Allen-Bradley PowerFlex 20COMM-R Remote I/O Adapter User Manual

chapter.

3-4

Configuring the Adapter

Setting the Baud Rate

If the adapter switches are disabled (SW 7 and SW 8 are both On), the value of Parameter 05 - [RIO Rate Cfg] determines the Remote

I/O baud rate.

1. Set the value of Parameter 05 - [RIO Rate Cfg] to the baud rate at which your network is operating.

Figure 3.2 RIO Data Rate Configuration Screen on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 5

RIO Rate Cfg

57.6 kbps

Value Baud Rate

0 57.6 kbps (Default)

115.2 kbps

230.4 kbps

2. Reset the adapter. Refer to the

chapter.

Setting the Starting Module Group

If the adapter switches are disabled (SW 7 and SW 8 are both On), the value of Parameter 25 - [Start RIO Group] determines the starting module group.

1. Set Parameter 25 - [Start RIO Group] to the desired starting group.

Figure 3.3 Start RIO Group Screen on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 25

Start RIO Group

Group 0

Value Starting Module Group

0 Group 0 (Default)

Group 2

Group 4

Group 6

Do not use if the adapter uses a 1/2 rack or an error will result.

2. Reset the adapter. Refer to the

chapter.

Configuring the Adapter

3-5

Setting the Last Rack

If the adapter switches are disabled (SW 7 and SW 8 are both On), the value of Parameter 26 - [Last RIO Rack] notifies a controller that this device is the last device on a specified rack. This parameter must be set to Enabled if a product is the last device on a rack address that uses a

PLC-2 controller. We recommend that you set this parameter to Enabled whenever a device is the last device on a rack.

1. Set Parameter 26 - [Last RIO Rack] to the desired state.

Figure 3.4 Last RIO Rack Screen on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 26

Last RIO Rack

Disabled

Value Last Rack

0 Disabled (Default)

1 Enabled

2. Reset the adapter. Refer to the

I/O. Refer to Chapter 4 , Using Discrete & Block Transfer I/O

chapter.

Setting the Rack Size

If the adapter switches are disabled (SW 7 and SW 8 are both On), the value of Parameter 27 - [Rack Size] determines the rack size. With the

Remote I/O adapter, you can use 1/4 or 1/2 rack. This I/O is the discrete

, for more information about using I/O.

TIP: Additional I/O, such as Reference/Feedback and Datalinks, can be transmitted using the Block Transfer I/O Image.

1. Set Parameter 27 - [Rack Size] to the size required by your application.

Figure 3.5 Rack Size Screen on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 27

Rack Size

1/4 Rack

Value Rack Size

1/4 (Default)

1/2

2. Reset the adapter. Refer to the

Feedback, and Datalinks can be enabled or disabled. Refer to Chapter 4 ,

chapter.

3-6

Configuring the Adapter

Setting the I/O Configuration

The setting of Parameter 12 - [DPI I/O Config] determines the type of data sent to the drive as I/O. Logic Command/Logic Status, Reference/

Using Discrete & Block Transfer I/O , for more information about using

I/O.

1. Set the bits in Parameter 12 - [DPI I/O Config]:

Figure 3.6 DPI I/O Configuration Screen on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 12

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

Logic Command/Reference (Default)

Datalink A

Datalink B

Datalink C

4 Datalink D

5 - 16 Not Used

A “1” enables the I/O.

A “0” disables the I/O.

2. If you enabled Logic Command/Reference, configure the required parameters in the drive to accept the logic 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 (for example,

Parameter 276 - [Logic Mask]) in the drive are configured to receive the desired logic from the adapter.

3. If you enabled one or more Datalinks, configure parameters in the drive to determine the source and destination of data in the

Datalink(s). Also, ensure that the Remote I/O adapter is the only adapter using the enabled Datalink(s).

4. Reset the adapter. Refer to the

Understanding the I/O Image 4-2

chapter.

Configuring the Adapter

3-7

Setting a Fault Action

By default, when communications are disrupted (for example, a cable is disconnected) or the scanner is idle (for example, PLC in Program mode), 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 hazard of injury or equipment damage.

To change the fault action

• Set the value of Parameters 10 - [Comm Flt Action] and 11 - [Idle

Flt Action] to the desired responses:

Value Action

Fault

Stop

Zero data

Description

The drive is faulted. (Default)

The drive is stopped but not faulted.

The drive is sent 0 for output data. This does not command a stop.

Hold last The drive continues in its present state after a communications disruption.

Send Flt Cfg The drive is sent the data that you set in the fault configuration parameters. The fault configuration parameters start with Parameter 14 - [Flt Cfg Logic] and end with 23 - [Flt Cfg D2 In].

Figure 3.7 Fault Action Screens on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 10

Comm Flt Action

Fault

Port 5 Device

20-COMM-R

Parameter #: 11

Idle Flt Action

Fault

Changes to these parameters take effect immediately. A reset is not required.

3-8

Configuring the Adapter

To set the fault configuration parameters

If you set either Parameter 10 - [Comm Flt Action] or 11 - [Idle Flt

Action] to the “Send Flt Cfg,” the values in the following parameters are sent to the drive after a communications fault and/or idle fault occurs.

You must set these parameters to values required by your application.

Parameter Name

14 Flt Cfg Logic

Description

A 16-bit value sent to the drive for Logic Command.

The bit definitions will depend on the product to which the adapter is connected.

16 – 23

Flt Cfg Ref

Flt Cfg x1 In

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 parameters (numbers: 3, 5, 12, 25,

26, and 27) require that you reset the adapter before the new settings take effect. You can reset the adapter by cycling power to the drive or by using the following parameter:

ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting a connected adapter.

• Set the Parameter 09 - [Reset Module] to Reset Module:

Figure 3.8 Reset Screen on an LCD HIM

Port 5 Device

20-COMM-R

Parameter #: 9

Reset Module

Bit 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, but not reset. The value of this parameter will be restored to 0 = Ready after the adapter is reset or defaults are restored.

Configuring the Adapter

3-9

Viewing the Adapter Configuration

The following parameters provide information about how the adapter is configured and can be viewed at any time.

Number Name

1 DPI Port

2 DPI Data Rate

RIO Addr Actual

RIO Rate Actual

Ref/Fdbk Size

Datalink Size

DPI I/O Active

Switches

Description

The port on the drive to which the adapter is connected. Usually, it is port 5.

The data rate used by DPI in the drive. It will be either 125 kbps or

500 kbps. It is set using a parameter in the drive, and the adapter autobauds to the set DPI data rate.

The rack address used by the adapter. This will be one of the following values:

• The address set by the rotary switches.

• The value of Parameter

3 - [RIO 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.

The baud rate used by the adapter. This will be one of the following values:

• The baud rate set by the DIP switches 7 and 8.

• The value of Parameter 5 - [RIO Rate Cfg] if the switches have been disabled.

• An old baud rate of the switches or parameter if they have been changed and the adapter has not been reset.

The size of the Reference/Feedback. It will either be 16 bits or 32 bits. It is set by the drive and the adapter automatically uses the correct size.

The size of the Datalinks. It will either be 16 bits or 32 bits. It is set by the drive and the adapter automatically uses the correct size.

The Cmd/Ref and Datalinks used by the adapter. This value is the same as Parameter 12 - [DPI I/O Config] unless the parameter was changed and the adapter was not reset. A “0” indicates the I/O has been disabled. A “1” indicates the I/O has been enabled.

Bit

Default

7 6

x x

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

The status of the switches. By default, switches are “enabled,” and the adapter is configured based on their settings. If both SW 7 and

SW 8 are On, switches are “disabled” and the adapter is configured with values in parameters 3, 5, 25, 26, and 27.

3-10

Notes:

Configuring the Adapter

Chapter

4 Using Discrete & Block Transfer I/O

Chapter 4 provides information and examples about using I/O to control a PowerFlex drive.

Topic Page

About I/O 4-1

Discrete I/O Image

Block Transfer I/O Image

Topic

Page

ATTENTION: Hazard of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

About I/O

I/O is used to transfer the data which can control the PowerFlex drive and its speed. It is also used for transmitting data through Datalinks.

The Remote I/O adapter uses discrete I/O and Block Transfer I/O to transfer I/O data. The discrete I/O is either 1/4 rack (two 16-bit words) or

1/2 rack (four 16-bit words). The rack size is set using DIP switch 4 or, if switches have been disabled, Parameter 27 - [Rack Size]. The Block

Transfer I/O includes all Block Transfer Read or Block Transfer Write messages that are 18 words or fewer.

The type of I/O that is transmitted between the drive and controller is set in Parameter 12 - [DPI I/O Config]. When you set up your I/O, note the following:

• The Logic Command/Status is always transmitted in the discrete I/O.

• The Reference is transmitted in the discrete I/O if you are using a 1/2 rack, or in the Block Transfer I/O if you are using a 1/4 rack.

• Datalinks are always transmitted in the Block Transfer I/O.

4-2

Using Discrete & Block Transfer I/O

Understanding the I/O Image

Figure 4.1

(1/4 rack) and Figure 4.2

(1/2 rack) show how data is transmitted between a controller and drive.

Rack Size

1/4

1/2

Reference Source Feedback Destination

Block Transfer I/O

Discrete I/O

Block Transfer I/O

Datalinks

Block Transfer I/O

Discrete and Block Transfer I/O Block Transfer I/O

Figure 4.1 Example I/O Image (1/4 Rack Configuration)

Remote I/O DPI

Controller Scanner Adapter PowerFlex Drive

Discrete I/O

Output

Image

Logic Command

Reference

Data

Files

Block Transfer I/O

0 - 1 Reference

2 - 3 Datalink A1

4 - 5 Datalink A2

6 - 7 Datalink B1

8 - 9 Datalink B2

10 - 11 Datalink C1

12 - 13 Datalink C2

14 - 15 Datalink D1

16 - 17 Datalink D2

Discrete I/O

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 Logic Status

Feedback

Data

Files

Block Transfer I/O

0 - 1 Feedback

2 - 3 Datalink A1

4 - 5 Datalink A2

6 - 7 Datalink B1

8 - 9 Datalink B2

10 - 11 Datalink C1

12 - 13 Datalink C2

14 - 15 Datalink D1

16 - 17 Datalink D2

Data Out A1

Data Out A2

Data Out B1

Data Out B2

Data Out C1

Data Out C2

Data Out D1

Data Out D2

Data

Files

Block

Transfer Messages

Message

Handler

Using Discrete & Block Transfer I/O

4-3

Figure 4.2 Example I/O Image (1/2 Rack Configuration)

Remote I/O DPI

Controller Scanner Adapter

Discrete I/O

Output

Image

Data

Files

2 - 3 Reference

Block Transfer I/O

0 - 1 Reference

(1)

2 - 3 Datalink A1

4 - 5 Datalink A2

6 - 7 Datalink B1

8 - 9 Datalink B2

10 - 11 Datalink C1

12 - 13 Datalink C2

14 - 15 Datalink D1

16 - 17 Datalink D2

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

Discrete I/O

Input

Image

Logic Status

Feedback

Data

Files

2 - 3 Feedback

Block Transfer I/O

0 - 1 Feedback

(2)

2 - 3 Datalink A1

4 - 5 Datalink A2

6 - 7 Datalink B1

8 - 9 Datalink B2

10 - 11 Datalink C1

12 - 13 Datalink C2

14 - 15 Datalink D1

16 - 17 Datalink D2

Data Out A1

Data Out A2

Data Out B1

Data Out B2

Data Out C1

Data Out C2

Data Out D1

Data Out D2

Data

Files

Block

Transfer Messages

Message

Handler

(1)

(2)

Not used in 1/2 rack. The space is reserved so the Datalinks occupy the same Block Transfer I/O locations regardless of 1/4 or 1/2 rack configuration.

Feedback is transmitted in both Discrete I/O and Block Transfer I/O.

4-4

Using Discrete & Block Transfer I/O

Discrete I/O Image

The discrete I/O image will be either a 1/4 rack or 1/2 rack. You select whether to use 1/4 rack or 1/2 rack using DIP switch 4 or, if switches have been disabled, Parameter 27 - [Rack Size]. The I/O that is

transmitted depends on the size of the rack. Figure 4.1

shows a 1/4 rack,

and

Figure 4.2

shows a 1/2 rack.

Data in the discrete I/O image is transferred between the controller and

Remote I/O adapter every scan.

Block Transfer Control / Block Transfer Status

Word 0 in the discrete I/O image is always the 16-bit Block Transfer

Control/Status word. The Block Transfer Control word is used for handshaking between the scanner and adapter. Do not change this word.

The Block Transfer Status word is used to determine when you can write

and read Block Transfers for Explicit Messages. The Executing Block

Transfers for Explicit Messages section in

Chapter 5 explains the bits in

this word and how to use them. Block Transfer I/O does not use the

Block Transfer Status word.

Logic Command/Logic Status in Discrete I/O Image

Word 1 in the discrete I/O image is always the Logic Command/Logic

Status word. The Logic Command word is a 16-bit word that is used to control the drive (for example, start, stop, change direction). The Logic

Status word provides details about how the drive is operating. The definition of the bits in these words depends on the connected drive.

Appendix D , Logic Command/Status Words , contains the definitions of

the Logic Command/Status words for PowerFlex 70 and 700 drives.

Reference/Feedback in Discrete I/O Image

If the adapter is configured for 1/2 rack (

Figure 4.2

), word 2 and word 3 in the discrete I/O image are reserved for Reference/Feedback.

Word 16 -bit value

Reference

Not Used

Feedback

32-bit value

Reference (LSW)

Reference (MSW)

Feedback (LSW)

Feedback (MSW)

LSW = Least Significant Word (bits 0 – 15)

MSW = Most Significant Word (bits 16 – 31)

Using Discrete & Block Transfer I/O

4-5

Block Transfer I/O Image

The Block Transfer I/O image is a Block Transfer message that contains eighteen 16-bit words. It reserves two words for the Reference/Feedback and four words for each Datalink (in case 32-bit values are used).

Figure 4.3 Block Transfer I/O Image for 16-Bit Reference and Datalinks

Block Transfer Write

Reference

Not Used

Datalink In A1

Not Used

Datalink In A2

Not Used

Datalink In B1

Not Used

Datalink In B2

Not Used

Datalink In C1

Not Used

Datalink In C2

Not Used

Datalink In D1

Not Used

Datalink In D2

Not Used

Block Transfer Read

Feedback

Datalink Out A1

Datalink Out A2

Datalink Out B1

Datalink Out B2

Datalink Out C1

Datalink Out C2

Datalink Out D1

Datalink Out D2

Figure 4.4 Block Transfer I/O Image for 32-Bit Reference and Datalinks

Block Transfer Write

Block Transfer Read

Reference (LSW)

Reference (MSW)

Datalink In A1 (LSW)

Datalink In A1 (MSW)

Datalink In A2 (LSW)

Datalink In A2 (MSW)

Datalink In B1 (LSW)

Datalink In B1 (MSW)

Datalink In B2 (LSW)

Datalink In B2 (MSW)

Datalink In C1 (LSW)

Datalink In C1 (MSW)

Datalink In C2 (LSW)

Datalink In C2 (MSW)

Datalink In D1 (LSW)

Datalink In D1 (MSW)

Datalink In D2 (LSW)

Datalink In D2 (MSW)

Feedback (LSW)

Feedback (MSW)

Datalink Out A1 (LSW)

Datalink Out A1 (MSW)

Datalink Out A2 (LSW)

Datalink Out A2 (MSW)

Datalink Out B1 (LSW)

Datalink Out B1 (MSW)

Datalink Out B2 (LSW)

Datalink Out B2 (MSW)

Datalink Out C1 (LSW)

Datalink Out C1 (MSW)

Datalink Out C2 (LSW)

Datalink Out C2 (MSW)

Datalink Out D1 (LSW)

Datalink Out D1 (MSW)

Datalink Out D2 (LSW)

Datalink Out D2 (MSW)

LSW = Least Significant Word (bits 0 – 15)

MSW = Most Significant Word (bits 16 – 31)

4-6

Using Discrete & Block Transfer I/O

Block Transfer I/O requests must be eighteen (18) words or fewer. If a

Reference or Datalink In field is not configured to be used by the adapter, any value placed in the field will be ignored by the adapter. If a

Datalink Out field is not configured to be used by the adapter, the value of that field is undefined. The Feedback field will always contain the

Feedback from the drive. If a request has fewer than eighteen words, as much I/O data as will fit in the request will be used.

Reference/Feedback in Block Transfer I/O Image

Word 0 and word 1 are reserved for the Reference/Feedback. The size of the Reference (16-bits or 32-bits) is determined by the drive. If a 16-bit

Reference ( Figure 4.3

) is used, word 1 is not used during writes and read

as zero (0) during reads.

Important: If the adapter is configured as a 1/2 rack, it uses the

Reference from the discrete I/O and ignores the Reference in the Block Transfer I/O. Feedback is transmitted in both discrete I/O and Block Transfer I/O.

Datalinks in Block Transfer I/O Image

Words 2 through 17 are optionally enabled for Datalinks. A Datalink is a type of mechanism used by some drives to transfer data to and from the scanner. Datalinks can be used to read or write a parameter value. When enabled, each Datalink consumes four 16-bit words in both the input and output Block Transfer I/O image. The size of Datalinks (16 bits or 32

bits) is determined by the drive. If 16-bit Datalinks ( Figure 4.3

) are used,

the most significant word of each Datalink is not used during writes and read as zero (0) during reads.

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, the adapters must not attempt to use the same Datalink.

• Parameter settings in the drive determine the data passed through the

Datalink mechanism. Note that some parameters may not be allowed as Datalinks. Refer to the documentation for your drive for more information.

• When a Datalink is used to change a value, the value is not written to the Non-Volatile Storage. The value is stored in volatile memory and lost when the drive loses power.

Using Discrete & Block Transfer I/O

4-7

32-Bit Parameters using 16-Bit Datalinks

To read (and/or write) a 32-bit parameter using 16-bit Datalinks, typically both Datalinks (A,B,C,D) are set to the 32-bit parameter. For example, to read Parameter 09 - [Elapsed MWh], both Datalink A1 and A2 are set to “9.” Datalink A1 will contain the least significant word

(LSW) and Datalink A2 the most significant word (MSW). In this example, the parameter 9 value of 5.8MWh is read as a “58” in Datalink

A1.

Datalink Most/Least Significant Word

LSW

MSW

Parameter Data (decimal)

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] contains a value of 88.4541 hours.

Example 1

Datalink Most/Least Significant Word

LSW

- Not Used -

Example 2

Datalink Most/Least Significant Word

- Not Used -

MSW

Example 3

Datalink Most/Least Significant Word

LSW

MSW

Example 4

Datalink Most/Least Significant Word

MSW

LSW

Parameter Data (decimal)

242

32573

Parameter Data (decimal)

242

Parameter Data (decimal)

242

32573

Parameter Data (decimal)

242

32573

32-bit data is stored in binary as follows:

MSW

LSW

through 2

Example:

Parameter 242 - [Power Up Marker] = 88.4541 hours

MSW = 13 decimal

LSW = 32573

= 13 x 65,536 (2

)= 851968

851968 + 32573 = 884541

4-8

Using Discrete & Block Transfer I/O

Example Programs

These example ladder logic programs work with PowerFlex 70 or

PowerFlex 700 drives with the 20-COMM-R in 1/4 rack mode and perform the following:

• Use the Logic Command to control the drive (i.e. start, stop) and receive Logic Status information back from the drive (i.e. ready, fault).

• Send a Reference to the drive and receive Feedback by Block

Transfer I/O.

• Read/Write Datalinks to/from the drive by Block Transfer I/O.

• Access the drive via Block Transfer Messaging, see

Chapter 5 , Using

Block Transfer Messaging .

Adapter Settings for the Example Programs

Switches have been disabled and the following parameters have been set:

• Parameter 03 - [RIO Addr Cfg] = 1

• Parameter 12 - [DPI I/O Config] = xxx0 0011

Logic Command/Reference and Datalink A are enabled.

• Parameter 25 - [Start RIO Group] = Group 0

• Parameter 27 - [Rack Size] = 1/4 rack

Scanner Settings for the Example Programs

• 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 Host product. Refer to the documentation for your DPI

Host product.

Using Discrete & Block Transfer I/O

(End)

ControlLogix Example

Figure 4.5 ControlLogix Main Routine

Get the drive's logic status, feedback, and datalink outputs. See Figure 4.6 for ControlLogix Block Transfer I/O Read.

JSR

Jump To Subroutine

Routine Name BT_IO_Read

This subroutine contains the user's control logic. See Figure 4.7 for ControlLogix I/O User Logic.

JSR

Jump To Subroutine

Routine Name IO_UserLogic

Send the logic command, reference, and datalink inputs to the drive. See Figure 4.8 for ControlLogix Block Transfer I/O Write.

JSR

Jump To Subroutine

Routine Name BT_IO_Write

Perform messaging requests to the drive or peripherals. See Figure 5.3 for ControlLogix Block Transfer Messaging.

JSR

Jump To Subroutine

Routine Name BT_Messaging

4-9

Figure 4.6 ControlLogix Block Transfer I/O Read

Fetch the drive's Feedback and Datalink outputs and place in an array of 18 16-bit words.

IOBlockTransferRead.en

MSG

Type - Block Transfer Read

Message Control IOBlockTransferRead ...

Read the drive's Feedback word and place in Feedback tag.

COP

Copy File

Source DriveBTInputImage[0]

Dest

Length

DriveFeedback

Read Datalink A outputs from the drive and place in respective tags. Add similar rungs to use Datalinks B, C, and D.

COP

Copy File

Source DriveBTInputImage[2]

Dest

Length

DriveDatalinkA1Out

COP

Copy File

Source DriveBTInputImage[4]

Dest

Length

DriveDatalinkA2Out

(End)

Tag Name

I/O BlockTransferRead

The 20CommR:I

DriveLogicStatus

DriveBTInputImage

DriveFeedback

DriveDatalinkA1Out

DriveDatalinkA2Out

Type

MESSAGE

AB:RIO_4IOGROUP:I:0

INT

INT[18]

INT

Refer to

4-10

Using Discrete & Block Transfer I/O

Figure 4.7 ControlLogix I/O User Logic

Get the drive's Logic Status word.

COP

Copy File

Source The20CommR:I.Data[1]

Dest

Length

DriveLogicStatus

Read Active, Faulted, and At Speed drive status bits and place in respective tags.

DriveLogicStatus.1

DriveStatusActive

DriveLogicStatus.7

DriveStatusFaulted

DriveLogicStatus.10

DriveStatusAtSpeed

Transfer Start, Stop, Jog, and Clear command tags into drive's output image. Additional logic on the Stop rung causes the Stop command to be sent continuously until the drive reports that it has stopped.

DriveCommandStart DriveLogicCommand.1

Note that the user's STOP input tag is set up as a normally CLOSED pushbutton.

DriveCommandStop

DriveLogicStatus.1

DriveLogicCommand.0

DriveCommandJog

DriveCommandClearFault

Send the desired Logic Command to the drive.

DriveLogicCommand.2

DriveLogicCommand.3

COP

Copy File

Source DriveLogicCommand

Dest The20CommR:O.Data[1]

Length 1

(End)

Tag Name

DriveLogicStatus

DriveCommandStart

DriveCommandStop

DriveCommandJog

DriveStatusActive

DriveStatusFaulted

DriveStatusAtSpeed

DriveLogicCommand

Type

INT

BOOL

INT

Using Discrete & Block Transfer I/O

Figure 4.8 ControlLogix Block Transfer I/O Write

Place the desired Reference in the block transfer output structure.

COP

Copy File

Source

Dest DriveBTOutputImage[0]

Length

DriveReference

Place the desired Datalink A input values into the block transfer output structure. Add similar rungs to use Datalinks B, C, and D.

COP

Copy File

Source

Dest DriveBTOutputImage[2]

Length

DriveDatalinkA1In

Send the desired Reference and Datalink inputs to the drive.

IOBlockTransferWrite.EN

COP

Copy File

Source

Dest DriveBTOutputImage[4]

Length

DriveDatalinkA2In

MSG

Type - Block Transfer Write

Message Control IOBlockTransferWrite ...

4-11

(End)

Tag Name

DriveReference

DriveBTOutputImage

DriveDatalinkA1In

DriveDatalinkA2In

DriveLogicCommand

The20CommR:O

IOBlockTransferWrite

Type

INT

INT [18]

INT

AB:RIO_4IOGROUP:O:0

MESSAGE

Refer to

4-12

Using Discrete & Block Transfer I/O

PLC Example

0000

0001

0002

0003

0004

Figure 4.9 PLC Main Routine

This rung handles the logic needed to stop the drive upon the user's command. As shown, the user STOP input must be a normally closed pushbutton.

If the drive is running, pressing the STOP button will seal the stop command bit until the drive comes to a complete stop.

User

STOP

Input

N7:0

Drive

STOP

Command

O:011

Drive

RUNNING

Status

I:011

Drive

STOP

Command

O:011

This rung allows the user to start the drive. Note that the drive may not start if the user briefly taps the button.

User

START

Input

N7:0

Drive

START

Command

O:011

This rung allows the user to Jog the drive.

User

JOG

Input

N7:0

Drive

JOG

Command

O:011

This rung allows the user to clear any faults present in the drive.

User

CLEAR FAULTS

Input

N7:0

This rung moves the Reference from the User Operator Station to the Block Transfer Write file where it is moved to the drive by Block Transfer.

Drive

CLEAR FAULTS

Command

O:011

Move

Source N7:1

10000<

Dest N10:0

10000<

0005

0006

0007

This rung moves the READY status bit from the drive to the user display.

Drive

READY

Status

I:011

This rung moves the RUNNING status bit from the drive to the user display.

Drive

RUNNING

Status

I:011

This rung moves the AT SPEED status bit from the drive to the user display.

Drive

AT SPEED

Status

I:011

This rung moves the drive Feedback word from the Block Transfer Read file to the User Operator Station.

0008

User

DRIVE READY

Status

N7:10

User

DRIVE RUNNING

Status

N7:10

User

DRIVE AT SPEED

Status

N7:10

Move

Source N11:0

Dest N7:11

This rung executes the file containing the I/O Block Transfer logic. See Figure 4.10, PLC Block Transfer I/O Read/Write.

0009 Jump To Subroutine

Prog File Number U:3

This rung executes the file containing the Messaging Block Transfer logic. See Figure 5.4, PLC Block Transfer Messaging.

0010 Jump To Subroutine

Prog File Number

0011

U:5

END

Using Discrete & Block Transfer I/O

4-13

Figure 4.10 PLC Block Transfer I/O (Read/Write)

0000

0001

This run executes an I/O BTR to move status information from the 20-COMM-R to the PLC. Note that this is the minimum logic needed -- a more complex system may require additional sequencing logic.

N11:0 = Feedback

N11:2 = Datalink A1 Read

BT9:0

N11:4 = Datalink A2 Read

BTR

Block Transfer Read

Module Type Generic Block Transfer

Rack 001

Group

Module

Control Block

Data File

Length

Continuous

BT9:0

N11:0

This run executes an I/O BTW to move status information from the PLC to the 20-COMM-R. Note that this is the minimum logic needed -- a more complex system may require additional sequencing logic.

N10:0 = Feedback

N10:2 = Datalink A1 Write

BT9:1

N10:4 = Datalink A2 Write

Block Transfer Write EN

Module Type Generic Block Transfer

Rack 001

Group

Module

Control Block

Data File

Length

Continuous

BT9:1

N10:0

0002

END

Refer to

4-14

Using Discrete & Block Transfer I/O

SLC Example

The SLC RIO scanner performs Block Transfers through control/status buffers that you allocate in the scanner’s M0 and M1 files. The first 10 words of each file are reserved for either control words (M0) or status words (M1). Block Transfer Read/Write data starts in word 11. Refer to the 1747-SN User Manual, publication 1747-6.6 for more information.

The following data is required for the example program.

Address Value (decimal) Description

N10:1 18 Block Transfer Write Length

N10:2

N11:1

N11:2

100

Rack 1, Group 0, Slot 0

Block Transfer Read Length

Rack 1, Group 0, Slot 0

The length of “28” words used in the COP instructions in the ladder example, reflect the 10 reserved words plus 18 words of data.

Figure 4.11 SLC Main Routine (I/O User Logic)

0000

This rung handles the logic needed to stop the drive upon the user's command. As shown, the user STOP input must be a normally closed pushbutton.

If the drive is running, pressing the STOP button will seal the stop command bit until the drive comes to a complete stop.

User

STOP

Input

N7:0

Drive

RUNNING

Status

I:1.9

Drive

STOP

Command

O:1.9

1747-SN

This rung allows the user to start the drive. Note that the drive may not start if the user briefly taps the button.

0001

User

START

Input

N7:0

0002

This rung allows the user to Jog the drive.

User

JOG

Input

N7:0

0003

This rung allows the user to clear any faults present in the drive.

User

CLEAR FAULTS

Input

N7:0

Drive

STOP

Command

O:1.9

1747-SN

Drive

START

Command

O:1.9

1747-SN

Drive

JOG

Command

O:1.9

1747-SN

Drive

CLEAR FAULTS

Command

O:1.9

1747-SN

Using Discrete & Block Transfer I/O

0004

Figure 4.11 SLC Main Routine (I/O User Logic) –

continued

This rung moves the Reference from the User Operator Station to the Block Transfer Write file where it is moved to the drive by Block Transfer.

Move

Source N7:1

30000 <

Dest N10:10

30000 <

This rung moves the READY status bit from the drive to the user display.

0005

Drive

READY

Status

I:1.9

1747-SN

This rung moves the RUNNING status bit from the drive to the user display.

0006

Drive

RUNNING

Status

I:1.9

1747-SN

This rung moves the AT SPEED status bit from the drive to the user display.

0007

Drive

AT SPEED

Status

I:1.9

1747-SN

This rung moves the drive Feedback word from the Block Transfer Read file to the Operator Station.

0008

This rung executes the I/O BTW logic. See Figure 4.12, SLC Block Transfer I/O Write.

User

DRIVE READY

Status

N7:10

User

DRIVE RUNNING

Status

N7:10

User

DRIVE AT SPEED

Status

N7:10

Move

Source N11:110

30000 <

Dest N7:11

30000 <

4-15

0009

0010

This rung executes the I/O BTR Logic. See Figure 4.13, SLC Block Transfer I/O Read.

This rung executes the messaging Block Transfer logic. See Figure 5.5, SLC Block Transfer Messaging.

0011

Jump To Subroutine

SBR File Number

Jump To Subroutine

SBR File Number

Jump To Subroutine

SBR File Number

0012

U:3

U:4

U:5

END

4-16

Using Discrete & Block Transfer I/O

0000

Figure 4.12 SLC Block Transfer I/O Write

This rung executes once each time the SLC is switched into RUN mode. It resets any BTW control bits that might be set in the RIO scanner.

First Pass

S:1

I/O BTW Control

Move

Source 0

0 <

Dest N10:0

-32768 <

0001

Copy File

Source

Dest

Length

#N10:0

#M0:1.100

This rung transfers the Block Transfer Write (BTW) status buffer from the RIO scanner to the memory in the SLC. When the BTW is complete, the data in this file will indicate if the BTW was successful or not.

I/O BTW Status

Copy File

Source

Dest

Length

#M1:1.100

#N10:100

This rung enables the BTW on the first pass through the program and re-enables it each time the BTW is completed or errors.

0002

I/O BTW DN (Done)

N10:100

I/O BTW ER (Error)

N10:100

First Pass

S:1

This rung transfers the BTW information (control and data) to the RIO scanner for execution.

N10:10 = Reference

N10:12 = Datalink A1

N10:14 = Datalink A2

0003

BT Enable

N10:0

Copy File

Source

Dest

Length

#N10:0

#M0:1.100

0004 END

Refer to

Using Discrete & Block Transfer I/O

0000

Figure 4.13 SLC Block Transfer I/O Read

This rung executes once each time the SLC is switched into RUN mode. It resets any BTR control bits that might be set in the RIO scanner.

First Pass

S:1

Move

Source 128

128 <

Dest N11:0

-32640 <

Copy File

Source

Dest

Length

#N11:0

#M0:1.200

0001

0002

This rung transfers the Block Transfer Read (BTR) status buffer from the RIO scanner to the memory in the SLC. When the BTR is complete, the data in this file will indicate if the BTR was successful or not. This file will also contain the I/O data from the drive.

N11:110 = Feedback

N11:112 = Datalink A1

N11:114 = Datalink A2

Copy File

Source

Dest

Length

#M1:1.200

#N11:100

This rung enables the BTR on the first pass through the program and re-enables it each time the BTR is completed or errors.

I/O BTR DN (Done)

N11:100

First Pass

S:1

I/O BTR ER (Error)

N11:100

This rung transfers the BTR information to the RIO scanner for execution.

I/O BTR EN (Enable)

N11:0

0003

0004

Copy File

Source

Dest

Length

#N11:0

#M0:1.200

END

Refer to

About Block Transfer Messaging

4-17

4-18

Notes:

Using Discrete & Block Transfer I/O

Chapter

5 Using Block Transfer Messaging

Chapter 5 provides information and examples for using Block Transfer to send Explicit Messages to configure and monitor a PowerFlex drive on a Remote I/O network.

Topic

Formatting Block Transfer Messages

Executing Block Transfers for Explicit Messages

Page

ATTENTION: Risk of equipment damage exists. If Block Transfer is used to send Explicit Messages that 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 Block Transfer to send Explicit Messages to write parameter data to NVS. Datalinks do not write to NVS and should be used for frequently changed parameters.

About Block Transfer Messaging

Block Transfer messaging is used to transfer data to the drive. The size of Block Transfer messages to the Remote I/O adapter determines their purpose.

Words Type

18 or fewer I/O

20, 30, or 60 Explicit

Other

Used for

Reference/Feedback and Datalinks

Configuring and monitoring data

Not Recognized Do not use or an error will result.

Refer to

Chapter 4

Chapter 5

5-2

Using Block Transfer Messaging

Block Transfer I/O

For information about Block Transfer I/O messages, refer to

Chapter 4

Using Discrete & Block Transfer I/O .

One Block Transfer request is processed per Remote I/O rack scan, but multiple requests to a rack can be initiated. You can use Block Transfer

Read messages to gather input and status data from the adapter and

Block Transfer Write messages to send output and configuration data to the adapter and connected drive.

Formatting Block Transfer Messages

Using Block Transfer to Initiate Explicit Messages

Figure 5.1 Explicit Message Format

Block Transfer Write

Word 0

Word 1

Word 2

Word 3

Word 4

Word 5

Word 6

…

Word 19

(20 word

BTW length)

- OR -

Word 29

(30 word

BTW length)

- OR -

Word 59

(60 word

BTW length)

Bit 15

0x00

DPI Port

0x00

CIP Class

CIP Instance

CIP Attribute

Data or Padding

Length

0x81

CIP Service

Block Transfer Read

0x00 Length

Status Type Status Size

Status Information

Data or Padding

Most Significant Byte = bits 15 – 8

Least Significant Byte = bits 7 – 0

Refer to page

5-3 for a description of each word in a Block Transfer

Write used for initiating Explicit Messages.

Using Block Transfer Messaging

Refer to page

5-4 for a description of each word in a Block Transfer

Read used for receiving an Explicit Message response.

5-3

Block Transfer Write Structure

For Sending Block Transfer Messages

Data Field Description

Word 0

Length

The least significant byte contains the length of the Explicit Message. The most significant byte is always zero. This is the length of the actual message in bytes, not the size of the BTW in words.

Word 1

Word 2

Word 3

Word 4

Word 5

Word 6 – 19

Word 6 – 29

Word 6 – 59

C-11 –

C-15 .

0x81 and DPI Port

The least significant byte contains the value 0x81. The most significant byte is the DPI port. For PowerFlex drives, you can access:

0 - Drive

1 - Device at Port 1 (HIM)

2 - Device at Port 2

3 - Device at Port 3

4 - Device at Port 4

5 - Device at Port 5 (adapter)

6 - Device at Port 6

CIP Service

The least significant byte contains a CIP service. The most significant byte is always zero (0). CIP services include the following:

0x0E - Get Attribute Single

0x10 Set Attribute Single

0x4B - Get Attributes Scattered

0x4C - Set Attributes Scattered

CIP Class

Refer to

Appendix C , CIP Objects

, for a list of classes.

CIP Instance

Refer to

Appendix C , CIP Objects

, for an instances in each class.

CIP Attribute

Refer to

Appendix C , CIP Objects

, for a list of attributes in each class.

Data or Padding

Data required for the message. The message must be either 20 words, 30 words, or

60 words. If it is not, pad the message with zeros.

5-4

Using Block Transfer Messaging

Data Field

Word 0

Word 1

Word 2

Word 3 – 19

Word 2 – 29

Word 2 – 59

Block Transfer Read Structure

For Receiving Block Transfer Messages

Description

Length

The least significant byte contains the length of the actual Explicit Message in bytes.

The most significant byte is always zero.

Status Size and Status Type

If an error occurred during the Explicit Message, the least significant byte will contain the size of the status information and the most significant byte will contain the type of status (1 = DPI, 2 = CIP) information.

If the Explicit Message completed without an error occurring, both of these bytes will have values of zero.

0x00

0x01

0x02

Message successful

DPI error

CIP error

Status Information

The least significant byte will contain the status information:

CIP

0x00

0x0E

0x08

0x16

0x14

0x09

0x10

0x13

0x15

DPI

0x00

0x01

0x02

0x03

0x04

0x05

0x06

0x07

0x08

0x09

0x0A

0x0B

0x0C

Message is successful.

Service is not supported.

Service is not valid.

Class is not supported.

Instance is not supported.

Attribute is not supported.

Data value is out of range for the attribute.

The object is not in a correct state for the service. For example, certain attributes cannot be set while the drive is running.

Not enough data was provided for the message.

Too much data was provided for the message.

Router message error.

Resource unavailable.

Transport Error.

Data or Padding

This is the Explicit Message response data.

Using Block Transfer Messaging

5-5

Executing Block Transfers for Explicit Messages

1. Enter data into the program.

Data must be entered into a data file for a program to run. The data file that is used depends on your controller and application.

2. Run the program.

When executing a Block Transfer message, the program must monitor the Block Transfer Status word (word 0) in the Discrete I/O

Image. Its bits are defined as follows:

Bits

0 – 7

Name and Description

Node Adapter Chip

These bits are used by the node adapter chip to communicate with the master on the network. The master application should not use these bits.

DATA_VALID

0 = Data from the drive is not valid.

1 = Data from the drive is valid.

Message Block Transfer Write Available

0 = Not ready

1 = Ready to receive a Block Transfer write.

Message Block Transfer Read Available

0 = Not ready

1 = Data is available for a Block Transfer read.

Message Block Transfer Error

0 = Block Transfer message succeeded.

1 = Block Transfer message failed.

12 – 15

Reserved

Do not use.

Figure 5.2

illustrates the events of a successful Block Transfer.

Figure 5.2 Block Transfer Time line

Bit 11

Bit 10

Bit 9

Bit 8

Events

➊ ➋ ➌ ➍

5-6

Using Block Transfer Messaging

The following table describes the main events and what a program should be monitoring when performing Block Transfer messaging.

➊

➋

➌

➍

Event Description

BTW Request Before initiating a Block Transfer message, bit 8 must be 1.

This setting indicates that the adapter and drive are communicating, so a Block Transfer message will reach the drive.

BTW Data At the Adapter

BTW

Complete

Before initiating a Block Transfer Write message, bit 9 must be 1. This setting indicates that a Block Transfer Write can be executed.

Because only one Block Transfer message can be active at a time, Bit 9 is set to 0 when the Block Transfer Write begins. It and Bit 10 remain at zero while the Block Transfer is being processed.

When the Block Transfer is complete, bit 9 and bit 10 are set to 1. This setting indicates that the program can perform either a Block Transfer Read or a Block Transfer Write.

Bit 11 remains at 0 if messaging is successful. If an error occurs, it would be set to 1.

BTR Request Before initiating a Block Transfer Read message, bit 10 must be set to 1. This setting indicates that data is available to read. When the message is executed, bits 9 & 10 are set to 0 because only one Block Transfer can be active at a time.

3. Receive data from the program.

After the program with Block Transfer messages has been run, the results can be seen in a data file. The data file that is used depends on your controller and application.

Example Programs

The example ladder logic programs (

Figure 5.3

–

Figure 5.5

) can be used to demonstrate how Block Transfer can be used to send Explicit

Messages from a ControlLogix, PLC, or SLC controller, respectively.

Block Transfer messaging is used to read or write a parameter value from the PowerFlex 70 drive at Rack 1, Group 0, Slot 0.

These example ladder programs are continuations of the Discrete &

Block Transfer I/O example ladder programs in

Chapter 4 . The “Main

Routine” ladder logic performs Jump to Subroutines (JSR’s) to these examples.

Using Block Transfer Messaging

5-7

ControlLogix Example

Data Format for a Read and Write Parameter

The data in this example is for a PowerFlex 70 drive at Remote I/O rack.

This set of arrays shows a read of drive parameter 1, [Output Freq]. The value of parameter 1 is 213 (21.3 Hz).

MsgBlockTransferWrite (Request Data) for Read of Drive Parameter 1 (hex)

Int Address Value (hex) Description

Offset 0

Offset 1

000A

0081

Length of Message = 10 bytes (A hex)

Required Setting

Offset 2

Offset 3

Offset 4

Offset 5

000E

0093

0001

0009

Service = Get_Attribute_Single

Class = 93 DPI Parameter Object

Instance = Parameter 1 (1 hex)

Attribute = 09 DPI Parameter Value

Refer to . . .

MsgBlockTransferRead (Response Data) for Read of Drive Parameter 1 (hex)

Int Address Value (hex) Description

Offset 0 0004 Length of Message = 4 bytes

Offset 1

Offset 2

0000

The Message was Successful

Offset 3 00D5 Response Data = 213 (D5 hex) = 21.3 Hz.

Refer to . . .

This set of data files shows a write of drive parameter 41 [Motor NP

Volts]. The value written is 2300 (230.0V AC).

MsgBlockTransferWrite (Request Data) for Write of Drive Parameter 41 (hex)

Int Address Value (hex) Description

Offset 0 000C Length of Message = 12 bytes (C hex)

Offset 1

Offset 2

0081

0010

Required Setting

Service = Set_Attribute_Single

Offset 3

Offset 4

Offset 5

Offset 6

0093

0029

0009

08FC

Class = 93 DPI Parameter Object

Instance = Parameter 41 (29 hex)

Attribute = 09 DPI Parameter Value

Data = 2300 (8FC hex) = 230.0V AC

Refer to . . .

MsgBlockTransferRead (Response Data) for Write of Drive Parameter 41 (hex)

Int Address Value (hex) Description

Offset 0

Offset 1

Offset 2

0002

0000

Length of Message = 2 bytes

The Message was Successful

Refer to . . .

Formatting Block Transfer Messages on page 5-2 for more

5-8

Using Block Transfer Messaging

Refer to

information on block transfer messages.

Program

Figure 5.3 ControlLogix Block Transfer Messaging

Make a local copy of the block transfer status word to avoid it changing mid-scan.

COP

Copy File

Source The20CommR:I.Data[0]

Dest BlockTransferStatus

Length 1

When the user enables the SendMessageRequest tag, start the message logic.

SendMessageRequest SendMessageRequestOneShot

ONS

PerformMessagingRequest

MessagingRequestError

When requested (and the 20-COMM-R is ready), send the messaging request to the drive.

PerformMessagingRequest BlockTransferStatus.9

BlockTransferStatus.10

MSG

Type - Block Transfer Write

Message Control MsgBlockTransferWrite ...

Pick up the messaging response from the drive.

PerformMessagingRequest BlockTransferStatus.10

MSG

Type - Block Transfer Read

Message Control MsgBlockTransferRead ...

Once the response is complete, end the messaging transaction.

PerformMessagingRequest MsgBlockTransferRead.DN

If a messaging error occurs, end the transaction and indicate the error.

PerformMessagingRequest BlockTransferStatus.11

PerformMessagingRequest

MessagingRequestError

PerformMessagingRequest

(End)

Using Block Transfer Messaging

5-9

Tag Name Type

SendMessageRequest BOOL

SendMessageRequestOneShot BOOL

PerformingMessagingRequest

MessagingRequestError

The20CommR:I

MsgBlockTransferWrite

MsgBlockTransferRead

BOOL

AB:RIO_4IOGROUP:I:0

MESSAGE

5-10

Using Block Transfer Messaging

PLC Example

Block Transfer Data files for PLC-5 Example Program

This set of data files shows a read of drive parameter 1, [Output Freq].

The value of parameter 1 is 213 (21.3 Hz).

Request Data (BTW) for Read of Drive Parameter 1 (hex)

Address Value (hex) Description

N12:0

N12:1

000A

0081

Length of Message = 10 bytes (A hex)

Required Setting

N12:2

N12:3

N12:4

N12:5

000E

0093

0001

0009

Service = Get_Attribute_Single

Class = 93 DPI Parameter Object

Instance = Parameter 1 (1 hex)

Attribute = 09 DPI Parameter Value

Request Data (BTW) for Write of Drive Parameter 41 (hex)

Address Value (hex) Description

N12:0 000C Length of Message = 12 bytes (C hex)

N12:1

N12:2

0081

0010

Required Setting

Service = Set_Attribute_Single

N12:3

N12:4

N12:5

N12:6

0093

0029

0009

08FC

Class = 93 DPI Parameter Object

Instance = Parameter 41 (29 hex)

Attribute = 09 DPI Parameter Value

Data = 2300 (8FC hex) = 230.0V AC

Refer to . . .

Response Data (BTR) for Read of Drive Parameter 1 (hex)

Address Value (hex) Description

N13:0 0004 Length of Message = 4 bytes

N13:1

N13:2

0000

The Message was Successful

N13:3 00D5 Response Data = 213 (D5 hex) = 21.3 Hz.

Refer to . . .

This set of data files shows a write of drive parameter 41 [Motor NP

Volts]. The value written is 2300 (230.0V AC).

Refer to . . .

Response Data (BTR) for Write of Drive Parameter 41 (hex)

Address Value (hex) Description

N13:0

N13:1

N13:2

0002

0000

Length of Message = 2 bytes

The Message was Successful

Refer to . . .

Formatting Block Transfer Messages on page 5-2 for more

Refer to

information on block transfer messages.

Using Block Transfer Messaging

5-11

Ladder Logic Program

Figure 5.4 PLC-5 Block Transfer Messaging

0000

0001

The user initiates a messaging transaction by setting the User Execute Message Input bit true. This causes one messaging BTW to be sent to the 20-COMM-R.

User

EXECUTE MESSAGE

Input

N7:2

B3:0

ONS

This rung causes one messaging BTW to execute when the 20-COMM-R is ready to receive a Messaging BTW and the user has requested the BTW.

Messaging BT Messaging BT

Execute Message

B3:0

BTW AVAILABLE

Status

I:010

BTR AVAILABLE

Status

I:010

0 11 12

Block Transfer Write

Module Type Generic Block Transfer

Rack 001

Group

Module

Control Block

Data File

Length

Continuous

BT9:2

N12:0

Execute Message

B3:0

Execute Message

B3:0

0002

This rung will wait until a BTR is available from the 20-COMM-R module and then execute a BTR.

Messaging BT

BTR AVAILABLE

Status

I:010

Block Transfer Read

Module Type Generic Block Transfer

Rack

Group

001

Module

Control Block

Data File

Length

Continuous

BT9:3

N13:0

0003 END

The word length used in the BTW and BTR must be equal to 20, 30 or

60. It must also be greater than or equal to the byte length used in Word 0 of the message, converted to words (1 word = 2 bytes).

5-12

Using Block Transfer Messaging

SLC Example

Block Transfer Data files for SLC Example Program

This set of data files shows a read of drive parameter 1, [Output Freq].

The value of parameter 1 is 213 (21.3 Hz).

Request and Control Data for Read of Drive Parameter 1 (hex)

Address Value (hex) Description

N12:10 000A Length of Message = 10 bytes (A hex)

N12:11 0081

N12:12 000E

Required Setting

Service = Get_Attribute_Single

N12:13 0093

N12:14 0001

N12:15 0009

Class = 93 DPI Parameter Object

Instance = Parameter 1 (1 hex)

Attribute = 09 DPI Parameter Value

Refer to . . .

Response and Control Data for Read of Drive Parameter 1 (hex)

Address Value (hex) Description

N13:110 0004

N13:111 0000

Length of Message = 4 bytes

The Message was Successful

N13:112 0000

N13:113 00D5 Response Data = 213 (D5 hex) = 21.3 Hz.

Refer to . . .

This set of data files shows a write of drive parameter 41 [Motor NP

Volts]. The value written is 2300 (230.0V AC).

Request and Control Data for Write of Drive Parameter 41 (hex)

Address Value (hex) Description

N12:10 000C

N12:11 0081

Length of Message = 12 bytes (C hex)

Required Setting

N12:12 0010

N12:13 0093

N12:14 0029

N12:15 0009

N12:16 08FC

Service = Set_Attribute_Single

Class = 93 DPI Parameter Object

Instance = Parameter 41 (29 hex)

Attribute = 09 DPI Parameter Value

Data = 2300 (8FC hex) = 230.0V AC

Refer to . . .

Response and Control Data for Write of Drive Parameter 41 (hex)

Address Value (hex) Description

N13:110 0002 Length of Message = 2 bytes

N13:111 0000

N13:112 0000

The Message was Successful

Refer to . . .

Formatting Block Transfer Messages on page 5-2 for more

Using Block Transfer Messaging

Block Transfers are handled differently in the SLC and require the following data for the example program.

Address Value (decimal)

N12:1

N12:2

100

N13:1

N13:2

100

Description

Block Transfer Write Length

Rack 1, Group 0, Slot 0

Block Transfer Read Length

Rack 1, Group 0, Slot 0

Refer to

information on block transfer messages.

5-13

5-14

Using Block Transfer Messaging

Program

Figure 5.5 SLC Block Transfer Messaging

0000

This rung executes once each time the SLC is switched into RUN mode. It resets any BTW control bits that might be set in the RIO scanner.

First Pass

S:1

Move

Source 0

0 <

Dest N12:0

0 <

Copy File

Source

Dest

Length

#N12:0

#M0:1.300

0001

Copy File

Source

Dest

Length

#M1:1.300

#N12:100

0002

This rung enables the messaging BTW.

User

ENABLE MESSAGE

Input

N7:2

B3:0

OSR

Message

ENABLE

Bit

B3:0

0003

This rung enables a single BTW and then turns off the Message ENABLE bit.

Message

ENABLE

Bit

B3:0

Message

BT Write

Available

I:1.8

Message

BT Read

Available

I:1.8

1747-SN

0004

This rung transfers the BTW information to the RIO scanner for execution.

Message BTW

BT EN (Enable)

N12:0

Message

ENABLE

Bit

B3:0

Copy File

Source

Dest

Length

#N12:0

#M0:1.300

Using Block Transfer Messaging

Figure 5.5 SLC Block Transfer Messaging Example

(continued)

0005

This rung executes once each time the SLC is switched into RUN mode. It resets any BTR control bits that might be set in the RIO scanner.

First Pass

S:1

Move

Source 128

128 <

Dest N13:0

128 <

Copy File

Source

Dest

Length

#N13:0

#M0:1.400

0006

Copy File

Source

Dest

Length

#M1:1.400

#N13:100

This rung will wait until a BTR is available from the 20-COMM-R module and then execute a BTR.

Message

BT Read

Available

I:1.8

0007

1747-SN

0008

0009

When the BTR is completed, this rung will disable the BTR.

Message BTR

BT DN (Done)

N13:100

This rung transfers the BTR information to the RIO scanner for execution.

Message BTR

BT EN (Enable)

N13:0

Message BTW

BT EN (Enable)

N12:0

Message BTR

BT EN (Enable)

N13:0

Copy File

Source

Dest

Length

#N13:0

#M0:1.400

0010

END

5-15

5-16

Notes:

Using Block Transfer Messaging

Chapter

6 Troubleshooting

Chapter 6 contains troubleshooting information.

Topic Page

Locating the Status Indicators 6-1

PORT Status Indicator

MOD Status Indicator

6-2

Topic

NET A Status Indicator

Module Diagnostic Items

Viewing and Clearing Events

Page

6-3

6-4

6-6

Locating the Status Indicators

The adapter has three status indicators. They can be viewed on the adapter or through the drive cover. See

Figure 6.1

Figure 6.1 Status Indicators (location on drive may vary)

➊

➋

➌

PWR

STS

PORT

MOD

NET A

NET B

➊

➋

➌

➍

Number Status Indicator Description

➊

➋

➌

➍

PORT

MOD

NET A

NET B

DPI Connection Status

Adapter Status

Remote I/O Status

Not Used for Remote I/O

Page

6-2

6-3

6-2

Troubleshooting

PORT Status Indicator

Status Cause

Off

Flashing

Red

The adapter is not powered or is not connected properly to the drive.

The adapter is not receiving a ping message from the drive.

Solid

Red

The drive has refused an

I/O connection from the adapter.

Corrective Action

• Securely connect the adapter to the drive using the ribbon cable.

• Apply power to the drive.

• Verify that cables are securely connected.

• Cycle power to the drive.

Another DPI peripheral is using the same DPI port as the adapter.

Orange The adapter is connected to a product that does not support Allen-Bradley DPI communications.

Flashing

Green

Solid

Green

The adapter is establishing an I/O connection to the drive or [DPI I/O Config] is configured for all I/O disabled.

The adapter is properly connected and is communicating with the drive.

Important: Cycle power to the product 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.

• Connect the adapter to a product that supports

Allen-Bradley DPI communications (for example,

PowerFlex drives).

• No Action. This status indicator will turn solid green or red.

• Verify parameter 12, [DPI I/O Config] settings.

• Normal behavior if no DPI I/O is enabled.

• No Action.

MOD Status Indicator

Status Cause

Off

Flashing

Red

Corrective Action

The adapter is not powered.

• Securely connect the adapter to the drive using the ribbon cable.

• Apply power to the drive.

The adapter has failed the firmware test or the node address switch setting is invalid.

• Verify that the rack address switch setting is between 0 and 77.

• 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 module.

• If resetting defaults does not correct the problem, flash the adapter with the latest firmware release.

Solid

Red

Flashing

Green

Solid

Green

The adapter has failed the hardware test.

The adapter is operational, but is not transferring I/O data.

The adapter is operational and transferring I/O data.

• 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.

• Configure the adapter for the program in the controller.

• Normal behavior if no DPI I/O is enabled.

• No Action.

Troubleshooting

6-3

NET A Status Indicator

Status Cause

Off The adapter is not powered or is not connected properly to the Remote I/O network.

Flashing

Green

Solid

Green

The adapter is properly connected but is not transferring I/O over the

Remote I/O network.

The adapter is properly connected and is communicating with the scanner on the network.

Corrective Actions

• Securely connect the adapter to the drive using the ribbon cable and to the Remote I/O network using a Remote I/O cable.

• Correctly connect the Remote I/O cable to the 3-pin Remote I/O plug.

• Configure the adapter to use the baud rate at which the network is operating.

• Configure the adapter to use a unique rack address on the Remote I/O network.

• Apply power to the drive.

• Apply power to the controller.

• Verify that the scanner is in RUN mode.

• Verify that the scanner is using the correct rack size for the adapter.

• Verify that the adapter is configured for the correct rack size.

• No action required.

6-4

Troubleshooting

Module Diagnostic Items

The following diagnostic items can be accessed using DriveExplorer

(version 2.01 or higher) or the LCD HIM (version 2.001 or higher).

No. Name Description

1 Common Logic

Cmd

Current value of the Common Logic Command being transmitted to the host by this peripheral.

If this diagnostic item is any value other than 1, the values of items 7 through

14 (Datalink A1 In - Datalink D2 In), are not actually being transferred to the host.

2 Prod Logic Cmd Current value of the Product Specific Logic Command being transmitted to the host by this peripheral.

3 Reference Current value of the Product Specific Reference being transmitted to the host by this peripheral.

4 Common Logic

Sts

Current value of the Common Logic Status being received from the host by this peripheral.

5 Prod Logic Sts Current value of the Product Specific Logic Status being received from the host by this peripheral.

6 Feedback Current value of the Product Specific Feedback being received from the host by this peripheral.

7 Datalink A1 In Current value of Datalink A1 In being transmitted to the host by this peripheral

(if not using Datalink A1, this parameter should have a value of zero).

8 Datalink A2 In Current value of Datalink A2 In being transmitted to the host by this peripheral

(if not using Datalink A2, this parameter should have a value of zero).

9 Datalink B1 In Current value of Datalink B1 In being transmitted to the host by this peripheral

(if not using Datalink B1, this parameter should have a value of zero).

10 Datalink B2 In Current value of Datalink B2 In being transmitted to the host by this peripheral

(if not using Datalink B2, this parameter should have a value of zero).

11 Datalink C1 In Current value of Datalink C1 In being transmitted to the host by this peripheral

(if not using Datalink C1, this parameter should have a value of zero).

12 Datalink C2 In Current value of Datalink C2 In being transmitted to the host by this peripheral

(if not using Datalink C2, this parameter should have a value of zero).

13 Datalink D1 In Current value of Datalink D1 In being transmitted to the host by this peripheral

(if not using Datalink D1, this parameter should have a value of zero).

14 Datalink D2 In Current value of Datalink D2 In being transmitted to the host by this peripheral

(if not using Datalink D2, this parameter should have a value of zero).

15 Datalink A1 Out Current value of Datalink A1 being received from the host by this peripheral.

16 Datalink A2 Out Current value of Datalink A2 being received from the host by this peripheral.

17 Datalink B1 Out Current value of Datalink B1 being received from the host by this peripheral.

18 Datalink B2 Out Current value of Datalink B2 being received from the host by this peripheral.

19 Datalink C1 Out Current value of Datalink C1 being received from the host by this peripheral.

20 Datalink C2 Out Current value of Datalink C2 being received from the host by this peripheral.

21 Datalink D1 Out Current value of Datalink D1 being received from the host by this peripheral.

22 Datalink D2 Out Current value of Datalink D2 being received from the host by this peripheral.

23 Field Flash Cnt Current value of the Field Flash Counter.

24 DPI Rx Errors Current value of the DPI CAN Transmit Error Counter register.

25 DPI Tx Errors Maximum value of the DPI CAN Transmit Error Counter register.

26 Reserved

Troubleshooting

No. Name

27 Reserved

28 DIP Switch 0

Description

29 Rack Address

Switch

Active DIP switch states:

Bit 0 DIP SW 1 state

Bit 1 DIP SW 2 state

Bit 2 DIP SW 3 state

0 = open (off), 1 = closed (on)

Bit 3 DIP SW 4 state

Bit 4 DIP SW 5 state

0 = open (off), 1 = closed (on)

Bit 5 DIP SW 6 state 0 = open (off), 1 = closed (on)

Note: Bit 5 always = 0 since SW6 is not connected.

Bit 6 DIP SW 7 state

Bit 7 DIP SW 8 state

0 = open (off), 1 = closed (on)

DIP switch changes do not become active until the next time the module is reset.

The current setting of the Rack Address rotary switch.

6-5

6-6

Troubleshooting

Viewing and Clearing Events

The Remote I/O 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 DriveTools

2000 (1.01 or higher) software.

Viewing and Clearing Events

Step

Viewing Events

Access parameters in the

Adapter. Refer to

Using the

PowerFlex HIM

Chapter 3 .

Press the Up Arrow or Down

Arrow to scroll to Diagnostics.

Press Enter to display the

Diagnostics menu in the adapter.

Keys

Repeat steps 2 and 3 to enter the

Events option and then View

Event Queue option.

Press the Up Arrow or Down

Arrow to scroll through the events.

The most recent event is Event 1.

Clearing Events

Access parameters in the

Adapter. Refer to

Using the

PowerFlex HIM

Chapter 3 .

Press the Up Arrow or Down

Arrow to scroll to Diagnostics.

Press Enter to display the

Diagnostics menu in the adapter.

Repeat steps 2 and 3 to enter the

Events option and then the Clr

Event option or Clear Event

Queue option. A message will pop up to confirm that you want to clear the event or queue.

Press Enter to clear all events out of the event queue. All event queue entries will then display “No

Event.”

Example Screen

Main Menu:

Diagnostics

Parameter

Device Select

EvntQ#01: E#08

Online at 125kbps

00:00:30

Diag: Events

View Queue

Clear Event

Clear Event Queue

Troubleshooting

6-7

Events

Many events in the Event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Allen-Bradley personnel troubleshoot the problem. The following events may appear in the event queue:

Code Event

1 No Event

2 DPI Bus Off Flt

Description

Empty event queue entry.

A bus-off condition was detected on DPI. This event may be caused by loose or broken cables or by noise.

A ping message was not received on DPI within the specified time.

Ping Time Flt

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 The DPI product issued this because it was reset.

EEPROM Sum Flt The EEPROM in the adapter is corrupt.

Online @ 125kbps The adapter and DPI product are communicating at 125kbps.

Online @ 500kBps The adapter and DPI product are communicating at 500kbps.

Bad Host Flt

Dup. Port Flt

Type 0 Login

Type 0 Time Flt

DL Login

DL Reject Flt

The adapter was connected to an incompatible product.

Another peripheral with the same port number is already in use.

The adapter has logged in for type 0 control.

The adapter has not received a type 0 status message within the specified time.

The adapter has logged into a Datalink.

The host rejected an attempt to log in to a Datalink because the

Datalink is not supported or is used by another peripheral.

DL Time Flt

Control Disabled

The adapter has not received a Datalink message within the specified time.

The adapter has sent a “Soft Control Disable” command to the DPI product.

18 Control Enabled The adapter has sent a “Soft Control Enable” command to the DPI product.

Reserved

Normal Startup The adapter successfully started up.

Message Timeout A Client-Server message sent by the peripheral was not completed.

DPI Fault Msg

23-27 Reserved

The DPI Host has faulted.

The DPI product issued this because a fault was cleared.

DPI Fault Clear

Reserved

NET Comm Flt

NET Sent Reset

NET Idle Flt

NET Timeout Flt

Flt Cfg Error

Reserved

The adapter detected a fault condition on the network.

The controller issued a reset command to the adapter.

The adapter detected an idle condition on the network.

The adapter detected a timeout on the network.

Fault configuration error.

Manual Reset The module was reset by the user.

Language CRC Bad The language text memory segment is corrupt.

6-8

Notes:

Troubleshooting

Appendix

A

Specifications

Appendix A provides the specifications for the Remote I/O adapter.

Topic

Page

Topic Page

Regulatory Compliance A-2

Communications

Network

Protocol

Network Baud Rate

Drive

Protocol

Data Rates

Allen-Bradley Remote I/O

57.6K, 115.2K, 230.4K

Available baud rates depend on the length of the Remote I/O cable. Refer to

Selecting

Remote I/O Cables in Chapter 2 for more

information.

DPI

125K, 500K

Electrical

Consumption 250 mA at 5 V supplied through the drive.

All power is received via the connected drive.

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 atmosphere.

Regulatory Compliance

(1)

EN61800-3

(1)

The PowerFlex 70 passes Second Environment/Industrial. If First

Environment/Restricted is needed for radiated emissions, then a ferrite core

(Fair-Rite PN 2643102002 or equivalent) must be added to the Remote I/O cable. The PowerFlex 700 passes First and Second Environment without the ferrite core.

Appendix

B

Adapter Parameters

Appendix B provides information about the Remote I/O adapter parameters.

Parameter List

Parameter

No Name and Description

[DPI Port]

Port to which the adapter is connected. This will usually be port 5.

[DPI Data Rate]

Data rate used by the PowerFlex drive. This data rate is set using a parameter in the drive, and the adapter autobauds to it.

[RIO Addr Cfg]

Remote I/O rack address (displayed as a decimal value) if hardware switches have been disabled.

The hardware switches are disabled by setting DIP switches 7 and 8 to On.

[RIO Addr Actual]

Remote I/O rack address (displayed as a decimal value) actually used by the adapter.

Details

Default:

Minimum:

Maximum:

Type:

Read Only

Default:

Values:

Type:

0 = 125 kbps

1 = 500 kbps

Read Only

Default:

Minimum:

Maximum:

Type:

63 decimal

Read/Write

Reset Required: Yes

[RIO Rate Cfg]

Remote I/O baud rate if the hardware switches have been disabled. The hardware switches are disabled by setting DIP switches 7 and 8 to On.

[RIO Rate Actual]

Remote I/O baud rate actually used by the adapter.

[Ref/Fdbk Size]

Size of the Reference/Feedback. The PowerFlex drive determines the size of the Reference/

Feedback.

[Datalink Size]

Size of each Datalink word. The PowerFlex drive determines the size of Datalinks.

Default:

Minimum:

Maximum:

Type:

63 decimal

Read Only

Default:

Values:

0 = 57.6 K Baud

1 = 115.2 K Baud

2 = 230.4 K Baud

Type: Read/Write

Reset Required: Yes

Default:

Values:

Type:

Default:

Value:

Type:

Default:

Values:

Type:

0 = 57.6 K Baud

1 = 115.2 K Baud

2 = 230.4 K Baud

Read Only

0 = 16-bit

1 = 32-bit

Read Only

0 = 16-bit

1 = 32-bit

Read Only

B-2

Adapter Parameters

Parameter

No Name and Description

[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 a “Reset Module” command or “Set

Defaults” command has been performed.

Details

Default:

Values

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.

[Comm Flt Action]

Action that the adapter and PowerFlex drive take if the adapter detects that Remote I/O 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

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 hazard of injury or equipment damage.

[Idle Flt Action]

Action that the adapter and drive take if the adapter detects that the controller is idle because it was switched to program mode. This setting is effective only if I/O that controls the drive is transmitted through the adapter.

Default:

Values:

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 11 - [Idle Flt

Action] lets you determine the action of the adapter and connected drive if the scanner is idle. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a hazard of injury or equipment damage.

Adapter Parameters

B-3

Parameter

No Name and Description

[DPI I/O Config]

I/O that is transferred through the adapter.

Bit

Default

7 6

x x

Details

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

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

[DPI I/O Active]

I/O that the adapter is actively transmitting. This value is the same as Parameter 12 - [DPI I/O

Config] unless the parameter was changed and the adapter was not reset.

Bit

Default

7 6

x x

[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 put into Program mode.

The bit definitions will depend on the product to which the adapter is connected.

[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 put into Program mode.

Parameter 07 - [Ref/Fdbk Size] displays whether the size of the Reference in the drive is 16-bit or

32-bit.

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:

Minimum:

Maximum:

Type:

0000 0000 0000 0000

1111 1111 1111 1111

Read/Write

Reset Required: No

Default:

Minimum:

Maximum:

Type:

4294967295

Read/Write

Reset Required: No

Important: If the drive uses a 16-bit

Reference, the most significant word of the value must be set to zero (0) or a fault will occur.

B-4

Adapter Parameters

Parameter

No Name and Description

[Flt Cfg A1]

[Flt Cfg A2]

[Flt Cfg B1]

[Flt Cfg B2]

[Flt Cfg C1]

[Flt Cfg C2]

[Flt Cfg D1]

[Flt Cfg D2]

Sets the data that is sent to the Datalink in the drive if any of the following is true:

• Parameter 11 - [Idle Flt Action] is set to Send

Flt Cfg and the scanner is put into Program mode.

• Parameter 10 - [Comm Flt Action] is set to

Send Flt Cfg and communications are disrupted.

Parameter 08 - [Datalink Size] displays whether the size of Datalinks in the drive is 16-bit or 32-bit.

[Switches]

Status of the switches. By default, switches are

“enabled,” and the adapter is configured based on their settings. If both SW 7 and SW 8 are On, switches are “disabled” and the adapter is configured with values in parameters 3, 5, 25, 26, and 27.

Details

Default:

Minimum:

Maximum:

4294967295

Type: Read/Write

Reset Required: No

Important: If the drive uses 16-bit

Datalinks, the most significant word of the value must be set to zero (0) or a fault will occur.

Default:

Values:

Type:

0 = Disabled

1 = Enabled

Read Only

[Start RIO Group]

Remote I/O starting module group if the hardware switches have been disabled. The hardware switches are disabled by setting DIP switches 7 and 8 to On.

[Last RIO Rack]

Last (or not last) physical group witin a rack address on a Remote I/O network if the hardware switches have been disabled. The hardware switches are disabled by setting DIP switches 7 and 8 to On. Set this parameter to 1 = Enabled to indicate that a drive is the last rack.

[Rack Size]

Rack size if the hardware switches have been disabled. The hardware switches are disabled by setting DIP switches 7 and 8 to On.

Default:

Values:

0 = Group 0

1 = Group 2

2 = Group 4

3 = Group 6 (allowed for 1/4 rack only)

Type: Read/Write

Reset Required: Yes

Default:

Values:

0 = Disabled

Type:

1 = Enabled

Read/Write

Reset Required: Yes

Default:

Values:

Type:

0 = 1/4 rack

1 = 1/2 rack

Read/Write

Reset Required: Yes

Appendix

C

CIP Objects

Appendix C presents information about the CIP (Control & Information

Protocol) Objects that can be accessed for Block Transfer messages.

For information on the format of Block Transfer messages and example

ladder logic programs, refer to Chapter 5 , Using Block Transfer

Topic

Page

CIP Services

The following CIP services work with most objects in this appendix.

Service Name

Get Attribute Single

Set Attribute Single

Service Code

Hexadecimal Decimal

0x0E 14

0x10 16

Description

Read a single attribute

Write to a single attribute

C-2

CIP Objects

Common Messages

The following table lists messages that are commonly used to view and edit information in a device. Other messages can be sent using the values within each object listed.

All values are in decimal.

Message

Device Properties

Clear Run Time Accumulator

(Value to send = 1)

Load stored values

(Value to send = 2)

Load default values

(Value to send = 3)

Read Product Family ID

Read Product Family Name

Read Real Time Clock Data

Read Reference Time Stamp Data

Read Run Time Accumulator

Read User Text String

Store values to NVS

(Value to send = 1)

Write Real Time Clock Data

Write User Text String

Parameters

Read Parameter Full

Read Parameter Value

Service Class

155

147

146

155

146

147

155

146

147

Read Scattered Parameter Value

Write Parameter Values

Write Scattered Parameter Values

Links

Clear All Links

(Value to send = 1)

Clear Parameter Link

(Value to send = 0)

Read Parameter Link

Read Scattered Parameter Links

Write Parameter LInk

Write Scattered Parameter Link

147

Instance

0 timer #

Attribute Page

Param. # 7

Param. # 9 = NVS

10 = RAM

0 0

Param # 9 = NVS

10 = RAM

0 0

C-8

0 9

Param. # 11

Param. #s 11

Param. # 11

Param. #s 11

CIP Objects

C-3

Common Messages

(Continued)

All values are in decimal.

Message

Faults/Event

Clear Fault/Event

(Value to send = 1)

Clear Fault/Event Queue

(Value to send = 2)

Read Fault/Event

Read Fault/Event Full

Read Fault/Event Queue Size

Read Number of Entries in Queue

Read Trip Fault Queue Number

Reset Device

(Value to send = 3)

Alarms

Clear Alarm

(Value to send = 1)

Clear Alarm Queue

(Value to send = 2)

Read Alarm

Read Alarm Full

Read Number of Entries in Queue

Read Alarm Queue Size

Service Class

151

152

Instance

Fault #

Attribute Page

Alarm #

C-4

CIP Objects

DPI Device Object

Class Code

Hexadecimal Decimal

0x92 146

Instances

The number of instances depends on the number of components in the device. The number of components can be read in Instance 0, Attribute

Number Description

Class Attributes (Entire Device)

Component 1

Component 2

Class Attributes

Attribute

Access

Rule

Name

Read

Only

Family Code

Data Type Description

Read

Only

Read/

Write

Read

Only

BYTE 0x00 = Communications Adapter

0x30 = PowerFlex 70

0x38 = PowerFlex 700

0x40 = PowerFlex 7000

0xFF = HIM

STRING[16] Text identifying the device.

Read

Only

Read/

Write

Read

Only

Family Text

Language Code

Product Series

Number of

Components

User Definable

Text

Status Text

BYTE

0 = English

1 = French

2 = Spanish

3 = Italian

4 = German

5 = Japanese

6 = Portuguese

7 = Mandarin Chinese

8 = Russian

9 = Dutch

1 = A

2 = B

…

Number of components (e.g., main control board, I/O boards) in the device.

STRING[16] Text identifying the device with a user-supplied name

STRING[12] Text describing the status of the drive.

CIP Objects

C-5

DPI Device Object

(Continued)

Class Attributes (Continued)

Attribute

Access

Rule

Name

Read

Only

Read

Only

Configuration

Code

Data Type

BYTE

Description

Identification of variations within a family code.

Configuration Text STRING[16] Text identifying a variation of a family device.

Brand Code WORD 0x0001 = Allen-Bradley

Read

Only

Read

Only

Read

Only

Read

Only

NVS Checksum

Class Revision

Character Set

Code

WORD

BYTE

Checksum of the Non-Volatile Storage in a device.

Revision of this object.

0 = SCANport character set

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)

Read

Only

Read

Only

Read

Only

Languages

Supported

Date of

Manufacture

STRUCT of

BYTE

BYTE[n]

STRUCT of

WORD

BYTE

Product Revision STRUCT of

BYTE

Serial Number DWORD

Number of Languages

Language Codes (See Class Attribute 2)

Year

Month

Day

Major Firmware Release

Minor Firmware Release

Value between 0x00 and 0xFFFFFFFF

128

129

130

Read

Only

Read/

Write

Read/

Write

Read

Only

Read

Only

Read

Only

Language

Selected

Customer-

Generated

Firmware

Customization

Code

Customization

Revision Number

Customization

Device Text

BYTE

STRING[36] GUID (Globally Unique Identifier) identifying customer firmware flashed into the device.

WORD

STRING[32]

0 = Default (HIM will prompt at start up)

1 = Language was selected (no prompt)

Code identifying the customized device.

Revision of the customized device.

Text identifying the customized device.

C-6

CIP Objects

DPI Device Object

(Continued)

Instance Attributes

Attribute

Access

Rule

Name

Read

Only

Read

Only

Read

Only

Read

Only

Read

Only

Read

Only

Component

Name

Component

Firmware

Revision

Data Type

STRING[32]

STRUCT of

BYTE

BYTE Component

Hardware

Change Number

First Flash Object

Instance

Number of Flash

Object Instances

Component

Serial Number

WORD

BYTE

DWORD

Description

Name of the component

Major Revision

Minor Revision

0 = Not Available

First instance in the Flash Object used for the firmware in the component

Number of instances in the flash object for this component.

Value between 0x00 and 0xFFFFFFFF

CIP Objects

C-7

DPI Parameter Object

Class Code

Hexadecimal Decimal

0x93 147

Instances

The number of instances depends on the number of parameters in the device. The number of parameters can be read in Instance 0, Attribute 0.

Number Description

0 Class Attributes

Parameter 1 Attributes

Parameter 2 Attributes

Class Attributes

Attribute

Access

Rule

Name

Read

Only

Read/

Write

Only

Number of

Instances

Write Protect

Password

NVS Command

Write

Data Type

WORD

BYTE

Read

Only

Read

Only

Read

Only

NVS Parameter

Value Checksum

NVS Link Value

Checksum

First Accessible

Parameter

WORD

Read

Only

Read

Only

Class Revision WORD

First Parameter

Processing Error

WORD

Write

Only

Link Command BYTE

Description

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.

Revision of this object.

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.)

C-8

CIP Objects

DPI Parameter Object

(Continued)

Instance Attributes

Attribute

Access

Rule

Name

Read

Only

DPI Online Read

Full

Data Type

STRUCT of

BOOL[32]

CONTAINER

(1)

CONTAINER

WORD

STRING[4]

UINT

INT

BYTE[3]

BYTE

STRING[16]

BOOL[32]

Description

Descriptor (Refer to pages C-9 –

C-10

)

Parameter value

Minimum value

Maximum value

Default value

Next parameter

Previous parameter

Units (e.g., Amp, Hz)

Multiplier

Offset

Link (source of the value) (0 = no link)

Always zero (0)

Parameter name

Descriptor (Refer to pages C-9 –

C-10

) 8

Read

Only

Read/

Write

Read/

Write

DPI Descriptor

DPI Parameter

Value

DPI RAM

Parameter Value

DPI Link

Various

Parameter value in NVS.

(3)

Parameter value in temporary memory.

11 Read/

Write

Read

Only

Read

Only

BYTE[3] Link (parameter or function block that is the source of the value) (0 = no link)

ID for help text for this parameter 12

Help Object

Instance

WORD

DPI Read Basic STRUCT of

BOOL[32]

CONTAINER

STRING[16]

STRING[4]

DPI Parameter

Name

STRING[16]

Descriptor (Refer to pages C-9 –

C-10

)

Parameter value

Minimum value

Maximum value

Default value

Parameter name

Units (e.g., Amp, Hz)

Parameter name 14

(1)

Read

Only

Read/

Write

DPI Parameter

Alias

STRING[16] Customer supplied parameter name. Only supported by PowerFlex 700S at time of publication.

Read

Only

Parameter

Processing Error

BYTE 0 = No error

1 = Value is less than the minimum

2 = Value is greater than the maximum

A CONTAINER is a 32-bit block of data that contains the data type used by a parameter value.

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 C-10 .

(3)

Do NOT continually write parameter data to NVS. Refer to the attention on page

5-1 .

CIP Objects

C-9

DPI Parameter Object

(Continued)

Descriptor Bit Definitions

Bit

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

C-10

CIP Objects

DPI Parameter Object

(Continued)

Descriptor Bit Definitions

Bit

Name

Parameter Exists

Description

Used to mark parameters that are not available to network tools.

Reserved Reserved

Formula Links Indicates the Formula Data is derived from other parameters.

A 3-bit field used to control access to parameter data.

Access Level (Bit 1)

Access Level (BIt 2)

Access Level (Bit 3)

Writable ENUM

Not a Link Source

ENUM text: 0 = Read Only, 1 = Read/Write

0 = Parameter can be a source for a link.

1 = Parameter cannot be a source for a link.

Enhanced Bit ENUM Parameter supports enhanced bit ENUMs.

Enhanced ENUM Parameter supports enhanced ENUMs.

Reserved

Formulas for Converting

Display Value = ((Internal Value + Offset) x Multiplier x Base) / (Divisor x 10)

Internal Value = ((Display Value x Divisor x 10) / (Multiplier x Base)) - Offset

Object Specific Services

Service Name Service Code

Hexadecimal Decimal

Get Attributes Scattered 0x4B

(1)

Set Attributes Scattered 0x4C

(1)

Must be directed to Instance 0 and Attribute 0.

Description

Read multiple attributes

Write to multiple attributes

CIP Objects

C-11

DPI Parameter Object

(Continued)

20 word

30 word

Format for Get_Attributes_Scattered Service

The structure shown below can get up to eighteen 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 a DPI error code.

Request (Write Data)

Word High Byte

0 0x00

Low Byte

Length (Bytes)

DPI Port #

0x00

3 Class

4 Instance

0x81

CIP Service

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

Response (Read Data)

High Byte

0x00

Low Byte

Length (Bytes)

Status Code Status Size

Status Information

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

Parameter Number

Parameter Value LSW

Parameter Value MSW

C-12

CIP Objects

DPI Parameter Object

(Continued)

60 word

Request (Write Data)

Word High Byte Low Byte

30 Parameter Number

31 Pad Word

32 Pad Word

33 Pad Word

34 Pad Word

35 Parameter Number

36 Pad Word

37 Pad Word

38 Parameter Number

39 Pad Word

40 Pad Word

41 Parameter Number

42 Pad Word

43 Pad Word

44 Parameter Number

45 Pad Word

46 Pad Word

47 Parameter Number

48 Pad Word

49 Pad Word

50 Parameter Number

51 Pad Word

52 Pad Word

53 Parameter Number

54 Pad Word

55 Pad Word

56 Parameter Number

57 Pad Word

58 Pad Word

59 Pad Word

Response (Read Data)

High Byte Low Byte

Parameter Number

Parameter Value LSW

Parameter Value MSW

Parameter Number

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

Parameter Number

Parameter Value LSW

Parameter Value MSW

Not Used

CIP Objects

C-13

DPI Parameter Object

(Continued)

The 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 001C Length = 28 bytes (1C hex)

N30:1

N30:2

0081

004B

Port = 00, 0 x 81

0 x 00, Service = Get_Attributes_Scattered

N30:3

N30:4

N30:5

N30:6

0093

0000

0001

Class = 93 (DPI Parameter Object)

Instance = Class Attributes (drive)

Attribute (not used for this service)

Parameter Number 1

N30:7

N30:8

0000

N30:9 0003

N30:10 0000

N30:11 0000

N30:12 0006

N30:13 0000

N30:14 0000

Pad Word

Parameter Number 3

Pad Word

Parameter Number 6

Pad Word

Refer to . . .

5-3

C-7

Response Data for Get_Attributes_Scattered

Address Value (hex) Description

N30:70 0014 Length = 20 bytes (14 hex)

N30:71 0000 Status Code = 00 (successful transaction)

Status Size = 00

N30:72

N30:73

N30:74

0000

0001

0258

N30:75 0000

Status Information = 0

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-14

CIP Objects

DPI Parameter Object

(Continued)

Format for Set_Attributes_Scattered Service

The structure shown below can set up to eighteen 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.

20 word

30 word

Request (Write Data)

Word High Byte

0 0x00

Low Byte

Length (Bytes)

DPI Port #

0x00

3 Class

4 Instance

0x81

CIP Service

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

Response (Read Data)

High Byte

0x00

Low Byte

Length (Bytes)

Status Code Status Size

Status Information

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

Parameter Number

Pad Word or Error Code

Pad Word

CIP Objects

C-15

DPI Parameter Object

(Continued)

60 word

Request (Write Data)

Word High Byte Low Byte

30 Parameter Number

31 Parameter Value LSW

32 Parameter Value MSW

33 Parameter Number

34 Parameter Value LSW

35 Parameter Value MSW

36 Parameter Number

37 Parameter Value LSW

38 Parameter Value MSW

39 Parameter Number

40 Parameter Value LSW

41 Parameter Value MSW

42 Parameter Number

43 Parameter Value LSW

44 Parameter Value MSW

45 Parameter Number

46 Parameter Value LSW

47 Parameter Value MSW

48 Parameter Number

49 Parameter Value LSW

50 Parameter Value MSW

51 Parameter Number

52 Parameter Value LSW

53 Parameter Value MSW

54 Parameter Number

55 Parameter Value LSW

56 Parameter Value MSW

57 Parameter Number

58 Parameter Value LSW

59 Parameter Value MSW

Response (Read Data)

High Byte Low Byte

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

Parameter Number

Pad Word or Error Code

Parameter Number

Pad Word or Error Coder

Pad Word

Not Used

C-16

CIP Objects

DPI Parameter Object

(Continued)

The 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 001C Length = 28 bytes (1C hex)

N30:1

N30:2

0081

004C

Port = 00, 0 x 81

0 x 00, Service = Set_Attributes_Scattered

N30:3

N30:4

N30:5

N30:6

0093

0000

008C

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 N30:7

N30:8

0032

0000

N30:9 008E

N30:10 0032

Parameter Number 142 (8E hex)

Value = 50 (32 hex) = 5.0 seconds

N30:11 0000

N30:12 0064

N30:13 0064

N30:14 0000

Parameter Number 100 (64 hex)

Value = 100 (64 hex) = 10.0 Hz

Response Data for Set_Attributes_Scattered

Address Value (hex) Description

N30:70 0014

N30:71 0000

Length = 20 bytes (14 hex)

Status Code = 00 (successful transaction)

N30:72 0000

N30:73 008C

N30:74 0000

Status Size = 00

Status Information = 0

Parameter Number 140 (8C hex)

No Error

N30:75 0000

N30:76 008E

N30:77 0000

N30:78 0000

N30:79 0064

N30:80 0000

N30:81 0000

Parameter Number 142 (8E hex)

No Error

Parameter Number 100 (64 hex)

No Error

Refer to . . .

5-3

C-7

Refer to . . .

Selecting Remote I/O Cables in

CIP Objects

C-17

DPI Fault Object

Class Code

Hexadecimal Decimal

0x97 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.

Number Description

Class Attributes

Most Recent Fault/Event

Second Most Recent Fault/Event

Class Attributes

Attribute

Access

Rule

Name

Read

Only

Data Type

Class Revision WORD

Read

Only

Number of

Instances

Write Fault Command

Write

WORD

BYTE

Read

Only

Read

Only

Read

Only

Read

Only

Fault Trip

Instance Read

Fault Data List

WORD

STRUCT of

BYTE

WORD[n]

WORD Number of

Recorded Faults

Fault Parameter

Reference

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

C-18

CIP Objects

DPI Fault Object

(Continued)

Instance Attributes

Attribute

Access

Rule

Name

Read

Only

Full/All

Information

1 Read

Only

Basic

Information

Data Type Description

STRUCT of

WORD

STRUCT of

BYTE

STRING[16]

STRUCT of

LWORD

BOOL[16]

WORD

CONTAINER[n]

STRUCT of

WORD

STRUCT of

BYTE

STRUCT of

LWORD

BOOL[16]

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

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

CIP Objects

C-19

DPI Alarm Object

Class Code

Hexadecimal Decimal

0x98 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 number of alarms can be read in Instance 0,

Attribute 2.

Number Description

Class Attributes

Most Recent Alarm

Second Most Recent Alarm

Class Attributes

Attribute

Access

Rule

Name

Read

Only

Data Type

Class Revision WORD

Read

Only

Number of

Instances

Write Alarm Command

Write

WORD

BYTE

Read

Only

Read

Only

Fault Data List

Number of

Recorded Alarms

STRUCT of

BYTE

WORD[n]

WORD

Description

Revision of object

Maximum number of alarms that the device can record in its queue

0 = No Operation

1 = Clear Alarm

2 = Clear Alarm Queue

3 = Reset Device

Reserved

Number of alarms in the queue. A “0” indicates the alarm queue is empty.

C-20

CIP Objects

DPI Alarm Object

(Continued)

Instance Attributes

Attribute

Access

Rule

Name

Read

Only

Full/All

Information

1 Read

Only

Basic

Information

Data Type Description

STRUCT of

WORD

STRUCT of

BYTE

STRING[16]

STRUCT of

LWORD

BOOL[16]

WORD

CONTAINER[n]

STRUCT of

WORD

STRUCT of

BYTE

STRUCT of

LWORD

BOOL[16]

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

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

CIP Objects

C-21

DPI Time Object

Class Code

Hexadecimal Decimal

0x9B 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. Number of timers can be read in Instance 0, Attribute 2.

Number Description

0 Class Attributes

1 Real Time Clock (Predefined)

(Not always supported)

Timer 1

Timer 2

Class Attributes

Attribute

Access

Rule

Read

Only

Read

Only

Read

Only

Write

Name Data Type

Class Revision WORD

Number of

Instances

First Device

Specific Timer

Time Command

Write

WORD

BYTE

Description

Revision of object

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)

C-22

CIP Objects

DPI Time Object

(Continued)

Instance Attributes

Attribute

Access

Rule

Read

Only

Name

Read Full

1 Timer Text

Data Type

STRUCT of

STRING[16]

LWORD or

STRUCT

BOOL[16]

STRING[16]

Read

Only

Read/

Write

3 Read

Only

Timer Value LWORD

-OR-

STRUCT of

WORD

BYTE

Timer

Descriptor

BOOL[16]

Description

Name of the timer

Elapsed time in milliseconds unless timer is a real time clock (See attribute 2)

See Attribute 3

Name of the timer

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

Appendix

D

Logic Command/Status Words

Appendix D provides the definitions of the Logic Command/Logic

Status words that are used for some products that can be connected to the

Remote I/O 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 and PowerFlex 700 Drives

Logic Command Word

Logic Bits

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description x Stop x Start*

0 = Not Stop

1 = Stop*

0 = Not Start

1 = Start x x x x x

Jog

Clear

Faults

0 = Not Jog

1 = Jog

0 = Not Clear Faults

1 = Clear Faults

Direction 00 = No Command

01 = Forward Command

10 = Reverse Command

11 = Hold Direction Control

Local

Control

0 = No Local Control

1 = Local Control x x x x x x x x x

MOP

Increment

0 = Not Increment

1 = Increment

Accel Rate 00 = No Command

01 = Accel Rate 1 Command

10 = Accel Rate 2 Command

11 = Hold Accel Rate

Decel Rate 00 = No Command

01 = Decel Rate 1 Command

10 = Decel Rate 2 Command

11 = Hold Decel Rate

Reference

Select

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

* A 0 = Not Stop condition (logic 0) must first be present before a 1 = Start condition will start the drive.

D-2

Logic Command/Status Words

PowerFlex 70 and PowerFlex 700 Drives

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 Ready

Active

Command

Direction

Description

0 = Not Ready

1 = Ready

0 = Not Running

1 = Running

0 = Reverse

1 = Forward x x x x Actual

Direction

Accel

Decel

Alarm

0 = Reverse

1 = Forward

0 = Not Accelerating

1 = Accelerating

0 = Not Decelerating

1 = Decelerating

0 = No Alarm

1 = Alarm x x x x x x x x x Fault 0 = No Fault

1 = Fault

At Speed 0 = Not At Reference

1 = At Reference

Local

Control

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

Reference 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

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 Remote I/O. 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-R Remote I/O adapter is an adapter that connects a

PowerFlex drive to a Remote I/O network. Adapters are also called

“cards,” “gateways,” “modules,” and “peripherals.”

B

Baud Rate

A unit of signaling speed equal to the number of discrete conditions or signal events per second. Remote I/O networks support baud rates of

57.6K, 115.2K, and 230.4K. The baud rate that you use on a network depends on cable length. Refer to

Chapter 2 for information on cables.

Block Transfer Messages

A block transfer message is a data transfer mechanism that allows transfers of large amounts of data. The 20-COMM-R Remote I/O adapter uses Block Transfer for two types of data.

Block Transfers that are 18 words or less in length are used to transfer

I/O data such as Reference/Feedback and Datalink values. These Block

Transfers are often referred to as “Block Transfer I/O.”

Block Transfers that are 20, 30 or 60 words in length are used to transfer

Explicit Messages that can access parameters and other data in a DPI device such as a PowerFlex drive. These Block Transfers are often referred to as Block Transfer Messaging. Block Transfer Messaging is often used to read and write several parameters per Explicit Message using the 'Get Attributes Scattered' and 'Set Attributes Scattered' services.

Size in Words Purpose

18 or fewer I/O

Refer To:

Chapter 4

Using Discrete & Block Transfer I/O

20, 30, or 60 Explicit Messaging

Chapter 5

Using Block Transfer Messaging

A Block Transfer Read (BTR) is initiated by the controller and contains no data. The target device sends data in response to this request.

A Block Transfer Write (BTW) is initiated by the controller and contains data for the target device. The target device only acknowledges the successful receipt of the data.

Glossary-2

C

Client/Server Network

This type of network has a server respond to client requests. For example, the Remote I/O adapter is a server of data and responds to the requests of client devices (for example, controllers).

CIP (Control and Information Protocol)

CIP is the transport and application layer protocol used by some scanners on Remote I/O networks. The control protocol is for I/O. The information protocol is for block transfer messaging (configuration, data collection, and diagnostics).

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 imple ment 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.

D

Datalinks

A Datalink is a type of mechanism used by some DPI products to transfer data to and from the controller. Datalinks allow a parameter value to be viewed or changed without using explicit block transfer messages. When enabled, each Datalink consumes either two 16-bit or two 32-bit words in both the input and output image table of the controller.

DPI

DPI is a second generation peripheral communication interface based on

CAN technology. It is used by the Allen-Bradley PowerFlex family of drives.

DPI Host

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 drive is a DPI Host.

DPI Peripheral

A device that provides an interface between DPI and a network or user.

Peripheral devices are also referred to as “adapters” and “modules.” The serial converter and PowerFlex HIM are examples of DPI peripherals.

Glossary-3

DriveExplorer Software

DriveExplorer software is a tool for monitoring and configuring

Allen-Bradley products and adapters. It can be run on computers running

Microsoft Windows 95, Windows 98, Windows NT (4.0 or higher), and

Windows CE (2.0 or higher) operating systems. Information about

DriveExplorer software and a free lite version can be accessed at http://www.ab.com/drives/driveexplorer

DriveTools Software

DriveTools 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, or Windows NT (4.0 or higher) operating systems. Information about DriveTools software is available at http://www.ab.com/drives.

F

Fault Action

A fault action determines how the adapter and connected product act when there is a communications fault (e.g., a cable is disconnected) or when the scanner is switched out of run mode.

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 14 - [Flt Cfg

Logic] through 22 - [Flt Cfg D2]). When a fault action parameter is set to use the fault configuration and a fault occurs, the data from these parameters is sent as the Command Logic, Reference, and/or

Datalink(s).

Flash Update

The process of updating firmware in the adapter. The adapter can be flash updated using the Xmodem protocol and a 1203-SSS Smart

Self-powered Serial converter (firmware 3.01 or higher).

H

HIM (Human Interface Module)

A device that can be used to configure and control a PowerFlex drive.

New HIMs (20-HIM-x) can be used to configure connected peripherals.

Glossary-4

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 network 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 messages, sometimes called “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.

The Remote I/O adapter supports two types of I/O: Discrete and Block

Transfer.

L

Last RIO Rack

The last rack switch and parameter setting will notify a controller that the adapter is the last physical device with its rack address. You must set this switch or parameter to On if a product is the last device with a specific rack address and you are using a PLC-2 controller. We recommend that you set this switch or parameter to On when you are using other controllers.

Logic Command/Logic Status

The Logic Command is used to control the PowerFlex drive (for example, 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.

N

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.”

Glossary-5

P

PowerFlex Drives

The Allen-Bradley PowerFlex family of drives includes PowerFlex 70,

700 and 7000 drives. These drives can be used for applications ranging from 0.37 kW (0.5 HP) to 3,000 kW (4,000 HP). All PowerFlex drives implement DPI, allowing them to use the 20-COMM-R RIO adapter.

This manual focuses on using the adapter with PowerFlex drives. Other products that implement DPI can also use the adapter.

R

Rack Address

Each device on a network must have a rack address that the controller with which it intends to communicate will recognize. A rack address and starting module group are used to identify each device on a Remote I/O network. Although the adapter supports rack address up to 77 Octal, not all controllers recognize all of the addresses and Remote I/O channels can support only 32 devices. Refer to your controller documentation for appropriate addresses. Rack addresses use an octal numbering convention.

Rack Size

The rack size determines the number of 16-bit words of discrete I/O that the Remote I/O adapter sends and receives. The Remote I/O adapter can be configured as 1/4 rack (two 16-bit words) or 1/2 rack (four 16-bit words). Additional I/O can be transferred using the Block Transfer I/O image.

Reference/Feedback

The Reference is used to send a Reference (for example, speed, frequency, torque) to the product. It consists of one word of input to the adapter from the network. The size of the word (either a 16-bit word or

32-bit word) is determined by the drive.

Feedback is used to monitor the speed of a product. It consists of one word of output from the adapter to the network. The size of the word

(either a 16-bit word or 32-bit word) is determined by the drive.

Glossary-6

Remote I/O Network

Remote I/O is an Allen-Bradley network interface originally designed to link remote I/O racks to PLCs over appropriate cables (“Blue-Hose”).

Remote I/O supports remote, time-critical control communications between a client controller and a server devices such as a Remote I/O adapter and connected drive. A server device will accept only the packets that are addressed to it. Remote I/O also supports Block Transfer messaging. Remote I/O networks (sometimes called links) can support up to 32 devices on a channel.

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.

Starting Module Group

The starting module group is the word in a rack at which the group starts.

It depends on the rack size. This Remote I/O adapter can be configured as a 1/4 rack, which is two words, or a 1/2 rack, which is 4 words.

Adapters configured as 1/4 racks can use starting module groups 0, 2, 4, or 6. Adapters configured as 1/2 racks can use only starting module groups 0, 2, or 4.

Status Indicators

Status indicators are LEDs that are used to report the status of a device.

There are three status indicators on the converter.

X

Xmodem

Xmodem is a protocol used to transfer data across serial connections.

The Remote I/O firmware uses the Xmodem protocol when you flash update its firmware.

Z

Zero Data

When communications are disrupted (for example, a cable is disconnected), the adapter and drive can respond with zero data. Zero data results in the drive receiving zero as values for command data. If the drive was running and using the Reference from the adapter, it will stay running but at zero Reference.

Notes:

Glossary-7

Glossary-8

Notes:

Index

Numerics

20-COMM-R, refer to adapter

A

adapter

applying power to, 2-8

commissioning, 2-2

components, 1-1

configuring with parameters, 3-1

to 3-9

configuring with switches, 2-2

connecting to the drive, 2-6

connecting to the network, 2-4

definition, G-1

DPI port, 2-6

features, 1-2

grounding to drive, 2-7

installing, 2-1to 2-8

modes of operation, 1-6

mounting on drive, 2-7

resetting, 3-8

tools to configure, 3-1

troubleshooting, 6-1to 6-6

applying power to the adapter, 2-8

attentions, 1-4

B

baud rate

definition, G-1

relation to cables, 2-1

setting with a parameter,3-4

setting with switches, 2-2

viewing, 3-9

bit definitions for Logic Command/

Status word, D-1

Block Transfer I/O, 4-5

Block Transfer messages control word, 4-4

definition, G-1

Explicit format, 5-2

I/O format, 4-5

information about, 5-1

read messages, 5-4

status word, 4-4

write messages, 5-3

C

cables

and Remote I/O plug, 2-4

Internal Interface, 2-6

relation to baud rate, 2-1

Remote I/O, 2-1

catalog number, 1-1

CIP

common messages, C-2

definition, G-2

objects, C-1to C-22

services, C-1

client/server network, G-2

Comm Flt Action parameter, B-2

commissioning the adapter, 2-2

communication specifications, A-1

communications module, refer to adapter

compatible products, 1-3

components of the adapter, 1-1

configuration tools, 3-1

configuring the adapter, 3-1 to 3-10

connecting the adapter to the drive,

2-6

connecting the adapter to the

network, 2-4

Index-2

controller

ControlLogix, 4-9, 5-7

definition, G-2

PLC, 4-12, 5-9

SLC, 4-14, 5-11

ControlLogix example program for Block

Transfer Messages, 5-7

example program for I/O, 4-9

D

Datalink Size parameter, B-1

Datalinks

definition, G-2

datalinks

in Block Transfer I/O, 4-6

viewing the size, 3-9

decimal/octal numbers, 3-3

default parameter values, B-1 to B-4

dimensions, A-1

disabling switches, 2-3

discrete I/O, 4-4

DPI

adapter specifications, A-1

connector on adapter, 1-1, 2-6

connector on PowerFlex drives,

2-6

data rate, 3-9

definition, G-2 hosts, 1-3, G-2 peripheral, G-2

viewing the port, 3-9

DPI Alarm object, C-19

DPI Data Rate parameter, B-1

DPI Device object, C-4

DPI Fault object, C-17

DPI I/O Active parameter, B-3

DPI I/O Config parameter, B-3

DPI Parameter object, C-7

DPI Port parameter, B-1

DPI Time object, C-21

DriveExplorer

accessing parameters with, 3-1

definition, G-3 free lite version, G-3

drives, see DPI hosts

drives, see PowerFlex drives

DriveTools

accessing parameters with, 3-1

definition, G-3

E

EEPROM, refer to Non-Volatile

Storage (NVS)

environmental specifications, A-2

events

Explicit messages, refer to Block

Transfer messages

F

factory defaults, refer to default parameter values

fault action

definition, G-3

fault configuration

definition, G-3

Flt Cfg Logic parameter, B-3

faults, refer to events

features, 1-2

flash update, G-3

Flt Cfg Ref parameter, B-3

formatting Block Transfer messages,

5-2

G

gateway, refer to adapter

grounding the adapter, 2-7

H

HIM (Human Interface Module)

accessing events with, 6-5

accessing parameters with, 3-1

hold last

about the I/O examples, 4-8

hosts, see DPI hosts

humidity, A-2

Index-3

L

ladder logic programs about the Block Transfer

examples, 5-6

ControlLogix example, 4-9, 5-7

PLC example, 4-12, 5-9

SLC example, 4-14, 5-11

last RIO rack

setting with a parameter, 3-5

setting with switches, 2-3

Last RIO Rack parameter, B-4

LCD HIM, 3-2

LED HIM, 3-2

LEDs, refer to status indicators

Logic Command/Logic Status

logic command/logic status

in discrete I/O, 4-4

Logic Command/Status

bit definitions, D-1

I

I/O

Block Transfer, 4-5

discrete, 4-4

information about, 4-1

image, 4-2

using, 4-1 to 4-18, 5-1 to 5-14

viewing, 3-9

Idle Flt Action parameter, B-2

installing the adapter, 2-1 to 2-8

Internal Interface cables

connecting to the drive, 2-6

shipped with the adapter, 1-3

M

manual

conventions, P-2

N

NET A status indicator

locating, 6-1

normal operation, 1-6

troubleshooting with, 6-3

NET B status indicator

locating, 6-1 not used, 6-1

Non-Volatile Storage (NVS)

in drive, 4-6, 5-1

in adapter, 3-1

O

objects, C-1 to C-22

octal/decimal numbers, 3-3

operating status, 1-6

operating temperature, A-2

P

parameters

accessing, 3-1

list of, B-1 to B-4

using, 3-1 to 3-10

viewing for adapter status, 3-9

peripheral, refer to adapter

PLC example program for Block

Transfer Messages, 5-9

example program for I/O, 4-12

plugs, 2-4

PORT status indicator

locating, 6-1

normal operation, 1-6

troubleshooting with, 6-2

power consumption, A-1

PowerFlex drives

70/700 Logic Command/Status,

D-1

as compatible products, 1-3

connecting the adapter to, 2-6

powering up the adapter, 2-8

DPI ports, 2-6

HIM, 3-2

pre-installation, 2-1

Q

quick start, 1-5

R

rack address

setting with a parameter, 3-3

setting with switches, 2-2

viewing, 3-9

rack size

setting with a parameter, 3-5

setting with switches, 2-3

Rack Size parameter, B-4

Ref/Fdbk parameter, B-1

Reference/Feedback

reference/feedback

in Block Transfer I/O, 4-6

in discrete I/O, 4-4

viewing its size, 3-9

regulatory compliance, A-2

T

technical support, P-2

temperature, A-2

termination resistor, 2-5

troubleshooting the adapter, 6-1 to

6-6

U

update, see Flash update

S

safety precautions, 1-4

scanner, G-6

SLC example program for Block

Transfer Messages, 5-11

example program for I/O, 4-14

specifications, A-1

Start RIO Group parameter, B-4

starting module group

definition, G-6

setting with a parameter, 3-4

setting with switches, 2-3

status indicators

definition, G-6

locating, 6-1

normal operation, 1-6

storage temperature, A-2

W

web sites, P-1, G-3

wiring, refer to cables

X

Xmodem, G-6

Z

zero data

definition, G-6