiving the last data received via the
DeviceNet connection before the disruption. If the drive was running and using the Reference from the adapter, it will continue to run at the same
Reference.
I
I/O Data
I/O data, sometimes called “implicit messages” or “input/output,” transmit time-critical data such as a Logic Command and Reference. The terms “input” and “output” are defined from the scanner’s point of view.
Output is transmitted by the scanner and consumed by the adapter. Input is transmitted by the adapter and consumed by the scanner.
G-6
Glossary
L
Logic Command/Logic Status
The Logic Command is used to control the PowerFlex drive (e.g., start, stop, direction). It consists of one 16-bit word of input to the adapter from the network. The definitions of the bits in this word depend on the drive.
The Logic Status is used to monitor the PowerFlex drive (for example, operating state, motor direction). It consists of one 16-bit word of output from the adapter to the network. The definitions of the bits in this word depend on the drive.
M
Master-Slave Hierarchy
An adapter configured for a master-slave hierarchy exchanges data with the master device. Usually, a network has one scanner which is the master device, and all other devices (for example, drives connected to
DeviceNet adapters) are slave devices.
On a network with multiple scanners (called a multimaster hierarchy), each slave device must have a scanner specified as its master.
N
Node Address
A DeviceNet network can have as many as 64 devices connected to it.
Each device on the network must have a unique node address between 0 and 63. Node address 63 is the default used by uncommissioned devices.
Node addresses are sometimes called “MAC IDs.”
NVS (Non-Volatile Storage)
NVS is the permanent memory of a device. Devices such as the adapter and drive store parameters and other information in NVS so that they are not lost when the device loses power. NVS is sometimes called
“EEPROM.”
O
Objects
The DeviceNet specification defines an object as “an abstract representation of a particular component within a product.”
P
PCCC (Programmable Controller Communications Command)
PCCC is the protocol used by some controllers to communicate with devices on a network. Some software products (for example,
DriveExplorer and DriveTools SP) also use PCCC to communicate.
Peer-to-Peer Hierarchy
An adapter that is configured for a peer-to-peer hierarchy can exchange data with a device on the network that is not a scanner. This type of
Glossary
G-7
hierarchy can be set up so that a scanner configures or transmits data to one PowerFlex drive which then sends the same configuration or data to other PowerFlex drives on the network. To use a peer-to-peer hierarchy, you configure one adapter to transmit data (2 or 4 words) and one or more adapters to receive the data.
Ping
A ping is a message that is sent by a DPI product to its peripheral devices. They use the ping to gather data about the product, including whether it can receive messages and whether they can log in for control.
Polled I/O Data Exchange
A device that is configured for polling I/O data exchange sends data immediately after it receives a request for the data. For example, an adapter receives a Logic Status Command from the scanner and then sends the Logic Status of the connected PowerFlex drive.
PowerFlex 7-Class Drives
The Allen-Bradley PowerFlex 7-Class family of drives includes
PowerFlex 70, PowerFlex 700, PowerFlex 700VC, PowerFlex 700H,
PowerFlex 700S, and PowerFlex 7000. These drives can be used for applications ranging from 0.37 kW (0.5 HP) to 3,000 kW (4,000 HP).
All PowerFlex 7-Class drives support DPI, allowing them to use the
20COMM-D DeviceNet adapter. This manual focuses on using the adapter with PowerFlex 7-Class drives. Other products that support DPI can also use the adapter.
Producer/Consumer Network
On producer/consumer networks, packets are identified by content rather than an explicit destination. If a node needs the packet, it will accept the identifier and consume the packet. The source therefore sends a packet once and all the nodes consume the same packet if they need it. Data is produced once, regardless of the number of consumers. Also, better synchronization than Master-Slave networks is possible because data arrives at each node at the same time
R
Reference/Feedback
The Reference is used to send a Reference (for example, speed, frequency, torque) to the drive. It consists of one word of input to the adapter from the network. The size of the word (either a 16-bit word or
32-bit word) is determined by the drive.
Feedback is used to monitor the speed of the drive. It consists of one word of output from the adapter to the network. The size of the word
(either a 16-bit word or 32-bit word) is determined by the drive.
G-8
Glossary
RSLogix
RSLogix software is a tool for configuring and monitoring controllers to communicate with connected devices. It is a 32-bit application that runs on various Windows operating systems. Information about RSLogix software can be found at http://www.software.rockwell.com/rslogix.
RSNetWorx for DeviceNet
RSNetWorx for DeviceNet software is a tool for configuring and monitoring DeviceNet networks and connected devices. It is a 32-bit
Windows application that runs on Windows 95, Windows 98, and
Windows NT. Information about RSNetWorx for DeviceNet software can be found at http://www.software.rockwell.com/rsnetworx.
S
Scanner
A scanner is a separate module (of a multi-module controller) or a built-in component (of a single-module controller) that provides communication with adapters connected to a network. See also
Controller.
Status Indicators
Status indicators are LEDs that are used to report the status of the adapter, network, and drive. They are on the adapter and can be viewed on the front cover of the drive when the drive is powered.
T
Type 0/Type 1/Type 2 Control
When transmitting I/O, the adapter can use different types of messages for control. The Type 0, Type 1, and Type 2 events help Allen-Bradley personnel identify the type of messages that an adapter is using.
U
UCMM (UnConnected Message Manager)
UCMM provides a method to create connections between DeviceNet devices.
Z
Zero Data
When communications are disrupted (for example, a cable is disconnected), the adapter and drive can respond with zero data. Zero data results in the drive receiving zero as values for Logic Command,
Reference, and Datalink data. If the drive was running and using the
Reference from the adapter, it will stay running but at zero Reference.
Index
Numerics
10-pin linear plug,
5-pin linear plug,
bit definitions for Logic Command/
Status word,
bus off,
A
adapter
commissioning,
compatible products,
components,
configuring to use with optional I/O
features,
grounding,
illustration,
installing,
mapping I/O in the scanner,
mounting,
resetting,
specifications,
tools to configure,
troubleshooting,
using in an External DPI Comms
Kit,
viewing active configuration,
optional I/O diagnostic items,
applying power to the adapter,
Automatic Device Replacement
(ADR),
B
C
cables
DPI Internal Interface,
CAN (Controller Area Network),
Change of State (COS)
configuring scanner for,
definition,
CIP,
Comm Flt Action parameter,
commissioning the adapter,
see adapter
components,
configuration tools,
connecting adapter to the network,
Connection object,
controller
ControlLogix,
definition,
PLC,
,
SLC,
,
ControlLogix example program for Explicit
Messages,
example program for I/O,
COS Status Mask parameter,
Index-2
COS/Cyc Interval parameter,
Cyclic configuring adapter for,
configuring scanner for,
D
data exchange
Change of State (COS),
Cyclic,
Polled,
data rate
Datalink Size parameter,
Datalinks
in I/O image,
using Datalink D to send optional
I/O Board data,
DeviceNet
5-pin linear plug,
see adapter
connector on adapter,
diagnostic items,
DN Active Cfg parameter,
DPI
definition,
Internal Interface cable,
peripheral,
product,
DPI Alarm object,
DPI Data Rate parameter,
DPI Device object,
DPI Fault object,
DPI I/O Active parameter,
DPI I/O Config parameter,
DPI Parameter object,
DPI Port parameter,
DPI Time object,
DriveExplorer accessing parameters with,
definition,
DriveTools SP accessing parameters with,
definition,
E
EDS (Electronic Data Sheet) files
definition,
see Non-Volatile Storage
(NVS)
equipment required,
events clearing,
viewing,
examples
ControlLogix explicit messaging,
Datalinks,
PLC-5 explicit messaging,
SLC explicit messaging,
Explicit Messages about,
ControlLogix format,
running,
External DPI Comms Kit, using
F
fault action
fault configuration configuring an adapter for,
faulted node recovery
supported feature,
see events
firmware release,
Flt Cfg A1 - D2 In parameters,
Flt Cfg Logic parameter,
Flt Cfg Ref parameter,
formatting Explicit Messages,
Index-3
G
going online with RSNetWorx,
grounding the adapter,
H
heartbeat rate definition,
HIM (Human Interface Module) accessing parameters with,
definition,
LCD model,
LED model,
hold last
definition,
I
I/O about,
definition,
examples,
mapping in the scanner,
output,
I/O Board option configuring adapter to use optional I/O data,
in External DPI Comms Kit,
using Datalink D to send I/O data,
viewing optional I/O diagnostic data,
Identity object,
Index-4
installation applying power to the adapter,
commissioning the adapter,
connecting to the drive,
connecting to the network,
preparing for,
Internal Interface cables
connecting to the drive,
illustration,
modes of operation,
mounting the adapter,
M-S Input parameter,
M-S Input Parameter Configurations,
M-S Output parameter,
M-S Output Parameter
L
LED HIM,
Logic Command/Status bit definitions,
in I/O image,
see ControlLogix
N
NET A status indicator locating,
troubleshooting with,
NET B status indicator locating,
not used,
node address definition,
setting with a parameter,
setting with the switches,
Non-Volatile Storage (NVS) definition,
in adapter,
M
manual conventions,
related documentation,
web site,
Master-Slave hierarchy
configuring adapter for,
mechanical dimensions,
I/O
MOD status indicator
O
objects definition,
list of,
ODVA DeviceNet specification,
P
Parameter Group object,
parameters accessing,
numbers,
PCCC,
PCCC object,
Peer Flt Action parameter,
Peer Inp Timeout parameter,
Peer Node to Inp parameter,
Peer Out Enable parameter,
Peer Out Skip parameter,
Peer Ref Adjust parameter,
Peer-to-Peer hierarchy configuring adapter to receive
configuring adapter to transmit
PLC example program for Explicit
Messages,
formatting Explicit Messages,
Polled configuring adapter for,
configuring scanner for,
Index-5
PORT status indicator locating,
troubleshooting with,
PowerFlex drives
70/700/700VC/700H Logic
Command/Status,
700S Logic Command/Status,
adding to the scan list,
definition,
HIM,
mapping I/O in the scanner,
preparing for an installation,
producer/consumer network,
programmable logic controller,
controller
Q
R
Ref/Fdbk Size parameter,
Reference/Feedback definition,
using,
Register object,
regulatory compliance,
Reset Module parameter,
resetting the adapter,
cable
RSLinx,
Index-6
RSLogix,
RSNetWorx for DeviceNet creating EDS files with,
editing parameters with,
going online,
saving a network configuration,
setting up RSLinx for,
using to map I/O,
using to set up a scan list,
web site,
T
technical support,
troubleshooting,
U
UCMM,
see flash update
S
safety precautions,
scan list,
scanner adding devices to a scan list,
configuring for COS, Cyclic, or
in Master-Slave hierarchy,
mapping I/O,
SLC example program for Explicit
Messages,
formatting Explicit Messages,
specifications adapter,
DeviceNet,
status indicators
switches
setting,
W
web site for DeviceNet,
for DriveExplorer software,
for DriveTools SP software,
for EDS files,
for manuals,
for ODVA (Open DeviceNet
Vendor’s Association),
for RSLogix,
for RSNetWorx for DeviceNet,
Z
zero data
definition,
www.rockwellautomation.com
Corporate Headquarters
Rockwell Automation, 777 East Wisconsin Avenue, Suite 1400, Milwaukee, WI, 53202-5302 USA, Tel: (1) 414.212.5200, Fax: (1) 414.212.5201
Headquarters for Allen-Bradley Products, Rockwell Software Products and Global Manufacturing Solutions
Americas: Rockwell Automation, 1201 South Second Street, Milwaukee, WI 53204-2496 USA, Tel: (1) 414.382.2000, Fax: (1) 414.382.4444
Europe/Middle East/Africa: Rockwell Automation SA/NV, Vorstlaan/Boulevard du Souverain 36, 1170 Brussels, Belgium, Tel: (32) 2 663 0600, Fax: (32) 2 663 0640
Asia Pacific: Rockwell Automation, 27/F Citicorp Centre, 18 Whitfield Road, Causeway Bay, Hong Kong, Tel: (852) 2887 4788, Fax: (852) 2508 1846
Headquarters for Dodge and Reliance Electric Products
Americas: Rockwell Automation, 6040 Ponders Court, Greenville, SC 29615-4617 USA, Tel: (1) 864.297.4800, Fax: (1) 864.281.2433
Europe/Middle East/Africa: Rockwell Automation, Brühlstraße 22, D-74834 Elztal-Dallau, Germany, Tel: (49) 6261 9410, Fax: (49) 6261 17741
Asia Pacific: Rockwell Automation, 55 Newton Road, #11-01/02 Revenue House, Singapore 307987, Tel: (65) 6356-9077, Fax: (65) 6356-9011
U.S. Allen-Bradley Drives Technical Support
Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: [email protected], Online: www.ab.com/support/abdrives
Publication 20COMM-UM002D-EN-P – November, 2004
Supersedes 20COMM-UM002C-EN-P – November, 2002
P/N 307972-P03
Copyright © 2004 Rockwell Automation Inc. All rights reserved. Printed in USA.

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Key features
- Provides DeviceNet communication for PowerFlex drives
- Supports both Master-Slave and Peer-to-Peer hierarchies
- Offers various I/O messaging options (Logic Command/Status, Reference/Feedback, Datalinks)
- Allows configuration through PowerFlex HIM, RSNetWorx, DriveExplorer/DriveExecutive
- Provides status indicators for drive, adapter, and network
- Supports Explicit Messaging and UCMM (Unconnected Message Manager)
- Features configurable fault actions for communication disruptions and controller idle mode