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User Manual, Bulletin 1395 ControlNet Communication Board

1. AB0747A Chapter Objective Terminology Chapter 3 Configuration amp PLC Interfacing This chapter contains a general description of the CNA Board s features and functions It is intended to provide background information to support other procedures in this manual and help you to Configure the Drive for use with the ControlNet Adapter Board Interface the Drive with an Allen Bradley PLC Controller This chapter is not intended to be an all encompassing technical description of the CNA Board This chapter will provide a functional overview of each interface provided on the CNA board Later chapters will describe in detail how to properly connect configure and use these interfaces A brief description of terms and concepts covered in this chapter are Channel Refers to a serial communication link Configuration The process of linking sink to source parameters for the purpose of distributing data within the Drive or adapter s Fast parameters are those which are updated rapidly They are typically used for transmitting real time data to and from the Drive Fast parameter values are not stored in non volatile memory Actual armature current is an example of a fast parameter ControlNet Network A communication architecture that allows the exchange of data between Allen Bradley Company Inc products and certified third party products Port A physical location on the Drive re
2. PORTA PORT B Ji e le e f 1 1 ES E Ce F1 Lec 9 Em exl EE st ooo o o C3 o o El s o E ML oO rn 0000 N y J umn o o J5 AB0747A The 60 pin ribbon cable connector J1 located on the CNA Board See Figure 4 1 provides a means of connecting the board to the Bulletin 1395 Main Control Board port connector J6 or J7 The port connector used is determined by the port and physical location selected for installation of the CNA board Main Control board connector J6 corresponds to Port B while J7 corresponds to Port A Connect J5 pin 4 located on the CNA Board to the TE ground Fig 4 2 A ATTENTION Failure to make this TE connection may cause nuisance faults or intermittent operation Installation 4 3 Input Connections Switch Settings Connection to the Allen Bradley ControlNet network is accomplished through two fiber connector pairs Primary or Redundant located on the bottom of the CNA board Refer to Figure 4 2 The first step is to determine what channel configuration will be used The next two sections explain how to connect the ControlNet network to the Drive The CNA Adapter contains 4 DIP switches ONLY DIP SWITCH U6 is used in this application NOTE DIP Switch orientation on the CNA board is as follows CLOSED ON 1 OPEN OFF 0 On Off
3. CNA Board Fault Messages Troubleshooting 6 5 The fault messages produced by the CNA board are Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action CN 10 PLC OUT OF RUN MODE Hard PLC was switched from run mode to another mode Check PLC mode switch and I O control reset if condition persists replace adapter board CN 12 CONTROL NET COMM LOSS Soft Warning None Communication Link Broken Check connections amp cable Check that PLC is operational CN 13 CLASS 1 CLOSE Soft Warning None Scanner Device PLC closed the connection to the drive This could be due to a timeout condition or due to action initiated by the Scanner due to programming or possible error recovery Check connections amp cable Check state of the Scanner Device PLC Check programming within the PLC CN 14 CLASS 3 CLOSE Soft Warning None Device closed a messaging connection to the drive This could be due to a timeout condition or due to action initiated by the device due to programming or possible error recovery Check connections amp cable Check the state of all devices that are configured on the network to have a class 3 connection to the drive Check programming within the PLC or any other device with a class 3 connection to the drive CN 15 CLASS 1 TIMEOUT Soft Warning None
4. FS100 200 Micron Cable Assembly 200 meters 1786 FS200 200 Micron Cable Assembly 300 meters 1786 FS300 IMPORTANT Only use cables that are approved for ControlNet Applications Refer to Bulletin 1786 ControlNet documentation for details Associated Hardware The 1786 RPA module Table 4 C converts the coax cable through a CNet coax tap to up to four of the 1786 RPFS modules The 1786 RPFS X has two connectors to receive the 200 Micron cable The Drive ControlNet adapter board also has two connectors to receive the 200 Micron cable Table 4 C Module Selection Description Catalog Number ControlNet Modular Repeater Adapter 1786 RPA Short Distance Fiber Module 300 meters 1786 RPFS Note The 1786 RPA must be powered from a 24 volt power supply For additional information on repeater modules refer to the following publications 1786 2 12 ControlNet Network System Overview 1786 5 12 ControlNet Modular Repeater Short distance Fiber Module Installation Instructions 1786 5 13 ControlNet Modular Repeater Adapter Installation Instructions Publication 1395 5 37 March 1999 4 8 Installation Fiber Optic Cable Routing Publication 1395 5 37 March 1999 Special care should be taken when mounting and routing fiber optic cable to prevent damage that could degrade signal transmission You must maintain a minimum bend radius of 1 inch at all times If you cannot maintain this bend radius due to cabinet con
5. D Allen Bradley Bulletin 1395 ControlNet Communication Board Firmware Rev 1 01 Compatible with ControlNet Version 1 5 User Manual Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your local Allen Bradley Sales Office or online at http www ab com manuals gi describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will the Allen Bradley Company be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation the Allen Bradley Company cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Allen Bradley Company with respect to use of information circuits equipment or software described in this
6. NOTE You must download all five groups in order for the links to take effect Publication 1395 5 37 March 1999 3 16 Configuration amp PLC Interfacing EE Memory Recall Publication 1395 5 37 March 1999 This function takes the information stored in the Drive s EEPROM memory and places it in Drive memory ATTENTION All data that was stored in Drive memory prior to issuing the EE RECALL command will be erased when an EE RECALL takes place PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure PLC Message Write PLC Message Read Function Code Function Code 257 257 Message Length 8 bytes NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The EE Memory Recall function instructs the Drive to replace the contents of Drive memory with the values that are stored in EEPROM Any configuration links present in the Drive will also be replaced by those in EEPROM IMPORTANT This message is ignored by the Drive when it is running i e the contactor is picked up This function requires the message header only The status byte will indicate the success or failure of the request Configuration amp PLC Interfacing 3 17 EE Memory Store This function takes the infor
7. the cause must be eliminated This could indicate an incorrect or ineffective enclosure unsealed enclosure openings conduit or other or incorrect operating procedures Dirty wet or contaminated parts must be replaced unless they can be cleaned effectively by vacuuming or wiping Solid State Devices Solid state devices require little more than a periodic visual inspection Printed circuit boards should be inspected to determine whether all ribbon cables are properly seated in their connectors Board locking tabs should also be in place Necessary replacements should be made only at the PC board or plug in component level Solvents should not be used on printed circuit boards Where blowers are used air filters if supplied should be cleaned or changed periodically depending on the specific environmental conditions encountered For additional information see NEMA Standards Publication No ICS 1 1 1984 entitled Safety Guidelines for the Application Installation and Maintenance of Solid State Controls ATTENTION This drive contains ESD Electrostatic A Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference A B publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD protec
8. Block 0 0 Trend setup parameters Block 1 1 Trend data samples 0 through 33 Block 2 2 Trend data samples 34 through 66 Block 3 3 Trend data samples 67 through 99 Configuration amp PLC Interfacing 3 37 Message Operation The READ TREND FILE function is used by a PLC Controller to get information about the Drive s trend buffers This data includes both the setup information and the data samples for each buffer PLC Block Transfer Instruction Data Write Read Size In Elements 6 Refer to block information Processor Type PLC 5 PLC 5 Destination Address N40 0 5 N40 0 18 Message Structure PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Header Word 2 Word 2 Function Code Header Function Code Header 270 Word 3 Word 3 Message Length Header See Note Header 12 bytes Word 4 Word 4 See Trend See Data Number Block Definition Word 5 See Block Data Number Word 6 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Refer to the Drive instruction manual for detailed information on Trend buffer operation and use Sample Time The rate at which the monitored parameter is sampled Post Samples The number of samples taken after the trigger condition is detected Year An integer value representing the year the trigger condition was detect
9. Header Word 3 Header Word 4 NOTE Message Operation The AUTOTUNE UPDATE SYSTEM INERTIA function updates the Drives internal database with the system inertia parameter 701 and maximum achievable bandwidth Parameter 703 as calculated by the autotune firmware and provides the data to the PLC Controller Configuration amp PLC Interfacing 3 33 Autotune Tune Velocity Loop This function calculates the required velocity loop gains based on the data determined by the motor inertia test system inertia test and damping factor Parameter 702 PLC Block Transfer Instruction Data Write Read Size In Elements 4 6 Processor Type PLC 5 PLC1 5 Destination Address N40 3 N40 0 7 Message Structure PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Header Word 2 Word 2 Function Code Header Function Code Header 1037 Word 3 1037 Word 3 Message Length Header See Note Header 8 bytes Word 4 Word 4 Parameter Data 702 Word 5 Parameter Data Data Word 6 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The AUTOTUNE TUNE VELOCITY LOOP function calculates the Drives velocity loop parameters using the data determined by the motor inertia test system inertia test and the damping factor Parameter 702 Publication 1395 5 37 March 1999
10. Off Off Off On Off 9 Off Off Off Off On Off 10 Off Off Off Off On Off 11 Off Off Off Off On Off 12 Off Off Off Off On On 13 Off Off Off Off On On 14 Off Off Off Off On On 15 Off Off Off Off On On 16 Off Off Off On Off Off 17 Off Off Off On Off Off 18 Off Off Off On Off Off 19 Off Off Off On Off Off 20 Off Off Off On 21 Off Off Off On 22 Off Off Off On 23 Off Off Off On 24 Off Off Off On 25 Off Off Off On 26 Off Off Off On 27 Off Off Off On 28 Off Off Off On 29 Off Off Off On 30 Off Off Off On 31 Off Off Off On Reserved 46 Publication 1395 5 37 March 1999 Installation 4 5 Table 4 A Switch settings for Node Address U6 cont ControlNet Address 47 48 49 Switch positions 3 4 5 6 7 8 On Off On On On On On On Off Off Off Off On On Off Off Off On On On Off Off On Off On On Off Off On On On On Off On Off Off On On Off On Off On On On Off On On Off On On Off On On On On On On Off Off Off On On On Off Off On On On On Off On Off On On On Off On On On On On On Off Off On On On On Off On On On On On On Off On On On Off On On Off Off Off On Off O
11. s I O image table is used to transfer the data that the drive needs to have continuously updated ControlNet has the option for redundancy Redundancy for the entire network is determined by the configuration tool RS NetworxTM Below is a listing of the CNA features on this Adapter The board can be configured as a full I O rack only The board can be configured to ignore PLC fault conditions and continue Drive operation ATTENTION Configuring the board to ignore PLC fault conditions could lead to erratic operation and possible Drive or equipment damage The messaging mechanism can support transfer of multiple Drive parameters up to 5 in a single request A redundant feature allows the Drive to be connected to a redundant network Publication 1395 5 37 March 1999 3 4 Configuration amp PLC Interfacing General Discrete PLC Controller l O Data Transfer The CNA board does not scale or manipulate data that is transferred between the Drive and PLC Controller If data in the PLC is manipulated in units other than Drive units the data must first be converted to Drive Units before being sent to the Drive Consequently all scaling of data must be performed in the PLC To control Drive parameters the CNA parameters are linked to the Drive by using source and sink parameters Refer to the Drive Installation and Maintenance manual for details on Drive configuration links Data required by the Drive on a con
12. 3 34 Configuration amp PLC Interfacing Autotune Update Velocity Tune This function updates the Drives internal database with the velocity loop parameters calculated by the Tune Velocity Loop function and provides the data to the PLC Controller PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure Message Header Information Word 1 0 Word 2 0 Function Code Word 3 1293 Write Message Length Word 4 8 bytes PLC Message Write PLC Message Read Word 1 Header Word 2 Function Code Function Code Header 1293 1293 Word 3 Message Length See Note Header 8 bytes Word 4 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The AUTOTUNE UPDATE VELOCITY TUNE function updates the Drives internal data base with the Velocity loop Ki parameter 659 velocity loop Kp Parameter 660 and desired bandwidth Parameter 700 as calculated by the autotune firmware and provides the data to the PLC Controller in the PMR message Publication 1395 5 37 March 1999 Configuration amp PLC Interfacing 3 35 Read Trend Information This function reads the Trend information from the Drive The Trend information is broken down into three separate blocks of data Each block us
13. B gt ICN DIP Switch Use Display Power Up state of DIP Switches Parameter Type Source Program Terminal Units None Minimum Value 1 Maximum Value 99 Default Value None Description State of U6 DIP switches at power up These switches specify the ControlNet Node Address Publication 1395 5 37 March 1999 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 1395 5 37 March 1999 P N 185622 02 Supersedes September 1998 Copyright 1999 Rockwell International Corporation All rights reserved Printed in USA
14. Configuration amp PLC Interfacing 3 39 Block 2 This Block contains data samples 34 through 66 for the trend buffer specified in the PMW instruction BTR Instruction Length 38 words MSG Size in Elements 38 PLC Message Read Header Word 39 Header Word 40 Function Code Header 2 Word 41 70 Header Data Samples The data samples are Word 42 specified in Drive Units and may need to be scaled by the PLC Controller prior ed 43 to being used in the program Data Sample Data 34 Word 44 Data Sample Data 35 Word 45 Data Word x Data Sample Data 66 Word 76 Block 3 This Block contains data samples 67 through 99 for the trend buffer specified in the PMW instruction PMR Instruction Length 38 words PLC Message Read Header Word 77 Header Word 78 Function Code Header 2 See Note Header Data Samples The data samples are Word 80 specified in Drive Units and may need Data to be scaled by the PLC Controller prior Word 81 to being used in the program Word 79 Data Sample Data Word 83 70 2 Data Sample Data 67 Word 82 68 Data Sample 99 Publication 1395 5 37 March 1999 3 40 Configuration amp PLC Interfacing This Page Intentionally Blank Publication 1395 5 37 March 1999 Chapter Objective Receiving Unpacking amp Inspection Mounting Chapter 4 Installation This chapter is a detailed step by step procedure for the proper installation of the Bulletin 1395 ControlNet Adap
15. Drive timed out on scheduled control data reception from the Scanner Device PLC Check connections amp cables Check that PLC is operational Check for general errors occurring on the network Check that the network was not being re configured Publication 1395 5 37 March 1999 6 6 Troubleshooting Status LED Indications Publication 1395 5 37 March 1999 Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action Message Fault Type Cause Action CN 16 CLASS 3 TIMEOUT Soft Warning None Drive timed out on scheduled control data reception from a device Check connections amp cables Check that all devices that are configured on the network to have a class 3 connection to the drive operational Check programming within the PLC or any other device with a class 3 connection to the drive Check for general errors occurrring on the network Check that the network was not being re configured CN 17 PLUG FAILURE Hard Internal Fault detected Check version of Adapter Board for compatibility with Main board If condition persists replace adapter board CN 30 ADAPTER PROCESSOR FAULT CN 31 ADAPTER PROCESSOR FAULT CN 32 ADAPTER PROCESSOR FAULT Warning Adapter internal diagnostic malfunction Check version of Adapter Board for compatibility with Main board CN 44
16. Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the seventh word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Publication 1395 5 37 March 1999 8 12 Reference Publication 1395 5 37 March 1999 Parameter 457 A gt CnltNet Out 7 Parameter 357 B gt CntINet Out 7 Use ControlNet Output word 7 Parameter Type Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the seventh word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Parameter 550 A gt ICN Fault Select Parameter 500 B gt ICN Fault Select Use Selection for Soft Fault configuration Parameter Type Setup Program Terminal Units None Minimum Value 0 Maximum Value 255 FFh Default Value 175 AFh Description Value of in any bit position configures the fault condition to be a Soft Fault Parameter 551 A gt ICN Warn Select Parameter 501 B gt ICN Warn Select Use Selection of Warning configuration Parameter Type Setup Progra
17. Manual Organization Chapter Topics Introduction and Board Identification Hardware Con Product Description tent Hardware requirements for Inter facing 3 Configuration amp Configuring the Drive for the CNA Interfaces board and interfacing the Drive witha PLC controller Startup amp Unpacking amp Inspection mounting Installation wiring switch settings and configura tion Troubleshooting amp Maintenance Reference Diagnostics and Fault Messages Table of all CNA configuration and setup parameters Specifications Electrical Board power provided by Drive Environmental Ambient Operating Temperature Storage Temperature Relative Humidity Firmware Version Before You Begin 1 3 24VDC or 115VAC 0 to 60 C 32 to 140 F 40 to 85 C 40 to 185 F 5 to 95 non condensing 1 xx Publication 1395 5 37 March 1999 1 4 Before You Begin This Page Intentionally Blank Publication 1395 5 37 March 1999 Chapter Objective General Board Description LED Indicators Chapter 2 Introduction amp Product Description This chapter contains a description of the major hardware components of the ControlNet Adapter board It is not intended to be an all encompassing technical description of each hardware component This chapter provides information to aid service personnel in Identifing the CNA board Understanding the hardware content
18. ON ON Off Off powered up and or when a System Reset is performed If changes are made to the switch settings after one of these occurrences they will not take effect until the next power up or System Reset is performed Any illegal DIP switch settings or combinations are annunciated with a fault ATTENTION The switch settings are read by the Drive when it is When setting up the CNA board the following steps are needed 1 Determine the node address U6 2 Make physical wire connections Note Redundancy is determined by the configuration tool RS Network No switch setting or jumper is necessary when running a redundant connection from the CNA board to the PLC Figure 4 2 TE Bus Connections Network Access Primary Channel Redundant Channel Port TE Bus Publication 1395 5 37 March 1999 4 4 Installation Switch settings for Node Address switch U6 Switch positions 2 8 determine the node address of the CNA adapter Refer to Table 4 A for details Switch position 1 is reserved for the PLC Table 4 A Switch settings for Node Address U6 ControlNet Switch positions Address 2 3 4 5 6 7 8 i Off Off Off Off Off Off 2 Off Off Off Off Off Off 3 Off Off Off Off Off Off 4 Off Off Off Off Off On 5 Off Off Off Off Off On 6 Off Off Off Off Off On 7 Off Off Off Off Off On 8 Off
19. will be displayed on the Who Active screen of the PLC software It will read 1395 DRV next to the selected station PLC 5 Typed Read N10 0 999 Memory area N10 0 999 translates into a read parameter value s from the Drive Any attempts to read outside of this range will result in an error response The values 0 through 999 are interpreted by the Drive as parameter numbers For example to read the value of parameter 633 the MSG instruction would request N10 633 with a size of one element A size of 5 will read to parameters 633 through 637 PLC 5 Typed Write N10 500 999 Memory area N10 500 999 translates into a write parameter value s to the Drive Any attempts to write outside of this range will result in an error response The values 500 through 999 are interpreted by the Drive as parameter numbers For example to write a value to Preset Speed 1 parameter 633 the MSG instruction would specify N10 633 with a size of one element A size of 5 will write to parameters 633 through 637 PLC Typed Read N20 499 999 This request reads the status of the previous parameter writes N20 500 999 If a Typed Read is specified with an PLC address of N20 499 the write status of all parameters from the last TYPED WRITE request N10 xxx xxx will be OR ed together If one error has occurred during the last write operation this address will contain the parameter number where the error occurred If multiple errors occurred th
20. 106 Based on the links shown in Figure 3 2 the 16 bit input word for group 1 rack 2 in the PLC Controller is a 16 bit logic status word The bits in this 16 bit word are defined by the description for parameter 100 In addition the 16 bit input for group 2 rack 2 in the PLC Controller is a 16 bit signed Configuration amp PLC Interfacing 3 7 integer whose value corresponds to the allowable values in Drive Units for parameter 106 If the data transferred between the Drive and PLC Controller will be manipulated in the PLC Controller in units other than Drive Units the PLC Controller program must scale the information The scaled information must be based on the Drive Units definitions for the parameters in the Drive The External Vel Ref parameter 154 is in Drive units where 4096 is defined as base speed If the PLC Controller program is written in terms of feet per minute FPM then FPM must be converted to Drive Units before being sent to the Drive Figure 3 5 provides an example PLC Controller program which could be used to control the Drive Based on the configuration shown in Figure 3 4 the PLC Controller program will be transferring information to parameter 150 and 154 in the Drive Integer file N7 in the PLC is being used for Drive logic control and integer file N10 word 01 is used to store the Drive speed reference To control the logic operation of the Drive the PLC program must control the bits in the output image table wh
21. 3 6 Configuration amp PLC Interfacing Discrete PLC Controller I O Example PLC Rack 2 Output Image Table Group 0 Group 1 Group 2 Group 3 Group 4 Group 5 Grpup 6 Scheduled Group 7 Discrete Data Transfer Input Image Table Group 0 Group 1 Group 2 Group 3 Group 4 Group 5 Grpup 6 Group 7 Publication 1395 5 37 March 1999 Figure 3 4 illustrates an application where the 6 bit words for group 1 and 2 are being used by the PLC Controller program for data transfer with the Drive In this example the Drive has been configured so that the data coming into source parameter 300 is sent to Logic Cmd 1 parameter 150 Information sent to the Drive Using the 16 bit output word for group 1 of rack 2 must therefore be a 16 bit logic word where the bits are defined by the description of parameter 150 Figure 3 4 Discrete PLC Controller I O Example Control Net Scheduled Data Interface BULLETIN 1395 DRIVE Logic Cmd 1 Logic Cmd 2 Logic Cmd 3 External Vel Ref User Configurable Links Logic Status Drive Status Velocity Fdbk Arm Current Fdbk In a similar manner the External Velocity Ref parameter 154 has been linked to source parameter 301 The 16 bit output word for group 2 of rack 2 must be a 16 bit signed integer whose value corresponds to the allowable values in Drive Units for parameter 154 Information from the Drive consists of Logic Status parameter 100 and Velocity Fdbk parameter
22. 37 March 1999 3 18 Configuration amp PLC Interfacing EE Memory Initialize This function initializes the Drive s memory and EEPROM to a set of default values stored internally in the Drive IMPORTANT Any data in Drive memory and EEPROM prior to issuing the EEPROM INITIALIZE command will be erased PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure PLC Message Write PLC Message Read Header Header Word Header Header Wor Function Code Header Function Code Header 769 Word 3 769 Word 3 Message Length Header See Note Header 8 bytes Word 4 Word 4 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The EE Memory Recall function instructs the Drive to replace the contents of Drive memory with the values that are stored in EEPROM Any configuration links present in the Drive will also be replaced by those in EEPROM This message is ignored by the Drive when it is running i e the contactor is picked up ATTENTION When using the EE Memory Recall IN function you must be certain that the default values stored in the Drive will not degrade Drive or System performance and will not cause a loss of either control or emergency stop functions This function requires
23. ADAPTER PROCESSOR FAULT Hard Adapter internal diagnostic malfunction Check version of Adapter Board for compatibility with Main Board If condition persists replace adapter board CN 45 ADAPTER PROCESSOR FAULT Hard Adapter internal diagnostic malfunction Check version of Adapter Board for compatibility with Main board If condition persists replace adapter board CN 50 ILLEGAL MAC ID Hard Node address is lt 2 or gt 99 Check dip switch settings and reset Drive if condition persists replace adapter board Refer to Tables 2 A and 2 B for LED indications Chapter Periodic Maintenance Preventative Maintenance hazardous Severe injury or death can result from electrical shock burn or unintended actuation of controlled equipment Recommended practice is to disconnect and lock out control equipment from power sources and allow stored energy in capacitors to dissipate if present If it is necessary to work in the vicinity of energized equipment the safety related work practices of NFPA 70E Electrical Safety Requirements for Employee Workplaces must be followed ATTENTION Servicing energized industrial equipment can be equipment as detailed below for solid state controls may result in injury to personnel damage to the control or test equipment or unintended actuation of the controlled equipment Potentially fatal voltages may result from improper useage of an oscilliscope or other test equipment Refer to
24. IMPORTANT If the Drive is running i e the DC loop contactor is picked up the CLEAR FAULTS command will be ignored Publication 1395 5 37 March 1999 Autotune Measure Motor Inertia Configuration amp PLC Interfacing 3 29 Puts the Drive in the Autotune Mode for measuring motor inertia When in this mode the Drive gathers information about motor inertia by accelerating and decelerating the motor under conditions controlled by the Autotune firmware motor operation using a speed profile determined internally Carefully read the section on auto tuning sequencing prior to using this command Failure to do so could result in equipment damage and possible injury to personnel If autotuning is performed under PLC control a hardwired stop circuit or manual disconnect circuit must be provided to disconnect power to the motor ATTENTION When in the Autotune Mode the Drive controls PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure PLC Message Write PLC Message Read Function Code Function Code 269 269 Message Length 8 bytes NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation This function puts the Drive in the Autotune Mode for measuring motor inertia Once in this mo
25. The last parameter requires only one word Below is an example Example 1 The PLC Controller is to read 1 parameter value from the Drive Message Header for BTW PMW PMR Word 3 Message Header a 4 4 8 bytes Parameter Data 1 2 2 bytes Total o 5 words 6 words 10 bytes Read Parameter Full Value Min Max Descriptor Text Configuration amp PLC Interfacing 3 21 This function reads the full parameter description from the Drive based on a parameter number provided by the PLC Program The description includes the actual value minimum value maximum value descriptor and the parameter text PLC Block Transfer Instruction Data Write Read Size In Elements 5 25 Processor Type PLC 5 PLC 5 Destination Address N40 0 4 N40 0 24 Message Structure PLC Message Write PLC Message Read Header Word 1 Word 2 Function Code Function Code Header 770 770 Word 3 Message Length Header Data Parameter Data Word 6 Minimum Data Value Word 7 Maximum Value Word 8 Data Descriptor Word 9 Parameter Text Word 10 Parameter Text c c S S y 5 w w D Sy NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The READ PARAMETER FULL function requests the Drive to provide the full description of a parameter for use in the PLC Controller This information includes the actu
26. The setup and configuration data for the Adapter board is stored in the EEPROM memory located on the main control board of the Drive E Figure 2 1 CNA Board Components ULUELEEUEEEEULEEEELCELCULLECEEECCUL EL L Channel A STS DS2 C Channel B STS oss Interface Plug R T R T Network Access Primary Channel Redundant Channel Port 2 3 Publication 1395 5 37 March 1999 2 4 DIP Switch Orientation Board Location Publication 1395 5 37 March 1999 DIP Switch orientation Figure 2 2 on the CNA board is as Follows CLOSED ON 1 OPEN OFF 0 Figure 2 2 DIP Switch Orientation On Off On On Off Off The standard mounting position for the CNA board is Port B of the Drive Refer to Figure 2 3 If required the Adapter can be mounted in Port A Note that each port uses different parameters to store Adapter setup and configuration information Figure 2 3 CNA Board Mounted in Port B ControlNet Adapter CNA Board mE PORT B KD i o6 e Ji e 595 E t Z2 m gt b am Lc cg ooo m o C um CI s 11 a ES L t it o o Or Hino lo E1 5
27. in blocks Each block of configuration data has a separate function code PLC Block Transfer Instruction Data Write Read Size In Elements 24 4 Processor Type PLC 5 PLC 5 Destination Address N15 0 23 N15 0 3 Message Structure PLC Message Write PLC Message Read Header Word 1 Header Word 2 Function Code Header Tabl Pee see table Header Word 4 Parameter X50 Parameter X51 Parameter X52 Parameter X69 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes The x designator is a position holder It could represent parameter 150 250 350 etc depending on which configura tion table is being requested Upload Function Codes Parameter Numbers Function Code 50 69 1540 150 169 1796 250 269 2052 350 369 2308 450 469 2564 Message Operation The DOWNLOAD CONFIGURATION LINKS function sends a listing of the desired Drive configuration links to the drive This command is broken down into five groups of tables Configuration amp PLC Interfacing 3 15 IMPORTANT Drive configuration links will not be changed by the Drive unless the following two conditions are met 1 The Drive must not be running i e the DC loop contactor must not be energized 2 The Drive receives the fifth block function code 2564 of links
28. of the board e Understanding the hardware requirements necessary to interface this board with external devices The CNA board contains the hardware necessary to connect the 1395 Drive to ControlNet 1 5 Once connected this network can be used to control diagnose and setup the Drive Figure 2 1 shows the major hardware components located on this board Refer to Figure 2 1 when attempting to identify the various hardware components The CNA board contains a small interface board referred to as the Interface Plug which contains the hardware necessary to communicate to PLC controllers via ControlNet Refer to the installation section of this manual for further details DIP switch U6 is used to select the node address for the ControlNet adapter NOTE Switches U5 U14 and U15 are physically present on the CNA board but are inactive in this application US Not Active U6 Node Address U14 Not Active U15 Not Active lt ControlNet Node 1 99 ATTENTION Certain procedures in this manual require that the Drive Not be running This assumes that the main contactor is de energized and that the user has properly set up the interface logic to meet this criteria The CNA board contains several LED s used to provide status information LED DS1 indicates whether the CNA board itself is Publication 1395 5 37 March 1999 2 2 Introduction amp Product Description faulted or not faulted LED s DS2
29. required between devices to support the exchange of data Two transport classes are supported by the drives on ControlNet These are transport class 1 and transport class 3 Class 1 connections are used to pass 8 16 bit words of I O data 1 full rack each direction between a Controller and a Drive deterministically at a configurable periodic rate This type of data transfer corresponds to data being shared via Remote I O Class 3 connections are also supported for messaging between devices This data is what would be sent over Data Highway Plus or with RIO block transfer Types of Communication Loss Loss of data communications can be due to either physical or logical reasons Below are definitions and examples of the primary causes of communications loss Comm Loss If the drive becomes physically disconnected from the network this is the most obvious form of communication loss But the drive can also lose its logical connections in a variety of ways The network could be inoperable due to some required device being down or possibly if illegal data or noise is present on the network The drive itself may be deemed illegal on the network for various reasons and will not be allowed to talk on the network Any of these conditions may be reported as a general ICN Comm Loss When this condition is reported the drive is considered to be effectively disconnected from the network and unable to communicate in any way on the network Trouble
30. to be directly controlled by a PLC via ControlNet This adapter has one Digital communication channel with a redundant connector to allow for backup communication to the PLC All scheduled data transfers between the PLC and the 1395 Drive must be configured on a ControlNet network You must specify where I O data is to be read from or written to when establishing the relationship between processors I O adapters and data table file addresses ControlNet network you must request a Network ATTENTION When configuring this drive on a Update Time NUT of 5ms or greater A NUT less than 5ms may cause data transfers to and from the drive to become non deterministic Communications Configuration amp PLC Interfacing 3 3 Figure 3 1 presents an overview of the CNA board with a typical Channel configuration The parameter numbers shown are fora CNA board mounted in Port B of the Drive This is the standard Port for the CNA Board Figure 3 1 CNA Board Channel Configuration for Port B O o 3 3 Q 3 D 5 Firmware Version C 549 Ae Fault Warning Configuration Parameters 500 501 Fault Warning Status DIP Switch Parameters for CNet 502 Node Address 503 soa dades PO When you use the ControlNet Adapter Board for ControlNet communications the drive looks like a remote I O chassis to a PLC This allows you to use discrete data transfer With discrete data transfer the PLC controller
31. to comply may result in personal injury and or equipment damage All precautions detailed in the 1395 Instruction Manual troubleshooting section must be followed when attempting to diagnose CNA board malfunctions Drive equipped with a ControlNet adapter board make certain to check the Network Update Time NUT A NUT less than 5ms may cause data transfers to and from the drive to become ATTENTION When performing any troubleshooting on a 1395 non deterministic The CNA Board provides initial fault handling based on conditions within its environment and then signals the Bulletin 1395 which provides further disposition based on system requirements Faults are divided into three categories Hard Faults are non recoverable and are the highest priority fault That is the Bulletin 1395 must either be RESET or POWER CYCLED after the fault condition is corrected The CNA Board transmits its fault to the Main Control Board through the dual port RAM as explained in the Bulletin 1395 Instruction Manual A Hard Fault in an adapter is designed to initiate an ECOAST Stop Sequence Refer to the 1395 Manual for an in depth explanation The following example is considered a Hard Fault Plug Failure Internal diagnostics within the plug indicated a malfunction that rendered the plug inoperable Soft Faults occur when an Adapter Board detects a condition which may result in undesirable operation Soft Faults differ from Hard Faults in that th
32. 150 bit 12 decimal then bit 021 14 must be set as shown in the first rung of Figure 3 5 Control of other logic bits is illustrated in Figure 3 5 Figure 3 6 Bit Mapping for Logic Command P150 151 152 PLC Controller Rack 2 ControlNet Scheduled Data Interface Sink Output Image Table m Port B Group 0 Sources Logic Cmd 1 Group 1 300 Group 2 Group 3 Group 4 Group 5 Grpup 6 Group 7 Par 150 Run Reference Select A Run Reference Select B Run Reference Select C MOP Increment MOP Decrement Ramp Disable MOP Rate 1 MOP Rate 2 Command Enable Jog 2 Jog 1 Normal Stop Start Close Contactor Clear Fault Process Trim Enable The first 3 bits of the Logic Command word parameter 150 in this example are used to determine which speed reference will be used by the Drive If the normal run speed reference input to parameter 154 is to be used all three bits must be 0 If a preset speed or the MOP function will be used bits 0 2 are set accordingly refer to Bulletin 1395 Installation and Maintenance manual for a complete description of the Logic Command bits In this example the first three bits of word 2 of integer file N7 are used to determine the speed reference used by the Drive as shown on rung 4 in Figure 3 5 If the normal run speed reference is selected the PLC Controller must send a 16 bit word to External Vel Ref parm 154 in the Drive Because the speed reference is a complete 16 bit word the PLC
33. A Board ControlNet Connection CNA Board CNA Board twork Network Primary Redundant Access Ne Primary Redundant Access Connector Connector Port Connector Connector Port IN Non Redundant Mode Redundant Mode Note Refer to the Fiber Optic Cable guidelines at the back of this chapter for details on cable type length etc Multiple Drive Connection When more than one CNA board equipped Drive is connected to a ControlNet Network it must have its own separate connection to the Network and a unique node address as determined by dip switch U6 Cable Guidelines Installation 4 7 The fiber optic cable used for ControlNet communications represents a communications transmission line in which certain characteristics exist The following are some general guidelines which apply to this particular transmission line and should be adhered to in order to obtain the best possible results Note that these are general rules and certain deviations may be warranted since diverse installation and environmental concerns could change the requirements Cable Type Recommended cables as shown in Table 4 B These cables are available in precut popular lengths for ease of use Table 4 B Fiber Optic Cable Selection Description Catalog Number 200 Micron Cable Assembly 10 meters 1786 FS10 200 Micron Cable Assembly 20 meters 1786 FS20 200 Micron Cable Assembly 60 meters 1786 FS60 200 Micron Cable Assembly 100 meters 1786
34. Controller must send the data as a complete word rather than as individual bits as was the case for logic command bits In this example word 1 of integer file N10 Publication 1395 5 37 March 1999 3 10 Configuration amp PLC Interfacing Command Set Publication 1395 5 37 March 1999 is used to store the speed reference for the Drive The MOV block in rung 6 of Figure 3 5 transfers the 16 bit word of N10 01 to word 2 of the output image table Because word 2 of the output image table is sent to parameter 301 which in turn is linked to parameter 154 Figure 3 4 the 16 bit word N10 01 is the speed reference input to the Drive param 154 Information transferred back to the PLC Controller from the Drive is handled much as it was in the previous example with the exception that data is transferred from the input image table of the PLC Controller to the working data files in the PLC Controller program Again note that bit coded words such as Logic Status parm 100 are bit numbered in Octal in the PLC Controller while the Drive is in Decimal The CNA board supports a limited set of PCCC commands by emulating a section of PLC 5 memory The memory area emulated determines what specific request and or action the CNA board will take Below is a list of the supported commands NOTE A maximum of 5 parameters can be obtained with each transaction Who Active The node address of the CNA board as defined by it s DIP switch settings
35. System Inertia This function puts the Drive in the Autotune Mode for measuring system inertia When in this mode the Drive determines the total system inertia including the motor and connected load by accelerating and decelerating the motor under conditions controlled by the Autotune firmware ATTENTION When in the Autotune Mode the Drive controls A motor operation using a speed profile determined internally Carefully read the Drive Manual section on auto tuning sequencing prior to using this command Failure to do so could result in equipment damage and possible injury to personnel If autotuning is performed under PLC control a hardwired stop circuit or manual disconnect circuit must be provided to disconnect power to the motor PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure PLC Message Write PLC Message Read Function Code Function Code 781 781 Message Length See Note 8 bytes NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation This function puts the Drive in the Autotune Mode for measuring system inertia Once in this mode the Drive waits for a START input to the Drive before beginning the measure procedure The procedure gathers information about motor iner
36. ach block of configuration data has a separate function code PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N15 0 3 N15 0 23 Message Structure PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Header Word 2 Word 2 Function Code Header HA Header see table Word 3 See Table Word 3 Word 4 Parameter X50 on Parameter X51 Med Parameter X52 a Parameter X69 eee NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes The x designator is a position holder It could represent parameter 150 250 350 etc depending on which configura tion table is being requested Upload Function Codes Parameter Numbers Function Code 50 69 260 150 169 516 250 269 772 350 369 1028 450 469 1284 Message Operation The UPLOAD CONFIGURATION LINKS function requests a listing of the Drive configuration links from the Drive for use in the PLC Controller This command is broken down into five groups of tables Publication 1395 5 37 March 1999 3 14 Configuration amp PLC Interfacing Download Configuration Link Publication 1395 5 37 March 1999 This function downloads the configuration table information from the Drive
37. al value minimum value maximum value descriptor and the parameter text Publication 1395 5 37 March 1999 3 22 Configuration amp PLC Interfacing Publication 1395 5 37 March 1999 Data Format Parameter Value Drive units may need to be scaled by the Controller prior to being used in the Program Maximum Value Drive units may need to be scaled by the PLC Controller prior to being used in the Program Minimum Value Drive units may need to be scaled by the PLC Controller prior to being used in the Program Descriptor A numeric value used by Allen Bradley program terminals to scale parameter data into the appropriate engineering units Parameter Text The parameter text is provided in the following format Each parameter text word contains two bytes in ASCII format which represent the text displayed by the Drive s program terminals NOTE Any parameter text that is returned comes back with each byte reversed Write Parameter Data Configuration amp PLC Interfacing 3 23 This function writes a parameter value to the Drive PLC Block Transfer Instruction Data Write Read Size In Elements 6 6 Processor Type PLC 5 PLC 5 Destination Address N40 0 5 N40 0 5 Message Structure PLC Message Write PLC Message Read Function Code Function Code 515 515 Message Length See Examples See Note Parameter Parameter Data Status NOTE Word 4 of the PLC Message Read instruction is br
38. ameter is a fast sink that provides the first word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Publication 1395 5 37 March 1999 8 10 Reference Publication 1395 5 37 March 1999 Parameter 451 A gt CntINet Out 1 Parameter 351 B gt CntINet Out 1 Use ControlNet Output word 1 Parameter Type Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the second word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Parameter 452 A gt CntINet Out 2 Parameter 352 B gt CntINet Out 2 Use ControlNet Output word 2 Parameter Type Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the third word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Parameter 453 A gt CntINet Out 3 Parameter 353 B gt CntINet Out 3 Use ControlNet Output word 3 Parameter Type Fast Sink Program Terminal Units N
39. and DS3 duplicate the function provided by the LED s on the Interface Plug LED DS4 is inactive in this application Tables 2 A and 2 B provide information on LED s DS1 DS3 Table 2 A LED Indicator Status for Board CNA Board ps1 LED Green Blinking at 1 Hz Status LED Green Blinking Rapidly LED Off Function Normal Adapter Operation Adapter is Faulted Adapter Non O perational Table 2 B LED Indicator Status Viewing LEDs DS2 amp DS3 Then this condition indicates Both LEDs are No Power or reset condition exists steady OFF Both steady RED Failed link interface Together Both steady GREEN Normal Operation for redundant mode Alternating Self Test RED GREEN Alternating Bad node configuration RED OFF One Channel LED Channel disabled or not supported is steady OFF One Channel LED is flashing RED GREEN Invalid link interface Independently One channel LED Link Fault s flashing RED OFF One channel LED Channel in listening mode or is flashing GREEN OFF temporary channel error exists One channel LED Normal operation is steady GREEN Firmware Location Publication 1395 5 37 March 1999 The CNA Board contains a microprocessor U20 which is responsible for controlling all board functions and features This board contains firmware version 1 xx the xx designator may vary but does not affect information in this manual Figure 2 1 shows the physical location of the firmware chip UMA1
40. d 5 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the sixth word or group of data from the PLC controller output image table Parameter 406 A gt CntINet In 6 Parameter 306 B gt CntINet In 6 Use ControlNet Input word 6 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the seventh word or group of data from the PLC controller output image table Reference 8 9 Parameter 407 A gt CntINet In 7 Parameter 307 B gt CntlNet In 7 Use ControlNet Input word 7 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the eighth word or group of data from the PLC controller output image table The value can be used by the CNA board directly or by other Drive functions through a configuration link Parameter 450 A gt CntINet Out 0 Parameter 350 B2 CntINet Out 0 Use ControlNet Output word 0 Parameter Type Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This par
41. de the Drive waits for a START input to the Drive before beginning the measure procedure The procedure gathers information about motor inertia by accelerating and decelerating the motor under conditions controlled by the Autotune firmware This function requires the message header only The status byte will indicate the success or ineffectiveness of this request Publication 1395 5 37 March 1999 3 30 Configuration amp PLC Interfacing Autotune Update Motor Inertia This function updates the Drives internal database with the motor inertia parameter 613 calculated by the autotune firmware and provides the data to the PLC Controller PLC Block Transfer Instruction Data Write Read Size In Elements 4 6 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 5 Message Structure PLC Message Write PLC Message Read Function Code Function Code 525 525 Message Length See Note 8 bytes Parameter 613 Parameter Data NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The AUTOTUNE UPDATE MOTOR VELOCITY function updates the Drives internal database with the motor inertia parameter 613 calculated by the autotune firmware and provides the data to the PLC Controller Publication 1395 5 37 March 1999 Configuration amp PLC Interfacing 3 31 Autotune Measure
42. e and what type of information is contained within the parameter All Adapter board parameter numbers are determined by the Drive Adapter Port that the board is mounted in When moving an Adapter board from one port to another the functionality of the board remains the same but specific functions will change Publication 1395 5 37 March 1999 8 4 Reference Table 8 B ControlNet Parameters 130H B CntlNet In 4 406 196H A CntlNet In 6 1C5H A CntlNet Out 3 ICAH A CntlNet Out 7 1F4H_ B gt ICN Fault Sel IFSH B gt ICN Warn Sel IF6H B gt ICN Fault Sts wjuojujujujol gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt 0 u0 ojo jojo u jujou ujwu o E lov Lev Rew 549 225H B gt Version Publication 1395 5 37 March 1999 a oe C301 uos BsCnaNet in None Not Changeable NO 302 ien xs om EDT 3H 350 is 1SFH 160 TIT 162H 355 ien Tean 165H DIH LET a ien 94H 195H NO 197 ic om icon ICH E Po o exer ves None None None None None None None None None Not Changeable INO OXAF Not Changeable Fast Source Fast Source Fast Source Fast Source Fast Source Fast Source Fast Source Fast Source Fast Sink Fast Sink Fast Sink Fast Sink Fast Sink Fast Sink Fast Sink Fast Sink Fast Source Fast Source Fast Source Fast Source Fast Source Fast Source Fast Source Fast Source Fast Sink Fast Sink Fas
43. e 1395 Drive can in most cases maintain proper control during a Soft Fault condition The Adapter takes appropriate action within its domain to guard against degradation of Drive performance and signals the condition to the 1395 Drive In addition Publication 1395 5 37 March 1999 6 2 Troubleshooting Warning Faults the fault may be cleared and normal operation resumed at the point the fault occurred An example of a Soft Fault is e CNA Comm Loss Warning Faults are the lowest priority and indicate error conditions which are generally transient in nature but could result in undesirable operation if allowed to persist If left uncorrected Warning Faults could result in a Soft Fault An example of a Warning Fault is Class 3 Close Selected Fault conditions in the Bulletin 1395 Drive can be configured in terms of their Soft or Warning Fault nature That is the user operator may specify the action taken either Soft Fault or Warning Fault Report Only ATTENTION Ignoring faults that have been configured as Report Only could damage certain components in the Drive Communication Fault Reporting and Handling Publication 1395 5 37 March 1999 Connections and Transport Classes ControlNet implements a producer consumer model network The drives support configurable point to point connections to and from other devices on the network Every device has a physical connection to the network but logical connections are also
44. e value will be OFFFF hex and the PLC Controller can request a Typed Read of N20 500 999 to determine which parameters have had errors Message Formats Configuration amp PLC Interfacing 3 11 PLC Typed Read N30 0 999 This request translates into a read parameter full message in the Drive Each parameter specified results in 13 words of data actual value minimum value maximum value descriptor and parameter text You can read a maximum of 5 parameters with this service PLC Typed Read N40 0 39 This message emulates the RIO block transfer functions available on the CNA board with the exception of the multiple parameter read Refer to the message structure section of this chapter for details on the available messages and their use NOTE With this command there are no BT flags to synchronize the Write Read operation as on the RIO PLC Typed Write N40 0 39 This message emulates the RIO block transfer functions available on the MCA board with the exception of the multiple parameter write Refer to the message structure section of this chapter for details on the available messages and their use NOTE With this command there are no BT flags to synchronize the Write Read operation as on the RIO PLC Typed Read N70 0 119 for Trend 1 N71 0 119 for Trend 2 N72 0 119 for Trend 3 N73 0 119 for Trend 4 This message reads the trend sampled data which is the data retained when a trigger condition occurs A file o
45. ed Month 1 12 An integer value representing the month the trigger condition was detected Day 1 31 An integer value representing the day the trigger condition was detected Hour 0 23 An integer value representing the hour the trigger condition was detected Minute 0 59 An integer value representing the minute the trigger condition was detected Second 0 59 An integer value representing the second the trigger condition was detected Publication 1395 5 37 March 1999 3 38 Configuration amp PLC Interfacing Publication 1395 5 37 March 1999 Millisecond An integer value representing the 10 s of milliseconds in which the trigger condition was detected Monitored Parameter Descriptor An integer value used by Allen Bradley program terminals to display the proper units for the monitored parameter Block 1 This Block contains data samples 0 through 33 for the trend buffer specified in the PMW instruction PMR Instruction Length 38 words MSG Size in Elements 38 PLC Message Read Function Code 270 Data Samples The data samples are specified in Drive Units and may need 1 to be scaled by the PLC Controller prior to being used in the program Data Sample 1 Data Sample 2 Data Sample 33 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes
46. equipment safety instructions for all test equipment before using with the CNA board All cautions and warnings that apply to servicing and troubleshooting a 1395 Drive found in the 1395 Instruction Manual MUST be followed when servicing the CNA board A ATTENTION Use of other than factory recommended test Recommended Tools and Equipment The following equipment is recommended for maintaining and troubleshooting a 1395 Drive and CNA board e Multimeter capable of 1000V DC 750V AC with input resistance of at least 1 megohm Test leads for multimeter Assorted screwdriver phillips and blade and a set of open end wrenches Clamp on Ammeter AC and DC with current ratings to match drive ratings Programming Terminal Dual trace oscilliscope with A minus B quasi differential capability e X100 probes for oscilliscope Periodic Inspection Industrial control equipment should be inspected periodically Inspection intervals should be based on environmental and operating conditions and adjusted as indicated by experience An initial inspection within 3 to 4 months after installation is suggested Applicable parts of the following guidelines should be used Contamination If inspection reveals that dust dirt moisture or other contamination has reached the control equipment or CNA board Publication 1395 5 37 March 1999 7 2 Periodic Maintenance Tests amp Records Publication 1395 5 37 March 1999
47. es the same function code with the message specifing which block is to be read PLC Block Transfer Instruction Data Write Read Size In Elements 4 10 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 9 Message Structure Message Header Information Word 1 0 Word 2 0 Function Code Word 3 1549 Write Message Length Word 4 8 bytes PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Header Word 2 Word 2 Function Code Header Function Code Header 1549 Word 3 1549 Word 3 Message Length Header See Note Header 8 bytes Word 4 Word 4 Parameter Data Word 5 Parameter Data Data Word 6 Parameter Data Word 7 Parameter Data Data Word 8 Parameter Data Word 9 Parameter Data Data Word 10 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Trend Number This is an integer number used to specify which trend buffer the Drive will provide data for Trend Buffer 1 1 Trend Buffer 2 2 Trend Buffer 3 3 Trend Buffer 4 4 Publication 1395 5 37 March 1999 3 36 Configuration amp PLC Interfacing Publication 1395 5 37 March 1999 Block Number This is an integer number used to specify which block of trend data from the above specified trend buffer the Drive is to supply The definition of each block is as follows
48. eter Name Structure Parameter Table Structure Parameter Tables suso acacia cios piel i pd aaah Parameter Descriptions Publication 1395 5 37 March 1999 toc iv Table of Contents This Page Intentionally Blank Publication 1395 5 37 March 1999 Chapter 1 Before You Begin Objective This manual contains the information necessary to perform the following functions on the ControlNet Adapter CNA Board Install and Set up the CNA board Configure the Drive for control by a PLC Controller Maintain and Troubleshoot the board Audience This manual is intended for use by expert personnel familiar with the functions of solid state drive equipment You must be thoroughly familiar with the Bulletin 1395 and its hardware before attempting to setup or troubleshoot a ControlNet Adapter Board To make efficient use of this Adapter Board you must be able to operate and program an Allen Bradley PLC controller If you cannot refer to the appropriate programming and operations manual for your PLC controller and obtain training from the support division before attempting to setup and program the CNA board Term Useage In this manual we refer to the ControlNet Adapter board as the CNA board or the Adapter The Programmable Logic Controller is referred to as a pCO ControlNet Adapter The CNA board provides a sophisticated interface to Allen Bradley Compatibility amp Features PLC controllers and other equipment ca
49. f 70 corresponds to Trend 1 71 to Trend 2 72 to Trend 3 and 73 to Trend 4 This section of the manual provides a detailed explanation of the messages that the Drive supports These messages are used by ControlNet to program Drive parameters read parameter data and control other Drive functions The following table summarizes the valid function code that is displayed in word 3 of the PLC message write header message A complete description of the messaging write header is provided on the specified page Publication 1395 5 37 March 1999 3 12 Configuration amp PLC Interfacing Publication 1395 5 37 March 1999 Function EE Memory Recall EE Memory Store EE Memory Initalize Read Parameter Data Read Parameter Full Write Parameter Data Read System Clock Write System Clock Drive System Reset Clear Faults Autotune Measure Motor Inertia Autotune Update Motor Inertia Autotune Measure System Inertia Autotune Update System Inertia Autotune Tune Velocity Loop Autotune Update Velocity Tune Read Trend Information Message Operation Function Code 257 513 769 514 770 515 1026 1027 1539 1795 269 525 781 1037 1037 1293 1549 270 Page 3 13 3 14 3 15 3 16 3 18 3 20 3 22 3 23 3 24 3 25 3 26 3 27 3 28 3 29 3 30 3 31 3 32 3 34 Upload Configuration Link Configuration amp PLC Interfacing 3 13 This function uploads the configuration table information from the Drive in blocks E
50. fast source that contains the second word or group of data from the PLC controller output image table Parameter 402 A gt CntINet In 2 Parameter 302 B2 CntINet In 2 Use ControlNet Input word 2 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the third word or group of data from the PLC controller output image table Publication 1395 5 37 March 1999 8 8 Reference Publication 1395 5 37 March 1999 Parameter 403 A gt CntINet In 3 Parameter 303 B gt CntINet In 3 Use ControlNet Input word 3 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the fourth word or group of data from the PLC controller output image table Parameter 404 A gt CntINet In 4 Parameter 304 B gt CntlNet In 4 Use ControlNet Input word 4 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the fifth word or group of data from the PLC controller output image table Parameter 405 A gt CntINet In 5 Parameter 305 B gt CntINet In 5 Use ControlNet Input wor
51. ff Off Off Off Off Off On Off Off Off Off On Off Off Off Off Off On On Off Off Off On Off Off Off Off Off On Off On Off Off Off On On Off Off Off Off On On On Off Off On Off Off Off Off Off On Off Off On Off Off On Off On Off Off Off On Off On On Off On Off On Off On Off On Off On Off On Off On Off On Off On Off On Off On Off On Publication 1395 5 37 March 1999 4 6 Installation ControlNet Connections Publication 1395 5 37 March 1999 1786 FS Cable 1786 FS Cables To make the ControlNet connection to the CNA board connect the approved cable per Table 4 B to the CNA Board connector 1784 RPFS configured for ControlNet communications and the ControlNet Network tap connector Refer to Figure 4 3 for details on connecting to the CNA connectors in either redundant or non redundant mode when a redundant connection is present on any CNA Board ATTENTION When breaking connections at Channel A and B communications will be interrupted to the 1395 Drive Depending on the application a loss of control to devices connected to the drive could cause hazardous system operation To guard against personal injury the system must be shut down or local control maintained of critical devices when making or breaking connections at the Primary or Redundant Connection on the Board Figure 4 3 CN
52. ich correspond to the desired operation Because parameter 300 has been linked to parameter 150 Figure 3 5 and parameter 300 is associated with group 1 in the output image table the PLC Controller program will be controlling bits in word 0 20 Publication 1395 5 37 March 1999 3 8 Configuration amp PLC Interfacing Figure 3 5 Example PLC Controller Discrete I O Program Parameter 150 Start Logic Command Start Bit Parameter 150 Stop Logic Command Stop Bit N7 1 0 020 0001 DER JE Parameter 150 cuenta Logic Command Ramp Disable Bit 0 020 0002 EH ET 150 Logic Command Speed Reference Start Select A N7 1 N7 2 0 020 0003 lE J E i Parameter 150 Logic Command Speed Reference N7 2 Select B E Parameter 150 Logic Command Speed Reference N7 2 Select C b 2 Parameter 150 gai Lead Logic Command yi eurei 0004 2l Parameter 154 a External Velocity Reference Move Source Dest Publication 1395 5 37 March 1999 Configuration amp PLC Interfacing 3 9 Bit numbering in the PLC Controller is performed in Octal as opposed to Decimal numbering in the Drive parameter 150 so it is necessary to relate the output image table bits to the controlled bits in parameter 150 Figure 3 6 shows the correlation between the output image table bits and the Drive parameter 150 bits As a result of this relationship if it is desired to set the start bit in parameter
53. ive setup information Each parameter has an assigned number and function Parameters are displayed in engineering units when viewed from program terminals Parameter Table A table which contains all parameters that are available in the Drive Publication 1395 5 37 March 1999 8 2 Reference Detailed Parameter Listing Parameter Name Structure Parameter Table Structure Publication 1395 5 37 March 1999 Source Parameter A parameter which contains real time information that is available for use by other devices These devices can include PLC controllers operator interface devices program terminals etc Sink Parameters Sink parameters accept data from other parameters which is then used by the Drive to perform the desired functions An example of a sink is the external velocity reference parameter which accepts a speed reference from a device such as a PLC Certain parameter numbers and definitions in the CNA board are dependent on the specific channel assignments as detailed in Table 8 A Table 8 A CNA Board Parameter Channel Assignments Parameter Parameter Numbers Numbers Port A Port B Useage 400 407 300 307 ControlNet Out 450 457 350 357 ControlNet In 550 554 500 504 ICN Fault Warning CNet Dip Switches The example below shows a typical parameter name Parameter 300 Function d JI CN Cntl Net Out 0 Nu NSF ON Parameter description Designator Table 8 B contain
54. ize In Elements 10 4 Processor Type PLC PLC 5 Destination Address N40 0 9 N40 0 9 Message Structure Message Header Information Word 1 0 Word 2 0 Function Code Word 3 1027 Write Message Length Word 4 20 bytes PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Word 2 Function Code Header Function Code Header 1027 Word 3 1027 Word 3 Header Header Data Y Month Data 1 12 Word 6 Day Data 1 31 Word 7 Hour Data 0 24 Word 8 Minute Data 0 59 Word 9 Second Data 0 59 Word 10 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The WRITE SYSTEM CLOCK function sets the time in the Drive from the PLC Controller The Drive stores time in the 24 hour format The values are integer type and may need to be scaled by the PLC Controller prior to being sent to the Drive Drive System Reset Configuration amp PLC Interfacing 3 27 This function causes the Drive to do a warm boot restart Any data in Drive memory at the time the command is issued is erased and is not saved in EEPROM PLC Block Transfer Instruction Data Write Size In Elements 4 Processor Type PLC 5 Destination Address N40 0 3 Message Structure PLC Message Write Header Word 1 Word 2 Function Code Header 1539 Word 3 Message Length Header 8 byte
55. m Terminal Units None Minimum Value 0 Maximum Value 255 FFh Default Value 47 2Fh Description Value of in any bit position configures the fault to be a Warning condition 550 500 551 501 Treated and 552 502 553 503 Fault Sel Warn Sel Reported as ICN Fault Status ICN Warn Status Ignore E 0 o Warming o t 1 0 SofFault 0 1 1 1 Soft Fault BIT Reference 8 13 Parameter 552 A gt ICN Fault Status Parameter 502 B2ICN Fault Status Use Displays ICN Fault Status Parameter Type Setup Program Terminal Units None Minimum Value 0 Maximum Value 255 FFH Default Value 0 Description Bit value of indicates presense of Soft Fault condition Parameter 553 ICN Warn Status Parameter 503 ICN Warn Status Use Displays ICN Warning Status Parameter Type Source Program Terminal Units None Minimum Value 0 Maximum Value 255 FFh Default Value 0 Description Bit value of indicates presense of Warning condition Bit positions for previous four parameters 7654321 0 PLC Out of Run Last State CNet Comm Loss CNet Class 1 Close CNet Class 3 Close C Net Class 1 Timeout Net Class 3 Timeout CNet Plug Failure Fault Status Only Note CNet Plug Failure is a Hard Fault and is not configurable as a Soft Fault or Warning Publication 1395 5 37 March 1999 8 14 Reference Parameter 554 A gt ICN DIP Switch Parameter 504
56. manual Reproduction of the contents of this manual in whole or in part without written permission of the Allen Bradley Company is prohibited Throughout this manual we use notes to make you aware of safety considerations circumstances that can lead to personal injury or death property ATTENTION Identifies information about practices or damage or economic loss Attentions help you e identify a hazard e avoid the hazard recognize the consequences Important Identifies information that is especially important for successful application and understanding of the product Shock Hazard labels may be located on or inside the drive to h alert people that dangerous voltage may be present SCANport is a trademark of Rockwell Automation PLC is a registered trademark of Rockwell Automation COLOR KEYED is a registered trademark of Thomas amp Betts Corporation IBM is a registered trademark of International Business Machines Corporation Windows 95 is a registered trademark of Microsoft Corporation Before You Begin Introduction amp Product Description Configuration amp PLC Interfacing Table of Contents Chapter 1 RIVES sca satin avy 0 ae arse CUL AP TUI TEM USE es a ose di soda dot be d be AAA ControlNet Adapter Compatibility amp Features Safety PITGCQUBUNS sid keene od hh bd d E drin cw eot Hace Manual Organizat sicario dd SOCCICGUONS sge teninga h
57. mation in the Drive s memory and places it in the EEPROM Any data in the EEPROM prior to issuing the EEPROM STORE command will be erased PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Header Word 2 Word 2 Function Code Header Function Code Header 513 Word 3 513 Word 3 Message Length Header See Note Header 8 bytes Word 4 Word 4 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The EE Memory Store function instructs the Drive to replace the contents of the Drive EEPROM with the values that are stored in Drive memory Any configuration links present will also be replaced by those in memory Depending on the Drive firmware version this message may be ignored by the Drive when it is running i e the contactor is picked up function you must be certain that the values stored in Drive memory will not degrade Drive or System performance and will not cause a loss of either control or ATTENTION When using the EE Memory Store emergency stop functions This function requires the message header only The status byte will indicate the success or failure of the request Publication 1395 5
58. nclude Verification of proper installation and wiring Verification of correct switch settings for the required application Configuration of the Drive control for use with the CNA Board Configuration The process of linking Sink to Source parameters Interface The hardware and associated software required to transfer information and or control signals from one device to another Parameter Memory location used to store Drive data Sink Parameter used to receive data input Source Parameter used as a source of data Before any attempt to configure the Drive is made the following connections and settings MUST be verified per Chapter 4 Check the ControlNet Adapter Board mounting location Is it in the correct position to connect to the intended port Check that the 60 pin ribbon cable connector J1 is connected correctly for the location and port being used by the CNA board Check that the DIP switch U6 setting is correct for your application referring to the Tables in Chapter 4 the Installation chapter IMPORTANT When an CNA Board is put in a different Drive Port the Drive must be re initialized for a correct CNA configuration to occur settings before configuring the Drive could result in personal injury due to a Drive malfunction or erractic system operation ATTENTION Failure to verify connections and switch Publication 1395 5 37 March 1999 5 2 Start Up Example Connection Configuration The parame
59. nterfacing 3 25 This function reads the system time from the Drive PLC Block Transfer Instruction Data Write Read Size In Elements 4 11 Processor Type PLC 5 PLC 5 Destination Address N40 0 4 N40 0 10 Message Structure Message Header Information Word 1 0 Word 2 0 Function Code Word 3 1026 Write Message Length Word 4 8 bytes PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Header Word 2 Word 2 Function Code Function Code Header 1026 1026 Word 3 Message Length Header See N Header 8 bytes Word 4 ee Note Word 4 Data Month Data 1 12 Word 6 Day Data 1 31 Word 7 Hour Data 0 24 Word 8 Minute Data 0 59 Word 9 Second Data 0 59 Word 10 10 s of msec Data 0 100 Word 11 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The READ SYSTEM CLOCK function requests the Drive to provide its current time The Drive stores time in the 24 hour format The values returned are integer type and may be scaled by the PLC Controller prior to being used in the Program Publication 1395 5 37 March 1999 3 26 Configuration amp PLC Interfacing Write System Clock Publication 1395 5 37 March 1999 This function writes the system time from the PLC Controller to the Drive PLC Block Transfer Instruction Data Write Read S
60. oken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The WRITE PARAMETER DATA function requests the Drive to change the value of a parameter specified in the message to the value contained in the message The value must be sent to the Drive in Drive units and may need to be scaled by the PLC Controller prior to being sent Publication 1395 5 37 March 1999 3 24 Configuration amp PLC Interfacing Publication 1395 5 37 March 1999 The PMW length is determined by adding the message header length 4 words to the number of words required to specify the parameter list and data Parameter and data change requires two words in the PMW instruction Below is an example Example 1 The PLC Controller is to read 1 parameter value from the Drive Message Header PMW PMR Word 3 Message Header 4 4 8 bytes Parameter Data 1 2 2 bytes Total o 5 words 6 words 10 bytes The PMR message is structured the same as the PMW instruction with the exception that the Drive will provide a status word for the parameter Ifthe parameter value is accepted by the Drive the status byte in word four will indicate that the message was successful If the message status indicates an error then the PLC Controller program must check the parameter status word to determine which parameter s was not accepted by the Drive Read System Clock Configuration amp PLC I
61. omplete description of each CNA board parameter A brief description of terms and concepts covered in this chapter are Configuration The process of linking sink to source parameters for the purpose of distributing data within the Drive or adapter s Drive Units The actual value of the parameter as it is stored internally in the Drive Drive units are converted to engineering units or to hexidecimal by Allen Bradley program terminals All Drive units are stored using per unit numbering Engineering Unit A label given to parameter data which specifies what units are used to display the parameter on programming terminals Examples of engineering units include RPM Amps etc Fast Parameter Fast parameters are those which are updated rapidly They are typically used for transmitting real time data to and from the Drive Fast parameter values are not stored in non volatile memory Actual armature Current is an example of a fast parameter Microbus An internal Drive mechanism designed by Allen Bradley for exchanging information between microprocessors The Microbus is used to transfer information between the CNA board and the Main Control board Port A physical location on the Drive reserved for the connection of Adapter cards Each Drive has two ports The ports are identified in firmware as Port A and Port B Parameter A memory location in Drive firmware used to store Drive data This data can be real time data and or Dr
62. one Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the fourth word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Reference 8 11 Parameter 454 A gt CntINet Out 4 Parameter 354 B gt CntINet Out 4 Use ControlNet Output word 4 Parameter Type Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the fifth word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Parameter 455 A gt CnltNet Out 5 Parameter 355 B gt CntINet Out 5 Use ControlNet Output word 5 Parameter Type Fast Sink Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast sink that provides the sixth word or group of data to the PLC controller input image table The value can be provided by the CNA board directly or by other Drive functions through a configuration link Parameter 456 A gt CnltNet Out 6 Parameter 356 B gt CntINet Out 6 Use ControlNet Output word 6 Parameter Type
63. ows ang dex e en Oe e P cd Chapter 2 Chapter Objective issouels e y Ry RR ERR ER RR General Board Description ooooooommmmomm m 9 LED Indicators isse e Firmware Location i i DIP Switch Orientation isses Board Location ss ean Chapter 3 dirus e T TEMINY eii cb aD e or S dana tar do dd A Im COMMUNCALIS coraza oc d RR bp Fa ae General usas aaa EO AGER ea A CR A Discrete PLC Controller I O Data Transfer o o o o o Discrete PLC Controller I O Example 00 cee cece eee Command Sel sarria Re eee ead Varese bea Message FOALS esa va p RR wet ica SR iC Upload Configuration Link Download Configuration Link ccc eee eee ees EE Memory Recall yori rro ohare wn RENS EE Memory Store errar dee EE Memory Intialize 0 ccc ccc cece eee eee ees Read Parameter Data cece cece eects Publication 1395 5 37 March 1999 toc ii Table of Contents Read Parameter Full cece cece eee nnn Write Parameter Data 22d vous io ir de il Read system Clock 1 5 uiae utor v i sober Fa DR at ob Write System Clock usan ciscus Ea cuam eld t opted aoo ol Drive System RES sc vos pack pde AE UR ERE eek JR MI dx PP LET Autotune Measure Motor Inertia 0 eee eee eee Autotune Update Motor Inertia cece eee ete eee Autotune Measure System Inertia Autotune Update System Inertia 0 cece cee eee Autotune Tune Velocity Loop 0ooooooooooo Autotune Update Velocit
64. pable of communicating over ControlNet This adapter has the following features e One ControlNet channel with a redundant connector to allow for backup connection in case one cable fails e Compatible with all Allen Bradley PLCs and other products that support Programmable Controller Communication Commands e Compatible with Allen Bradley 1395 Drives equipped with Version 8 10 or greater software Publication 1395 5 37 March 1999 1 2 Before You Begin Safety Precautions Manual Organization Publication 1395 5 37 March 1999 The following types of precautionary statements will be found in this manual IMPORTANT Identifies particular areas of concern for correct board processor or Drive operation ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss ATTENTION This board contains ESD electostatic A discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage may result if 1f you do not follow ESD control procedures If you are not familiar with static control procedures refer to Guarding Against Electrostatic Damage Allen Bradley Publication 8000 4 5 2 or any other applicable ESD protection handbook Table 1 A provides a brief overview of topics covered in this manual and their location within the book Table 1 A
65. rameter on a program terminal Minimum Value The minimum allowable value for a parameter If no minimum value is given the parameter has not been assigned a minimum limit This value is displayed on program terminals Maximum Value The maximum allowable value for a parameter If no maximum value is given the parameter has not been assigned a maximum limit This value is displayed on program terminals Default Value The default parameter value stored in the Drive The default values replace present values when a System Initialize command is given to the Drive Description A detailed description of the use and operation of the parameter Parameters Reference 8 7 This section describes in detail the function of each of the parameters on the CNA board Parameter 400 A gt CntINet In 0 Parameter 300 B gt CntINet In 0 Use ControlNet Input word 0 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a fast source that contains the first word or group of data from the PLC controller output image table Parameter 401 A gt CntINet In 1 Parameter 301 B gt CntINet In 1 Use ControlNet Input word 1 Parameter Type Fast Source Program Terminal Units None Minimum Value Link Dependent Maximum Value Link Dependent Default Value None Description This parameter is a
66. s Word 4 Message Operation The DRIVE SYSTEM RESET function causes the Drive to reboot all processors This is the same sequence that the Drive goes through when power is first applied IMPORTANT Any parameter data or configuration links that were not stored in EEPROM prior to the Drive receiving this command will be erased This function requires the message header only The Drive will not provide a response message to this command Publication 1395 5 37 March 1999 3 28 Configuration amp PLC Interfacing Clear Faults This function requests the Drive to clear any soft or warning faults that have occurred It also clears the fault buffer Hard faults cannot be cleared using the command PLC Block Transfer Instruction Data Write Read Size In Elements 4 4 Processor Type PLC 5 PLC 5 Destination Address N40 0 3 N40 0 3 Message Structure PLC Message Write PLC Message Read Header Header Word 1 Word 1 Header Word 2 Function Code Header Function Code Header 1795 Word 3 1795 Word 3 Message Length Header See Note Header 8 bytes Word 4 Word 4 NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation This function requests the Drive to clear any soft or warning faults that have occurred It also clears the fault buffer Hard faults cannot be cleared using this command
67. s an abbreviated listing of the CNA board parameters The parameters in the Adapter can be categorized into the following general groups by parameter number e 300 307 Port B Source Parameters e 350 357 Port B Sink Parameters e 14400 407 Port A Source Parameters e 14450 457 Port A Sink Parameters e 500 504 Port B Common Parameters e 550 554 Port A Common Parameters Reference 8 3 The column headings in Table 8 B are defined as follows DEC HEX NAME UNITS INIT MIN MAX EE FUNCTION PORT The parameter number in decimal format The parameter number in hexidecimal format The parameter name as it appears on a program terminal Indicates the engineering units used to display a parameter value when viewed on a program terminal The default parameter value stored in the Drive The default values replace present values when a System Initialize command is given to the Drive The minimum allowable value for a parameter If no minimum value is given the parameter has not been assigned a minimum limit The maximum allowable value for a parameter If no maximum value is given the parameter has not been assigned a maximum limit Indicates whether the parameter value is backed up in Drive EEPROM memory In general only setup parameter values are stored in EEPROM memory Indicates the parameter type The parameter type determines how the parameter is treated by the Driv
68. sed to define what should be done to the entire Input Image all 8 words If Last State is a one the input image is left in the last state prior to the fault being detected If Last State is a zero then the 8 input words are all set to zero The Warning Select parameter is used to determine if any event not specified to be handled as a fault in the Fault Select word should be treated as a warning If a bit is set to a one then a warning annunciation will occur for the corresponding event but only if the corresponding bit in the Fault Select word is a zero If any of the events that cause loss of I O data occur 0 2 3 5 and that event is being annunciated as a warning then the Last State bit in the Warning Select word is used to determine the state of the Input image This works identically to the Last State bit for events being handled as faults If any bit position is set to zero for both the Fault Select word and the Warning Select word then the event corresponding to that bit is ignored not annunciated as either a fault or a warning The Warning Select s Last State bit is applied to the I O image for the following events ICN Comm Loss Class I Close Class 1 Timeout The case of a Reset Program Test event occurring but set set to be ignored will always result in the I O image being left in the last state not zeroed even if Warning Select s Last State bit is zero This is consistent with the operation of the existing RIO adapters
69. served for the connection of Adapter cards Each Drive has two ports The ports are identified in firmware as Port A and Port B Parameter A memory location in the Drive or Adapter used to store data This data can be real time data and or setup information Each parameter has an assigned number and function Parameters are displayed in engineering units when viewed from program terminals Publication 1395 5 37 March 1999 3 2 Configuration amp PLC Interfacing Operation Publication 1395 5 37 March 1999 Parameter Table Source Parameter CD Sink Parameter C2 Scheduled Transfer A table which contains all parameters that are available in the Drive and adapters A parameter that contains real time information that is available for use by other devices These devices can include PLC controllers operator interface devices program terminals etc Sink parameters accept data from other parameters which is then used by the Drive to perform the desired functions An example of a sink is the external velocity reference parameter which accepts a speed reference from a device such as a PLC Deterministic and repeatable transfers that are continuous and asynchronous to the ladder logic program scan Unscheduled Transfer Non deterministic data transfers through ladder initiated communication or programming devices The primary purpose of the CNA board is to allow the 1395 Drive
70. shooting 6 3 Closed Connection The drive is implemented as an adapter device on the network and does not inititiate connections One scanner device is allowed to make a Class 1 connection to a drive Many devices of various kinds can open Class 3 connections to the drive at any time When this happens this may be reported as a Class 1 Close or a Class 3 Close Connection Timeout All connections once opened must be maintained at some rate If the drive does not receive data from from any open connection within some period of time a timeout condition is flagged This event can be reported as Class 1 Timeout or as Class 3 Timeout Controller Not in Run Mode In addition to a loss of data due to network errors or connections being lost data may also be considered lost if the controller goes out of run mode for any reason Data being received from a controller that is not in run mode is considered to be unreliable and is ignored by the drive The condition of a controller transitioning out of run mode can be reported as Reset Prog Test Actions Resulting from Loss of Data Any of the communication losses described above can be handled in various ways The condition can cause a soft fault which will cause a drive to stop active operation The condition can be reported as a warning which means the event is annunciated but does not change the running state of the drive The condition may also be ignored Be
71. straints remove the plastic strain relief as shown in Figure 4 4 to allow you to maintain the bend radius at 1 If the strain relief is removed connect the cable with the blue connector to the dark gray connection on the board Connect the cable with the black connector to the light gray connection on the board The cable with the blue connector is the receive RX cable and the cable with the black connector is the transmit TX cable If the strain relief is removed from the cable assembly the cable weight may need to be be supported to prevent the connectors from unplugging in some applications If your application has a long cable droop or an unsupported wire bundle use a zip tie to support the excess welght If a cable is kinked or nicked during installation it MUST be replaced A kinked or damaged cable greatly reduces signal strength and could cause the drive to fault Figure 4 4 Strain Relief Components a Fiber Optic Connectors Strain R elief C over a D lt Latches Incoming Fiber Optic Cables p To remove the strain relief latching cover squeeze the two latches inward and lift the upper half off from the cable end bottom of the cover assembly Chapter Objectives Terminology Connection Verification Chapter 5 Start Up This chapter will provide you with the basic procedures that are necessary to configure the Drive for use with a CNA Board Procedures that will be covered in this chapter i
72. t Sink Fast Sink Fast Sink Fast Sink Fast Sink Fast Sink Setup Setup Config Config Config Config Reference Table 8 B ControlNet Parameters gt 2p Kare eA REN REM ss zm aicn Wamser none o o 7 5s 28m A gt ICN Fault Ss None Not Changeable No Not Changeable Ep p See Parameter Description 8 5 FUNCTION Setup Setup Config Config Config Config Publication 1395 5 37 March 1999 8 6 Reference Parameter Descriptions Publication 1395 5 37 March 1999 The format used to provide information about CNA board parameters 1s as follows Parameter AAA Parameter name BBB Parameter name Use Parameter Type Program Terminal Units Minimum Value Maximum Value Default Value Description Parameter AAA The parameter number if the Adapter is installed in Port A Parameter BBB The parameter number if the Adapter is installed in Port B Parameter name The parameter name as viewed on a program terminal Use A brief description of the parameter function Parameter Type Specifies the type of parameter Two types are available on the CNA board Configuration parameters These parameters contain real time information They can be linked to Drive parameters or other CNA board parameters Setup parameters These parameters are used to control CNA board functions and features Program Term Units The engineering units used when displaying a pa
73. ter Board Procedures performed in this chapter include Unpacking and inspection Proper mounting e Connection amp Switch Settings It is your responsibility to thoroughly inspect the equipment before accepting shipment from the freight company You must take the responsibility for noting any damage Do Not accept shipment before checking all items received against the purchase order and noting any missing or damaged items on the freight bill If any concealed damage is found later during unpacking it is your responsibility to notify the freight agent Leave the shipping container intact and request that the freight agent make a visual inspection of the shipment ATTENTION This Drive contains ESD Electrostatic Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference A B publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD protection handbook Remove all packing material from around the board Before removing the anti static bag it should be noted that the CNA Board is a static sensitive device and special precautions must be taken while handling the board The circuit board can be damaged by Electrostatic Discharge It is possible to make contact with an ESD sensiti
74. ters used to configure the CNA board are determined by the port the CNA board is connected to Figure 5 1 shows a sample configuration with the CNA board connected to Port B Figure 5 1 Configuration Example CNA Board in Port B with Channel A designated for ControlNet PLC Controller CNA Board Output Image Table Rack No _ o Input Parameter 0 aa DAL O y E imutrarameterz ia Parameters 7S 2 2 input Parameter Lor E N a 2 59 ImputParameters gt E o 2739 S Oo O0OoO0OO0OOoOoOoOoo wo Input Parameter 7 NI Input Image Table Rack No _ o Output Parameter 0 E ovt Parameter eR t output Paramerer2 52 iv Parametera o oupurParanetera e S lt E ho Rh 0 Output Parameter 5 Output Parameter 6 Output Parameter 7 cco O O lt gt GOG O lt a N Ol LEGEND Publication 1395 5 37 March 1999 lt _ gt Data Source C Data Sink Chapter Objectives Hard Faults Soft Faults Chapter 6 Troubleshooting This section describes the CNA board fault diagnostics and how they are processed by the 1395 Drive Using the CNA Fault Board messages will help you to isolate problem areas and initiate possible solutions Drive system should perform troubleshooting or maintenance ATTENTION Only qualified personnel familiar with the 1395 functions on the CNA Board Failure
75. the message header only The status byte will indicate the success or failure of the request Publication 1395 5 37 March 1999 Configuration amp PLC Interfacing 3 19 Read Parameter Data This function reads a parameter value from the Drive based on a parameter number list provided by the PLC Program PLC Block Transfer Instruction Data Write Read Size In Elements 5 6 Processor Type PLC 5 PLC 5 Destination Address N40 0 4 N40 0 5 Message Structure PLC Message Write PLC Message Read Header Word 1 Header Word 1 Header Word 2 Function Code Function Code Header 514 514 Word 3 Message Length Header Data NOTE Word 4 of the PLC Message Read instruction is broken down into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes Message Operation The READ PARAMETER DATA function requests the Drive to provides a parameter data value for use in the PLC Controller The value is returned in Drive units and may need to be scaled by the PLC Controller prior to being used in the Program Publication 1395 5 37 March 1999 3 20 Configuration amp PLC Interfacing Publication 1395 5 37 March 1999 The PMW length is determined by adding the message header length 4 words to the number of words required to specify the parameter list Each parameter requested requires two words in the PMW instruction with the exception of the last parameter in the list
76. tia and connected load inertia by accelerating and decelerating the motor under conditions controlled by the Autotune firmware This function requires the message header only The status byte will indicate the success or ineffectiveness of the request Publication 1395 5 37 March 1999 3 32 Autotune Update System Inertia Publication 1395 5 37 March 1999 Configuration amp PLC Interfacing This function updates the Drives internal database with the system inertia parameter 703 and the maximum achievable velocity loop bandwidth parameter 701 as calculated by the auto tune firmware and provides the data to the PLC Controller in the PMR message PLC Block Transfer Instruction Data Write Read Size In Elements 4 8 Processor Type PLC 5 PLC 5 Destination Address N40 3 N40 0 7 Message Structure Message Header Information Word 1 0 Word 2 0 Function Code Word 3 1037 Write Message Length Word 4 8 bytes PLC Message Write Header Word 1 Header Word 2 Function Code 1037 Message Length 8 bytes PLC Message Read Header Word 1 Header Word 2 Function Code Header 1037 Word 3 See Note Header Word 4 Parameter Data 701 Word 5 Parameter Data Data Word 6 Parameter Data Word 7 Data Word 8 703 Word 4 of the PLC Message Read instruction is broken down Parameter Data into two bytes The High byte contains the status bits The Low byte contains the Drive message length in bytes
77. tinuously updated basis is transferred using the I O image table of the PLC Controller The data transfer rate can be determined using the standard conventions for I O rack updates of discrete I O Refer to the PLC Controller manual for details Refer to Figure 3 2 This figure indicates how data is transferred between the Drive and PLC controller The group numbers 0 7 are used for the transfer of discrete type data Each group number reserves a single 16 bit word in both the input and output image table of the PLC Controller for the rack number assigned In the Drive these words are directly linked to internal Drive parameters using source and sink parameters as shown in Figure 3 3 Figure 3 2 Full Rack Configuration eme m mmi mes mm m m Publication 1395 5 37 March 1999 Groups 0 7 each appear to the PLC Coniroller to have a 16 bit input and output module installed Configuration amp PLC Interfacing 3 5 Figure 3 3 ControlNet Adapter Configuration Example PLC Controller Output Image Table Bulletin 1395 Drive Group Number Input Full Variables CNA Board paaa 01 User Configurable m L T L Soft Links 4 747 NIOD AI OIN Noo WD Oo scd oedzdzdzdzdd Input Image Table Output Group Number Variables Ful 0 1 2 3 4 5 6 7 473 77 or Nora Br OINI Configurable Soft Links ered ole eS A Dd ed hh cia possess Publication 1395 5 37 March 1999
78. tion handbook Static Sensitive Items While performing maintenance on the 1395 Drive and the ControlNet Adapter Board special precautions must be observed in handling or touching certain static sensitive components in the cabinet All circuit cards and SCR s in the Drive can be damaged by Electro Static Discharge If personnel will make contact with an ESD sensitive component during maintenance they must be grounded Grounding should be accomplished with a wrist strap which is connected to an approved ground Final Check Out After maintenance or repair of industrial controls always test the control system for proper functioning under controlled conditions that avoid hazards in the event of a control malfunction Keep Good Maintenance Records This rule will be most helpful in locating possible intermitttent problems by pointing to a particular area of recurring trouble within the overall system Further good maintenance records will help reduce major costly shutdowns by demanding the use of proper test equipment and an appropriate inventory of spare parts For additional information see NFPA 70 B RECOMMENDED PRACTICE FOR ELECTRICAL EQUIPMENT MAINTENANCE published by the National Fire Protection Association Chapter Objective Terminology Chapter 8 Reference This chapter provides you with an easy reference to the CNA board parameters It includes a condensed table of all configuration and setup parameters and a c
79. ve component during installation Therefore personnel must be properly grounded Grounding should be accomplished with a wrist strap which is connected to an approved ground If the board will not be installed when it is unpacked it should be stored in a clean dry place in the anti static bag The storage temperature must be between 0 C 32 F and 60 C 140 F with a maximum humidity of 95 non condensing to guard against damage to temperature sensitive components The CNA Board is mounted on the front of the swing out panel Two possible adapter board mounting positions are provided When looking at the mounting positions from the front the right position corresponds to Port B and the left to Port A The standard port used Publication 1395 5 37 March 1999 4 2 Installation Main Board Connections TE Ground Connection Publication 1395 5 37 March 1999 for the CNA board is port B however if a second CNA Board will be installed in the same drive it may be placed in Port A After determining which port will receive the CNA Board mount the board using the five 5 panel screws and one phillips head screw supplied Figure 4 1 Figure 4 1 ControlNet Adapter Board Location ControlNet Adapter CNA Board
80. y Tune cece eee eee eee Read Trend Information ccc cece e eee eee eens Message Operation 0 2 0 eee Installation Chapter 4 Chapter D DISC IB uurecu adsis este e ee Dno CTI CI Aa Unpacking amp Ins DECHOIE icd eo uan Peg obe eap dcc S ono pK TRE Main Board COMECHIONS raro Vac ect TE Ground Connection isis ce ya RR x RE InPUtCOMMECI NS 13 2 sacs ac acea osa ACER ORC a ai Switch Settings iussa sauve kac Rie daa ControlNet Connections cece cece eee Cable Guidelines 2s vas ht 9 Ea REED ERR awed Fiber Optic Cable Routing 0c cece eee ee Start Up Chapter 5 Chapter ODJECIVES ccc0t tenure nee seed wet dee da ane iun A IIT Connection Verification essa oot rre ir dad den Example Connection Configuration Troubleshooting Chapter 6 Chapter Objectives Loisaoesases e x ex RE Ex ees H rd Faulls 2 2 RE RR ER RaxSA MAX REA ERR EA SOIL FaUllS dusnseuskehzea xe me Ra RA Rd RR RE ER Rd Warning Faults 00 o2ak iz o REY RAE dae bead Communication Fault Reporting and Handling CNA Board Fault Messages aaa Status LED Indications liiis Publication 1395 5 37 March 1999 Table of Contents toc iii Periodic Maintenance Chapter 7 Preventative Maintenance cc cece eee eee eee eee Tests amp ReCOrdS fac deve cine tien dude ea est iode t d Reference Chapter 8 Chapter ODISCUUB cusa Te oa LEER rca TEMINY ica rs iaa Detailed Parameter Listing Param
81. yond this the handling for the loss of the Class 1 I O data can also be configured with Last State bits that are defined in a subsequent section of this document These bits are used to define the action to be taken with the Input image being used by the drive This image can be either left in its last received state or it can be zeroed Loss of I O image would occur for the following conditions Reset Prog Test ICN Comm Loss Class 1 Close Class 1 Timeout Parameters Relating to Communication Loss Each drive has two parameters that define how the communications losses get handled These parameters are called ICN Fault Select and ICN Warning Select Operation of bits within these parameters is essentially identical to similar parameters used for RIO DH adapters which exist at these parameter numbers Bit positions are identical for all of these parameters in a ControlNet Adapter as detailed in the following table Bit Position Description 0 Reset P rogram Test 1 Last State 2 ICN Comm Loss 3 Class 1 Close 4 Class 3 Close 5 Class 1 Timeout 6 Class 3 Timeout Publication 1395 5 37 March 1999 6 4 Troubleshooting Publication 1395 5 37 March 1999 If any bit is set to one in the Fault Select word then if the corresponding event occurs the drive will Soft Fault and thus not be running If the fault was one that causes loss of I O image to be received 0 2 3 5 then the Last State bit is u

User Manual, Bulletin 1395 ControlNet Communication Board

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