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2098-RM002 - Literature Library

1. AttrID Access Stub Name Data Type Description Rule Full 7 Get Full Parameter SHORT STRING 2 A human readable string representing the Name parameter name For example Vel Loop P Gain The maximum number of characters is 16 The first byte is a length code 38 Units String Engineering unit string The maximum number of characters is 4 The first byte is a length code 9 Help String The maximum number of characters is 64 The first byte is a length code 10 Minimum Data type specified in Descriptor Data type The minimum valid actual value to which Value and Data Size attribute 1 Parameter Value can be set 11 Maximum The maximum valid actual value to which Value attribute 1 Parameter Value can be set 12 Default Value The actual value attribute 1 Parameter Value should be set to when you want the default for the parameter aC Scaling UINT 2 Multiplier for scaling formula Multiplier 14 Scaling Divisor for scaling formula Divisor 15 Scaling Base Base for scaling formula 16 Scaling Offset Offset for scaling formula ee Multiplier Parameter object instance number of Link multiplier source 18 Divisor Link Parameter object instance number of divisor source 19 Base Link Parameter object instance number of base Source 20 Offset Link Parameter object instance number of offset Source 21 Decimal USINT 2 Specifies number of decimal places to use Precision when displaying the scaled engi
2. DeviceNet Driver Installation 2 5 Array Index 6 1 0 Receive Select Selects the output consumed assembly that is updated when a Polled I O Message is received by the drive If the value is modified you have to either close any existing I O Messaging connection s power cycle the drive reset the drive or remove and reapply DeviceNet power for the drive to use the modified value Refer to Assembly Object Instance ID 1 16 on page 4 12 for information on the data format Value Description 0 No data consumed 1 One Integer DNetIntArray 2 2 Two Integers DNetIntArray 2 DNetIntArray 3 3 One Float DNetFltArray 2 4 Two Floats DNetFltArray 2 DNetFltArray 3 5 One Integer One Float DNetIntArray 2 DNetFltArray 2 6 Two Integers One Float DNetIntArray 2 DNetIntArray 3 DNetFltArray 2 7 One Integer Two Floats DNetIntArray 2 DNetFltArray 2 DNetFltArray 3 8 Two Integers Two Floats DNetIntArray 2 DNetIntArray 3 DNetFltArray 2 DNetFltArray 3 Array Index 7 DeviceNet Modules Status This is a read only value that indicates the last modules fault status This value defaults to zero on power up and reset Value Description 0 No Fault default 1 DeviceNet Idle Fault 2 DeviceNet Comm Fault Publication 2098 RM002A EN P October 2001 2 6 DeviceNet Driver Installation Publication 2098 RM002A EN P October 2001 Array Index 8
3. Static Output R W Two Integers Two Floats DNetlntArray 2 DNetFltArray 2 DNetIntArray 3 DNetFltArray 3 Static Input RO One Integer DNetlntArray 0 Static Input RO Two Integers DNetlntArray 0 DNetlntArray 1 Static Input RO One Float DNetFltArray 0 Static Input RO Two Floats DNetFltArray 0 DNetFltArray 1 Static Input RO One Integer On DNetIntArray 0 e Float DNetFltArray 0 Static Input RO Two Integers One Float DNetIntArray 1 DNetIntArray 0 DNetFltArray 0 Static Input RO One Integer Two Floats DNetIntArray 0 DNetFltArray 1 DNetFltArray 0 Static Input RO Two Integers Two Floats DNetIntArray 1 DNetIntArray 0 DNetFltArray 0 1 The arrays are automatically saved in non volatile storage DNetFltArray 1 Programming Reference 4 13 Assembly Object Attribute of Instances ID 1 16 Attr ID Access Attribute Data Type Rule Name Assembly Object Common Services Service Implemented for Service Service Code Name Description Class Instance OE Yes Yes Get_Attribute_Single Returns the contents of the specified attribute 10E No Set_Attribute_Single Modifies an attribute value Publication 2098 RM002A EN P October 2001 4 14 Programming Reference Publication 209
4. Publication 2098 RM002A EN P October 2001 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 28 Set Position Hard Limits USINT 1 Enables or disables detection of hard limit violations The Position Limits see Enable Position Limit Parameter 22 must also be enabled for hard limit violations to be detected The inputs to use for positive and negative hard limits must be set see Parameters 32 and 33 below for the hard limits to be detected Not saved in non volatile memory 0 Disable default 1 Enable Note Hard limits are enabled on power up if either hard limit is assigned 29 Set Position Motor Limits USINT Enables or disables detection of motor integral limit violations The Position Limits see Enable Position Limit Parameter 22 must also be enabled for motor limit violations to be detected The motor limits will only work when using a motor that supports integral limits see Parameter 249 Not saved in non volatile memory 0 Disable default 1 Enable Note Motor limits are enabled on power up If Integral Limits Parameter 249 are enabled on the motor 30 Set Position Positive Soft Limit DINT cnts The position in counts when a positive soft limit violation will be detected by the drive This is the poi
5. October 2001 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 71 Get Cam Current Accel REAL 4 cnts sec The actual acceleration command generated by the cam This value will be equal to the instantaneous cam table acceleration which is the rate of change of the cam times the Cam Input Velocity 72 Get Cam Index DINT The segment of the cam table used to calculate the cam output This is determined by the Cam Input Position The index is zero based 73 Get Cam Offset DINT cnts The value in counts necessary to adjust the cam between its final output position and the output position for the beginning of the next cam cycle A cam wraps around to start again at its beginning if there is a difference between the final and beginning output position of the cam table the offset is adjusted by the difference so the Cam Current Position is always the actual output position described by the cam table 74 Get Camtable State USINT The current cam memory load status 0 Unloaded a cam file is not loaded into memory Loaded a cam file has been loaded into memory Note The Camtable Filename attribute can be changed by a user program or DeviceNet after a cam file is loaded so the filename displayed doesn t hav
6. October 2001 DeviceNet Connector Pins and Signals P2 Pin Description Signal 1 NetworkPowerCommon24vDC V 2 Network Communication Signal Line Can_L 3 Shield Shield 4 Network Communication Signal Line Can_H 5 Network Power 24V DC V Planning Your DeviceNet Network A DeviceNet network is a planned arrangement of electrical power and device distribution that is adjusted for optimal communications Before you add devices record the following Network data rate Network cable system map topology to which you are connecting Distances between cable system components Device current draw and voltage drop for each device on the network Limitation of the trunk and drop cables Refer to the table below for recommended trunk and drop lengths Data Rates 125 Kbps 250 Kbps 500 Kbps meters feet meters feet meters feet Thick Trunk Lines 500 1640 250 820 100 328 Thin Trunk Lines 100 328 100 328 100 328 Maximum Drop Length 6 20 6 20 6 20 Cumulative Drop Budget 156 5120 78 256 39 128 Refer to the DeviceNet Cable System Planning and Installation Manual publication DN 6 7 2 for specific guidance in calculating and attaching the Ultra5000 to a network The DeviceNet Interface 1 3 Connecting Your DeviceNet Cable To attach a plugable open style screw connector to the DeviceNet cable 1 Strip 65 mm 2 6 in to 75 mm 2 96 in of the outer jacket from
7. DeviceNet Loader Version This is a read only value that indicates the current version of DNetLoad exe The version number is displayed without periods e g version 1 2 0 will display as 120 Array Index 9 DeviceNet Server Version This is a read only value that indicates the current version of DNetServ exe The version number is displayed without periods e g version 1 2 0 will display as 120 Introduction Features Parameters and Electronic Data Sheet Chapter 3 DeviceNet Overview DeviceNet is an open global industry standard communication network It is designed to provide an interface from a programmable controller through a single cable directly to smart devices such as sensors push buttons motor starters simple operator interfaces and drives The Ultra5000 Drive with DeviceNet Interface provides the following features e Ultra5000 Drive with DeviceNet implements the Unconnected Message Manager UCMM which is used to establish a Group 3 Explicit Message connection Up to five Group 3 Explicit Messaging connections can be established e Faulted node Recovery allows the node address of a device to be changed even when it is faulted on the network This feature requires the support of proper PC software tools and the Node Address 0 63 PGM switches be set to the PGM program position e Software configuration lets you configure the Ultra5000 Drive with DeviceNet using RSNetWorx for DeviceNet 3 00 01 o
8. No Action default 1 Execute Command 23 Set Disable Position USINT 1 Disables the position limits This causes the drive Limit to stop monitoring the position limits The Position Limit State Parameter 34 will transition to Disabled 0 No Action default 1 Execute Command 24 Set Reset Position USINT 1 After a position limit violation the position limits Limit will go to the Stopped state The drive will not allow commanded motion in this state Pressing this button will allow the drive to respond to commanded motion to back off of the limit condition 0 No Action default 1 Execute Command 25 Set Position Limit REAL 4 cnts sec When a limit is detected the drive will use this Decel deceleration rate to bring the axis to a stop unless doing so would violate the Position Limit Distance Parameter 26 If necessary to stay within the Position Limit Distance the drive will calculate a greater deceleration rate Range 0 to 3 4e10 Default 0 26 Set Position Limit DINT 4 cnts When a limit is detected the drive will bring the Distance axis to a stop within this distance Range 0 to 2147483647 Default 0 27 Set Position Soft USINT 1 Enables or disables detection of soft limit Limits violations The Position Limits see Enable Position Limit Parameter 22 must also be enabled for soft limit violations to be detected Not saved in non volatile memory 0 Disable default 1 Enable
9. Assembly Instance 5 Assembly Instance 6 Assembly Instance 7 Assembly Instance 1 8 Assembly Instance 1 Automatically saved in non volatile storage REE mrPwWoN oO o Set Axis Enable Command USINT Enable the drive 0 No Action default 1 Execute Command Set Disable Axis Command USINT Disable the drive 0 No Action default 1 Execute Command Set Reset Drive USINT Reset the drive 0 No Action default 1 Execute Command Set Save Parameter Values USINT Save parameters in non volatile storage 0 No Action default 1 Execute Command Publication 2098 RM002A EN P October 2001 4 20 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 14 Set Control Digital Type USINT 1 Select a digital 1 0 type 0 Sourcing Digital Inputs should be connected to a 24 volt power supply so current flows into the drive when the input is ON Digital Outputs should be connected to ground so current flows from the drive when the output is ON default 1 Sinking Digital Inputs should be connected to ground so current flows from the drive when the input is ON Digital Outputs should be connected to a 24 volt power supply so current flows into the drive when
10. 0 255 Counter Controller Area Network CAN went to the bus OFF state Publication 2098 RM002A EN P October 2001 4 10 Publication 2098 RM002A EN P October 2001 Programming Reference DeviceNet Object Attributes of Instance ID 1 Continued Attr Access Attribute Data Type Description Semantics ID Rule Name of Values 5 Get Allocation STRUCT of Allocation choice Refer to the information BYTE 1 byte DeviceNet Object definition in the USINT Master MAC DeviceNet ID 1 byte Specification Range 0 63 255 Modified via Allocate only 6 MAC ID BOOL The Node 0 No change Switch Address 1 Change since Changed switch es have last reset or changed since power up last power up reset 7 Baud Rate The Baud Rate 0 No change Switch switch es have 1 Change since Changed changed since last reset or last power up power up reset 8 MAC ID USINT Actual value of Range 0 63 Switch Node Address Value switch es 9 Baud Rate Actual value of Range 0 2 Switch Baud Rate Value switch es or operating value after an autobaud was completed DeviceNet Object Common Services Service Service Service Code Name Description OE Get_Attribute_Single Returns the contents of the specified attribute 104 Set_Attribute_Single Modifies the specified attribute Assembly Object Class ID 04 Programming Reference 4 11 DeviceNet Object Cl
11. 2 Node Objects DeviceNet Node 1 DeviceNet Node 2 MAC ID 4 MAC ID 1 MAC ID 2 Object Class 5 Instance 2 DeviceNet Network Attribute 1 DeviceNet Node 3 DeviceNet Node 4 Object x s po Object x Class 5 7 Attribute 1 Nn Class 3 Attribute 2 L l Instance E N p 2 j P MAC ID 3 er ae Object l S Class 5 7 Za POD Moy onsets MAC ID 4 Data Type Definitions types Mnemonic ARRAY The following mnemonics define the Ultra5000 with DeviceNet data Description Sequence of Data BOOL Boolean 1 byte BYTE Bit String 1 byte DINT Signed Double Integer 4 bytes DWORD Bit String 4 bytes EPATH DeviceNet Path Segments INT Signed Integer 2 bytes REAL Floating Point 4 bytes SHORT_STRING Character String 1 byte length indicator 1 byte per character SINT Signed Short Integer 1 byte UDINT Publication 2098 RM002A EN P October 2001 Unsigned Double Integer 4 bytes Programming Reference 4 5 Mnemonic Description UINT Unsigned Integer 2 bytes USINT Unsigned Short Integer 1 byte WORD Bit String 2 bytes Identity Object This object provides identification and general information about the device The interface card implements four Identity Objects Class ID 01 p y Obj Identity Object
12. Attribute for Instance ID 0 Class Attributes Attr Access Attribute Type Description Semantics ID Rule Name of Values 2 Get Max Instance UINT Maximum instance The largest instance number of an object number of a created currently created in object at this class this class level of the hierarchy level device Identity Object Instance ID 1 4 Instance ID 1 Description Adapter Main Firmware Ultra5000 Main Firmware Adapter Boot Firmware A wy N Ultra5000 Boot Firmware Publication 2098 RM002A EN P October 2001 4 6 Publication 2098 RM002A EN P October 2001 Programming Reference Status Description of Attribute ID 5 Identity Object Attributes of Instance ID 1 Attr Access Attribute Data Description Semantics ID Rule Name Type of Values 1 Get Vendor ID UINT Identification of 01 Rockwell each vendor by Automation number Allen Bradley 2 Device Type Indication of Instance 1 general type of 115 Rockwell product Automation Miscellaneous Instances 2 4 105 Subcomponent 3 Product code Identification of a Instance 1 particular product 64 2098 IPD 005 DN of an individual 65 2098 IPD 010 DN vendor 66 2098 IPD 020 DN 02 2098 IPD 030 DN 03 2098 IPD 075 DN 04 2098 IPD 150 DN 05 2098 IPD HV030 DN 06 2098 IPD HV050 DN 07 2098 IPD HV100 DN 08 2098 IPD HV150 DN 09 2098 IPD HV2
13. E n e hark Se A EE 1 1 DeviceNet Connector Pins and Signals P2 1 2 Planning Your DeviceNet Network 1 2 Connecting Your DeviceNet Cable fee Saved 1 3 Configuring Your Ultra5000 with DeviceNet 1 5 Chapter 2 Configuring Ultra5000 DeviceNet Using the DNetConfigData ATT AY ods thus he bokeh tx ton A AE E aa kee AEG a Ba A 2 2 Array Index 0 PGM MAC WD 6 35 oe su p wri haga els Ws 2 2 Array Index 1 PGM Baudrate 0 2 2 Array Index 2 DeviceNet Module Fault Action 2 2 Array Index 3 DeviceNet Idle Fault Action 2 3 Array Index 4 DeviceNet Comm Fault Action 2 3 Array Index 5 I O Transmit Select 2 4 Array Index 6 I O Receive Select n acccc asaya 2 5 Array Index 7 DeviceNet Modules Status 2 5 Array Index 8 DeviceNet Loader Version 2 6 Array Index 9 DeviceNet Server Version 2 6 Chapter 3 TARO CTH te of yd he n acaba gc Weal 1G aka Wee ah de ae 3 1 Features fe oe Pb Pes ech co be oo Be 8a car chs as ane De pe tuna ae Seed ge Ge 3 1 Parameters and Electronic Data Sheet 3 1 DeviceNet Messa singu fic Yew tend eta oe E EN EA 3 2 Predefined Master Slave Connection Set 3 2 Explicit Response Request Messages 3 2 Polled I O Command Response Messages 3 2 I O Messaging and Explicit Messaging with DeviceNet 3 3 Selecting Input an
14. INO02x EN P Instructions Configuring the Ultra3000 Ultraware User Manual 2098 UM001 x EN P DSD and Ultra5000 IPD using Ultraware A copy of the DeviceNet Specification Volumes I and II Release 2 0 may be ordered from the web site http www odva org of the Open Device Vendor Association Conventions Used in this The following conventions are used throughout this manual Manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information e Words you type or select appear in bold e When we refer you to another location the section or chapter name appears in italics e Software commands and parameters are listed with initial capitals and hardware signals are listed in all capitals e g Jog Program Velocity parameter and ENABLE signal Publication 2098 RM002A EN P October 2001 P 4 Preface Allen Bradley Support Publication 2098 RM002A EN P October 2001 Allen Bradley offers support services worldwide with over 75 sales support offices 512 authorized distributors and 260 authorized systems integrators located throughout the United States alone plus Allen Bradley representatives in every major country in the world Local Product Support Contact your local Allen Bradley representative for e Sales and order support e Product technical training e Warranty support e Support service agreements Technical Pro
15. LED Use the table below for troubleshooting the Module Status LED on the DeviceNet interface to the Ultra5000 Ifthe Module Status is Potential Cause is Possible Resolution is Status LED is Off Not powered No power Provide power to the device Flashing red Recoverable Not operational Power cycle or reset the drive fault Steady red Unrecoverable Drive problem Check drive for power up error fault Replace drive Flashing red Self testing Self test or The DeviceNet interface is being initialized or in self test green initialization in wait progress Flashing green Device is in Processing or waiting Normal operation no action needed stand by for input Steady green Operational Normal operation Normal operation no action needed Network Status LED If the Network Status is Status LED is Off Not powered Use the table below for troubleshooting the Network Status LED on the DeviceNet interface to the Ultra5000 Potential Cause is No power going to the Possible Resolution is Check the Module Status LED to verify that the drive is powered Not on line device ar Failed Duplicate MAC ID 2 Check that one or more nodes are communicating on the network check No network 24V power 3 Check that at least one other node on the network is operational Network miswired and the data rate is the same as the drive 4 Provide network 24V power 5 Check that the DeviceNet connect
16. OER Cable Installation and Design Problems Adjusting the Physical Network Configuration Introduction Who Should Use this Manual Purpose of this Manual Preface Read this preface to become familiar with the organization of the manual In this preface you will read about the following Who Should Use this Manual Purpose of this Manual Contents of this Manual Related Documentation Conventions Used in this Manual Allen Bradley Support This manual is intended for qualified service personnel responsible for setting up and servicing the Ultra5000 drive with DeviceNet You must have previous experience with and a basic understanding of electrical terminology programming procedures networking required equipment and software and safety precautions This manual is a reference guide for using DeviceNet to configure monitor or control Ultra5000 drives with DeviceNet Publication 2098 RM002A EN P October 2001 P 2 Preface Contents of this Manual Related Documentation Publication 2098 RM002A EN P October 2001 This manual contains the following sections Preface An overview of this manual and Allen Bradley technical support 1 The DeviceNet Interface Describes how to install connect and commission an Ultra5000 with DeviceNet 2 DeviceNet Driver Installation Describes loading of the drivers and setup files for the Ultra5000 Drive with DeviceNet 3
17. Publication 2098 RM002A EN P October 2001 4 32 Programming Reference Parameter Object Instances ID 1 340 Parameter Name Access Rule Parameter Instance Data Type Data Size Bytes Units Scale Description 108 Set Vreg Tune Direction USINT 1 Selects a tuning direction Not saved in non volatile memory 0 Bi Directional default to tune the drive using an alternating step input to create alternately forward and reverse directional motion 1 Forward Only to tune the drive using a step input to create forward motion only 2 Reverse Only Only to tune the drive using a step input to create reverse motion only Vreg Tune Period REAL SEC The time the drive will turn at a given velocity Not saved in non volatile memory Range 0 to 3 4e10 Default 0 Vreg Tune Step REAL cnts sec The amplitude of the velocity input sent to the drive for the given Vreg Tune Period In Bi Directional tuning the amplitude will alternate polarity or sign Not saved in non volatile memory Range 0 to 3 4e10 Default 0 111 Get Vreg Tune Command REAL cnts sec The velocity command driving the velocity regulator while the velocity tuning algorithm is running This signal is only included to be consistent with the Position Regulator Tune Command signal It is actually the same as the Vreg Command Velocity 112 Get Vreg Tune Feedback R
18. Reference 4 3 The Defined Object Interface The objects in the Ultra5000 Drive with DeviceNet have the interface listed in the following table Object Interface Message Router Explicit Messaging Connection Instance DeviceNet Message Router Assembly 1 0 Connection or Message Router Connection Message Router Parameter Message Router Object Addressing The Media Access Control Identifier MAC ID is the common basis for logically addressing separate physical components across DeviceNet The MAC ID is a unique integer assigned to each DeviceNet node that distinguishes it specifically from among other nodes on the same network The MAC ID often is referred to as the node address Each component object is further identified with the following address components Component Description Class ID The Class ID is a unique integer value assigned to each Object Class accessible from the network The Ultra5000 supports an 8 bit Class ID Instance ID The Instance ID is a unique identification assigned to an Object Instance that identifies it among all Instances of the same Class It is also possible to address the Class itself by utilizing the Instance ID value zero 0 The Ultra5000 supports an 16 bit Instance ID Attribute ID The Attribute ID is a unique identification assigned to a Class Attribute and or Instance Attribute Publication 2098 RM002A EN P October 2001 4 4 Programming Reference Figure 4
19. a Find_Next_Object_ Causes the specified class to Instance search and return a list of instance IDs of existing instances of the Identity Object Reset Service When the Identity Object receives a Reset request it e determines if it can perform the reset e responds to the request e attempts to perform the reset Publication 2098 RM002A EN P October 2001 4 8 Programming Reference The Reset common service has the following object specific parameter Identity Object Reset Service Name Data Description Semantics Type of Values Type USINT Type of Reset 0 Emulate as closely as possible cycling power of the drive default 1 Emulate cycling power as closely as possible The drive can not be returned to out of box configuration without deletion of DeviceNet drivers and files Message Router Object The Message Router Object provides a messaging connection point Cl ID 02 through which a Client may address a service to any object class or ass H instance residing in the physical device Message Router Object Attributes of Instance ID 1 Attr Access Attribute Data Description Semantics ID Rule Name Type of Values of connections number of supported connections supported ae Number active Number of Current count of connections the number of currently used by connections system allocated to components system communication 4 Active connections ARRAY A list of the Ar
20. and LSD 1 5 S scanner faulty 5 4 grounding 5 4 troubleshooting 5 4 service definition 4 1 service code assembly object 4 13 DeviceNet connection object 4 17 DeviceNet object 4 10 identity object 4 7 message router object 4 8 parameter object 4 52 setting data rate 5 3 general information 1 5 switch location 1 1 troubleshooting 5 3 node address general information 1 5 switch location 1 1 troubleshooting 5 3 SHORT_STRING 4 4 SINT 4 4 T technical assistance P 4 back cover 2 tee tap 5 3 tee tap see also connector terminology attribute 4 1 instance 4 1 object 4 1 service 4 1 troubleshooting cable installation and design 5 5 device failure 5 3 drop length 5 5 electrical noise 5 5 grounding 5 3 module status LED 5 2 network efficiency 5 5 network status LED 5 2 node address problems 5 3 number of nodes 5 5 Index 1 3 physical network configuration 5 5 power supply 5 4 scanner 5 4 trunk length 5 5 trunk length 5 5 trunk wiring 5 4 U UDINT 4 4 UINT 4 5 USINT 4 5 W WORD 4 5 Z Publication 2098 RM002A EN P October 2001 1 4 Index Publication 2098 RM002A EN P October 2001 Notes Publication 2098 RM002A EN P October 2001 Publication 2098 RM002A EN P October 2001 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals tech
21. by the drive over a Polled 1 0 connection See page 4 19 for more information 1 Refer to the section on the Parameter Object for more information about parameter instances If the above parameters are modified you must IMPORTANT IMPORTANT perform one of the following before the modified value s are active e Close any existing I O messaging connection e Power cycle the drive e Remove and reapply DeviceNet power to the drive e Reset the drive Publication 2098 RM002A EN P October 2001 4 12 Programming Reference Publication 2098 RM002A EN P October 2001 The following Assembly Objects are implemented in the drive and buffer I O in the following fashion e RO Read Only R W Read Write Protected Assembly Object Instance ID 1 16 ID Data Type Static Output Access R W Size Bytes 4 Description One Integer DNetIntArray 2 Static Output R W Two Integers DNetlntArray 2 DNetIntArray 3 Static Output R W One Float DNetFltArray 2 Static Output R W Two Floats DNetFltArray 2 DNetFltArray 3 Static Output R W One Integer On DNetlntArray 2 e Float DNetFltArray 2 Static Output R W Two Integers One Float DNetlntArray 2 DNetFltArray 2 DNetintArray 3 Static Output R W One Integer Two Floats DNetFltArray 2 DNetlntArray 2 DNetFltArray 3
22. connection e The drive marks any explicit connection after allowing a write to an Assembly Object through the connection e Ifa marked explicit connection times out based on the EPR then the fault action will be that for Communication Loss over the I O connection using Array Index 4 DeviceNet Comm Fault Action of the DNetConfigData array e Ifa marked explicit connection is deleted then the fault action will be that configured for Idle over the I O connection using Array Index 3 DeviceNet Idle Fault Action of the DNetConfigData array e Multiple explicit connections can write overwrite the control I O if they meet the guidelines specified Each connection will be marked individually within the drive e If the drive gets allocated re allocated by a controller such that valid I O data is being sent to the drive or if an Idle condition from the allocating controller is transitioned back to valid data then all marked explicit connections will be reset to unmarked and future writes blocked e Ifa marked connection has its EPR value reset to zero 0 after being marked then the connection will become unmarked Publication 2098 RM002A EN P October 2001 4 16 Programming Reference Connection Object Class ID 05 The Connection Object manages the internal resources associated with both I O and Explicit Messaging Connections The specific instance generated by the Connection Class is referred to as a Connection
23. current A value of one 1 indicates no saturation 255 Get Flux Saturation 2 REAL 4 The motor flux saturation value at 37 5 of motor peak current A value of one 1 indicates no saturation 256 Get Flux Saturation 3 REAL 4 The motor flux saturation value at 50 of motor peak current A value of one 1 indicates no saturation 257 Get Flux Saturation 4 REAL 4 The motor flux saturation value at 62 5 of motor peak current A value of one 1 indicates no saturation 258 Get Flux Saturation 5 REAL 4 The motor flux saturation value at 75 of motor peak current A value of one 1 indicates no saturation 259 Get Flux Saturation 6 REAL 4 The motor flux saturation value at 87 5 of motor peak current A value of one 1 indicates no saturation 260 Get Flux Saturation 7 REAL 4 The motor flux saturation value at 100 of motor peak current A value of one 1 indicates no saturation 261 Get Motor Rotary REAL 4 RPM Maximum speed of a rotary motor Maximum Speed 262 Get Motor Linear REAL 4 m sec Maximum speed of a linear motor Maximum Speed 263 Get Motor Peak REAL 4 Amps Maximum intermittent current of the motor Current 264 Get Motor Rated REAL 4 Amps Continuous current rating of the motor Current Publication 2098 RM002A EN P October 2001 4 48 Programming Reference Parameter Object Instances ID 1 340 Parameter Access Parameter D
24. input 1 Range 3 4e10 to 3 4e10 Default 1 Set ADC 1 Offset REAL Volts A value added to the multiplied ADC 1 input Range 3 4e10 to 3 4e10 Default 0 Get ADC 1 Input REAL Volts The scaled value of analog input 1 This value equals the voltage read at the analog input multiplied by the gain value summed with the offset Get ADC 1 Output REAL Volts The unscaled value of analog input 1 This value equals the voltage read at the analog input Set ADC 2 Scale REAL A multiplier applied to the voltage read at analog input 2 Range 3 4e10 to 3 4e10 Default 1 Set ADC 2 Offset REAL Volts A value added to the multiplied ADC 2 input Range 3 4e10 to 3 4e10 Default 0 Get ADC 2 Input REAL Volts The scaled value of analog input 2 This value equals the voltage read at the analog input multiplied by the gain value summed with the offset Get ADC 2 Output REAL Volts The unscaled value of analog input 2 This value equals the voltage read at the analog input Set DAC 1 Mode USINT Selects on the following 0 Manual default The voltage at the output is determined by the Manual DAC 1 Value setting of the output along with its scale and offset 1 Auto The voltage at the outputis determined by the DAC 1 Source setting along with its scale and offset Publication 2098 RM002A EN P Octo
25. is the oldest 0 No Fault 4 Motor Overtemperature 5 IPM Fault 9 Bus Undervoltage 10 Bus Overvoltage 1 Bad Illegal Hall State 4 Network Communication 7 User Current 8 Overspeed 19 Position Following Error 20 Motor Encoder Error 21 Auxiliary Encoder Error 22 Motor Filter 23 IPM Filter 24 Velocity Error 26 User Velocity 58 Excess CPU Load i os Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 45 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 225 Get Controller Drive USINT 1 The type of Ultra5000 drive Type 0 Invalid 1 2098 IPD 005 DN 2 2098 IPD 010 DN 3 2098 IPD 020 DN 4 2098 IPD 030 DN 5 2098 IPD 075 DN 6 2098 IPD 150 DN 7 2098 IPD HV030 DN 8 2098 IPD HV050 DN 9 2098 IPD HV100 DN 10 2098 IPD HV150 DN 11 2098 IPD HV220 DN 226 Get PICS Number SHORT_S 1 byte A unique Identifier assigned to each drive TRING length indicator 1 byte per character 227 Get Controller SHORT_S 1 byte The version of the drive s main firmware in the Firmware Version TRING length format XX YY ZZ where indicator XX major revision 1 byte per YY minor revision character ZZ maintenance revision 228 Get Controller Boot SHORT_S 1 byte The version of the drive s boot firmware in the Version TRING len
26. not updated in real time by the device 1 Parameter value attribute is updated in real time by the device 6 Supports extended precision scaling Parameter Object 0 Extended precision scaling is not supported 1 Extended precision scaling should be implemented and the value is presented in engineering units Data Types for Instance Attribute 5 Data Type Name Data Type Code Data Type in Hex Description SINT C2 Signed 8 bit integer value INT C3 Signed 16 bit integer value DINT C4 Signed 32 bit integer value USINT C6 Unsigned 8 bit integer value UINT C7 Unsigned 16 bit integer value UDINT C8 Unsigned 32 bit integer value REAL CA 32 bit floating point value BYTE D1 bit string 8 bit WORD D2 bit string 16 bit DWORD D3 bit string 32 bit SHORT_STRING DA Character string 1 byte per character 1 byte length indicator Publication 2098 RM002A EN P October 2001 4 52 Programming Reference Parameter Object Common Services Service Code Implemented for Service Name Class Instance 0x01 No Yes Get_Attribute_All Ox0E Yes Yes Get_Attribute_Single 0x10 No Yes Set_Attribute_Single 0x16 Yes No Save Get_Attribute_All Response At the instance level the order of attributes returned in the Get_Attribute_All Response is as follows Class Attribute ID Attribute Name and De
27. of Attribute Enumerated String Number Number of enumerated string to retrieve MAX value is 255 e If the string to be returned is a bit enumerated string then the enumerated string number represents a bit position and the Get_Enum_String service returns a string describing that bit e If the string to be returned is a value enumerated string then the enumerated string number represents a value and the Get_Enum_String service returns a string for that value The enumerated string is returned in the form of a SHORT_STRING with a maximum number of characters of 16 Publication 2098 RM002A EN P October 2001 4 54 Programming Reference Publication 2098 RM002A EN P October 2001 Chapter 5 Troubleshooting DeviceNet Drives Chapter Objectives This chapter provides a description of maintenance and troubleshooting activities for the DeviceNet interface to the Ultra5000 This chapter includes the following sections e Module Status LED e Network Status LED e Node Problems e Device Failure LED Status Check e Scanner Problems e Power Supply Problems e Cable Installation and Design Problems e Adjusting the Physical Network Configuration For maintenance and troubleshooting information specific to the Ultra5000 drive refer to the Ultra5000 Intelligent Positioning Drive Installation Manual 2098 IN001x EN P Publication 2098 RM002A EN P October 2001 Troubleshooting DeviceNet Drives Module Status
28. 20 DN Instances 2 4 01 Firmware 4 Revision STRUCT Revision of the of item the Identity Major USINT Object Major Revision Minor USINT represents Minor Revision 5 Status WORD This attribute See table dentity represents the Object Status current status of Description of Attribute the entire device D5 Its value changes as the state of the device changes Ea Serial Number UDINT Serial number of Unique identifier for each device device 7 Product Name SHORT_ Readable Unique identifier for each STRING identification product Identity Object Bit s Description Semantics of Values 0 Owned TRUE device has an owner 1 Reserved set to 0 2 Configured Always 0 Programming Reference 4 7 Identity Object Status Description of Attribute ID 5 Continued Bit s Description Semantics of Values 3 Reserved set to 0 4 5 6 7 Vendor specific 8 Minor recoverable Always 0 fault 9 Minor unrecoverable Always 0 fault 10 Major recoverable TRUE if self diagnosis detects a major fault fault 11 Major unrecoverable Always 0 fault 12 13 Reserved set to 0 14 15 Identity Object Common Services Service Implemented for Service Service Code Name Description Class Instance OE Yes Yes Get_Attribute_Single Returns the contents of the specified attribute 054 No Reset Invokes the Reset service for the device 114 Yes n
29. 3 4e10 to 3 4e10 Not saved in non volatile memory Default 0 Publication 2098 RM002A EN P October 2001 Programming Reference Parameter Object Instances ID 1 340 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 33 Set Move Program REAL 4 cnts sec The acceleration rate used when ramping up to Accel the move s velocity Not saved in non volatile memory Range 0 to 3 4e10 Default 0 34 Set Move Program REAL 4 cnts sec The deceleration rate used when ramping down Decel from the move s velocity to zero Not saved in non volatile memory Range 0 to 3 4e10 Default 0 55 Get Move State USINT 1 Describes the state of the Move function 0 Idle 1 Profiling 2 Calculating 3 Correcting 56 Get Move Floating DINT 4 cnts In the event that the Move Current Position value Zero is changed by the execution of a program exe file the value of this field will change so that the sum of Move Floating Zero and Move Current Position remains unchanged 57 Get Move Current DINT 4 cnts The position generated by the current move This Position value is automatically re set to zero at drive power up 58 Get Move Current REAL 4 cnts sec The velocity command generated by the current Velocity move 59 Get Move Current REAL 4 cnts sec The acceleration command generated by the Accel current move 60 Get Move Current REAL 4 cnts sec The ra
30. 8 RM002A EN P October 2001 DeviceNet Comm Fault Action The Ultra5000 with DeviceNet will fault depending on the Comm Fault Action setting if the Output command Assembly is not periodically updated after the Output Assembly has been written to You can configure the Ultra5000 with DeviceNet to perform a Comm Fault Action if the Output Assembly is not periodically updated after the I O or explicit messaging connection has been established Possible reasons the Output Assembly may not be updated in this way include the following e The messaging connection is closed e The DeviceNet cable is unplugged ATTENTION Risk of severe bodily injury or equivalent damage exists The Comm Fault Action value allows you to change the default configuration and to potentially allow the drive to continue to operate when communication with the DeviceNet Module is lost By default the Ultra5000 drive with DeviceNet will fault and disable the drive when a DeviceNet Comm Fault is triggered However you can configure the drive to ignore the DeviceNet Comm Fault by setting the Ultra5000 DNetConfigData Array Index 4 DeviceNet Comm Fault Action to 1 gnore DeviceNet Idle Fault Action The Ultra5000 with DeviceNet will fault depending on the Idle Fault Action setting if the Master scanner sends I O idle messages zero length messages and the drive expects non zero length I O messages ATTENTION Risk of severe bodily injury or equival
31. Allen Bradley Ultra5000 Series Intelligent Positioning Drives with DeviceNet Catalog Numbers 2098 IPD 005 DN 2098 IPD 010 DN and 2098 IPD 020 DN Reference Manual Rockwell Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without writ
32. DNetBoot hex e DNetMain hex 3 Cycle power on the Ultra5000 and verify that within approximately 15 seconds the green Module Status LED on the DeviceNet interface is lit on This indicates successful installation of the drivers The Module Status LED will flash red green while the DeviceNet interface card is being initialized 4 Select Rescan from the Tools menu Verify the DNetServ exe automatically creates the following Global Variables in the Workspace of the Ultra5000 drive Name Type Number of Elements DNetConfigData Long Int 8 DNetIntArray Long Int 32 DNetFitArray Float 32 IMPORTANT If the Ultra5000 Drive Properties are Reset to Factory Settings with Ultraware the DeviceNet drivers are erased and must be reinstalled Publication 2098 RM002A EN P October 2001 2 2 DeviceNet Driver Installation Configuring Ultra5000 DeviceNet Using the DNetConfigData Array Publication 2098 RM002A EN P October 2001 The DNetConfigData array is the interface for configuring DeviceNet on the Ultra5000 The array is a standard Ultra5000 long integer array and is automatically created by the DeviceNet driver program For more information on arrays see the Ultra5000 Programming Manual Array Index 0 PGM MAC ID The programmed non volatile DeviceNet Node Address MAC ID Value Description Oto 63 MAC ID range default is 63 Array Index 1 PGM Baudrate The programmed non volatile DeviceNet Data Ra
33. Data Size Bytes Units Scale Description 201 Set Position Following Error Limit DINT cnts The minimum position error that triggers the Position Following Error fault Range 0 to 2147483647 Default 8000 202 Set Position Following Error Delay REAL msec The minimum time during which the position error must be greater than the Position Following Error Limit to cause a Position Following Error fault Range 0 to 3 4e10 Default 100 203 Get Fault Status DWORD The Controller Fault Status provides the present state of the possible fault conditions Bit 3 Motor Overtemperature Bit 4 IPM Fault Bit 8 Bus Undervoltage Bit 9 Bus Overvoltage Bit 10 Bad Illegal Hall State Bit 13 Network Communication Bit 16 User Current Bit 17 Overspeed Bit 18 Position Following Error Bit 19 Motor Encoder Error Bit 20 Auxiliary Encoder Error Bit 21 Motor Filter Bit 22 IPM Filter Bit 23 Velocity Error Bit 25 User Velocity ee et E 204 Get Fault Count DINT Displays the number of faults recorded since power up of the drive 205 206 207 208 NN O oo RO BY BO BD ND NP ND PO PO Se ee ee Ss r a e oOmonArNoOorPWNnN gt Get Fault History 1 through Fault History 20 USINT Returns the most recent faults detected in the drive Fault History 1 is the most recent Fault History 20
34. DeviceNet Overview Introduces DeviceNet parameters and messaging 4 Programming Reference Configuration data and behaviors implemented in the Ultra5000 Drive with DeviceNet are defined using object modeling 5 Troubleshooting DeviceNet Drives Describes troubleshooting actions for DeviceNet interfaces to Ultra5000 drives These publications provide additional information specific to the Ultra5000 Drive with DeviceNet or DeviceNet in general To obtain a copy contact your local Rockwell Automation office or distributor For information about Read this document Publication Number A glossary of industrial Allen Bradley Industrial AG 7 1 automation terms and Automation Glossary abbreviations How to commission a DeviceNet Cable System DN 6 7 2 DeviceNet system Planning and Installation Manual An overview of Allen Bradley motion controls and systems Motion Control Selection Guide GMC SG001 x EN P How to use RSNetWorx RSNetWorx for DeviceNet Getting Results Manual 9399 DNETGR A description of the Ultra3000 and Ultra5000 drives Ultra Family Brochure 2098 BR001 x EN P Preface P 3 For information about Read this document Publication Number How to install and Ultra5000 Intelligent 2098 IN001 x EN P troubleshoot the Ultra5000 Positioning Drive drive Installation Manual How to install Ultraware U traware CD Installation 2098
35. EAL cnts sec The velocity feedback to the velocity regulator while the velocity tuning algorithm is running This signal is only included to be consistent with the Position Regulator Tune Feedback signal It is actually the same as the Vreg Feedback Velocity Preg Kp REAL 1 sec Proportional gain for the position loop Increasing the Kp gain improves response time and increases the stiffness of the system Too high a Kp gain value causes instability too low a Kp gain value results in loose or sloppy system dynamics Range 0 to 3 4e10 Default 20 Preg Kpz REAL 1 sec Proportional gain for the position loop when the position error falls within the Preg Kpz Zone Range 0 to 3 4e10 Default 0 Preg Kpz Zone DINT cnts Enter the region in counts around Command Position where Preg Kpz will be used in place of Preg Kp as the position loop proportional gain value Range 0 to 2147483647 Default 0 Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 33 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 116 Set Preg Ki REAL 4 1 sec Integral gain for the position loop Ki gain improves the steady state positioning performance of the system and virtually eliminates steady state positioning erro
36. Instance or a Connection Object A Connection Object within a particular module actually represents one of the end points of a connection DeviceNet Connection Object Instance ID 1 10 Instance ID Instances Group 2 Explicit Message Connection Poll 1 0 Connection DeviceNet Connection Object Attributes of Instances ID 1 10 Group 3 Explicit Message Connections Attr ID Access Attribute Data Type Description Rule Name 1 Get State USINT State of the Connection 2 Instance Type 1 0 or Message Connection 3 Transport_class_trigger BYTE Defines the behavior of the Connection 4 Produced_connection_id UINT CAN identifier to transmit on 5 Consumed_connection_id CAN identifier to receive on 6 Initial_comm_characteristics BYTE Defines the Message Group s associated with this Connection 7 Produced_connection_size UINT Maximum number of bytes transmitted across this Connection 8 Consumed_connection_size Maximum number of bytes received across this Connection 9 Set Expected_packet_rate Defines timing associated with this Connection Wl Watchdog_timeout_action USINT Defines how to handle Inactivity Watchdog timeouts 3 Get Produced_connection_path_ UINT Number of bytes in the length produced_connection_path attribute 14 Produced_connection_path EPATH Specifies the Application Object whose data is to be produced by this Connection object 15 Consumed_connection_pat
37. Ratchet Output DINT cnts The position generated by the ratchet This value is automatically re set to zero at drive power up 148 Get Ratchet Position DINT cnts The position generated by the ratchet This value is automatically reset to zero at power up 149 Get Ratchet Velocity REAL cnts sec The velocity command generated by the ratchet 150 Get Input 1 State USINT The current state or condition of the digital input 0 Off 1 On Publication 2098 RM002A EN P October 2001 4 38 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 151 Get Input 2 State USINT 1 The current state input 0 Off 1 On or condition of the digital Get Input 3 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 4 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 5 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 6 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 7 State USINT The current state input 0 Off 1 On or conditio
38. The drive always protects itself and the motor from average currents that exceed their ratings This value is only needed if a lower average current fault is desired For example if another part of a machine would overheat Range 0 to 3 4e10 Default 0 196 Set User Current USINT 1 Determines if the User Current fault detection is Fault enabled turned on or disabled 0 Disable default 1 Enable 197 Set User Velocity REAL 4 cnts sec The minimum velocity which causes the User Fault Limit Velocity fault The drive always protects the motor from exceeding its ratings This value is only needed if a lower velocity fault is desired For example if another part of a machine could be damaged Range 0 to 3 4e10 Default 0 198 Set User Velocity USINT 4 Determines if the User Velocity fault detection is Fault enabled turned on or disabled 0 Disable default 1 Enable 199 Set Velocity Error REAL 4 cnts sec The minimum velocity error that triggers the Limit Velocity Error fault Range 0 to 3 4e10 Default 80000 200 Set Velocity Error REAL 4 msec The minimum time which the velocity error must Delay be greater than the Velocity Error Limit to cause a Velocity Error fault Range 0 to 3 4e10 Default 1000 Publication 2098 RM002A EN P October 2001 4 44 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type
39. ameter 13 Save Parameter Values Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 1 Get DNet Main SHORT_S 1 byte The version of the main firmware in the Firmware Version TRING length DeviceNet adapter The format is XX YY ZZ indicator where 1 byte per XX major revision character YY minor revision ZZ maintenance revision 2 Get DNet Boot SHORT_S 1 byte The version of the boot firmware in the adapter Firmware Version TRING length The format is XX YY ZZ where indicator XX major revision 1 byte per YY minor revision character ZZ maintenance revision 3 Get Drive Model SHORT_S 1 byte The model number of the drive TRING length indicator 1 byte per character 4 Get DN SW Node USINT DeviceNet Node Address Mac_ID switch Address setting 5 Get DN SW Data USINT DeviceNet Data Rate switch setting Rate 0 125 kps 1 250 kps 2 500 kps 3 Autobaud 4 Program 5 Programmable 6 Programmable 7 Programmable 6 Set DN NV Node USINT 1 The programmed nonvolatile DeviceNet Node Address Address Mac_ID Range 0 to 63 Default 63 Automatically saved in non volatile storage 7 Set DN NV Data Rate USINT 1 The programmed nonvolatile DeviceNet Data Rate 0 125 kps default 1 250 kps 2 500 kps 3 Autobaud Automatically saved in non volatile storage Publication 2098 RM002A EN P October 2001 Par
40. ameter Object Instances ID 1 340 Programming Reference 4 19 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description Set 1 0 Receive Select USINT Selects the output consumed assembly that is updated when a polled I O message is received by the drive If the value is modified the user has to either close any existing I O messaging connection s power cycle the drive reset the drive or remove and reapply DeviceNet power for the drive to use the modified value Refer to the Assembly Object for information on the data format 0 No Data Consumed 1 Assembly Instance 1 default 2 Assembly Instance 2 3 Assembly Instance 3 4 Assembly Instance 4 5 Assembly Instance 5 6 Assembly Instance 6 7 Assembly Instance 7 8 Assembly Instance 8 Automatically saved in non volatile storage Set 1 0 Transmit Xmit Select USINT Selects the input produced assembly that is transmitted by the drive over a polled 1 0 messaging connection If the value is modified the user has to either close any existing I O messaging connection s power cycle the drive reset the drive or remove and reapply DeviceNet power for the drive to use the modified value Refer to the Assembly Object for information on the data format 0 No Data Produced 1 Assembly Instance 9 default 2 Assembly Instance 1 3 Assembly Instance 4
41. ass Specific Services Service Service Service Code Name Description 4B Allocate_Master Slave_ Requests the use of the Predefined Connection_Set Master Slave Connection Set AC Release_Group_2_ Indicates that the specified Identifier_Set Connections within the Predefined Master Slave Connection Set are no longer desired These connections are to be released deleted The Ultra5000 with DeviceNet uses Assembly Objects to send generic data to and from a Master scanner device over an I O connection The terms Input and Output are defined from the scanner s point of view e Output Assemblies are defined as the information that is output by the scanner and consumed by the Ultra5000 e Input Assemblies are consumed by the scanner or are the scanner s input The Ultra5000 with DeviceNet allows you to choose between various Input and Output Assemblies thereby choosing the data format of the messages that are passed back and forth between the Ultra5000 with DeviceNet and the scanner over the I O connection The following parameters select the Assembly Object instances that are exchanged over an I O messaging connection Parameter Parameter Name Description Instance 8 1 0 Receive Select Selects the Assembly Object instance that is updated when a Polled I O message is received by the drive See page 4 19 for more information 9 1 0 Transmit Xmit Selects the Assembly Object instance that is Select transmitted
42. ata Data Units Description Instance Rule Name Type Size Scale Bytes 265 Get Motor Encoder USINT 1 Type of motor encoder Type 0 None 1 Incremental 2 Sine Cosine 3 Intelligent 266 Get Motor USINT 1 The type of motor commutation Commutation 0 Brush Type 1 Trapezoidal 2 Sinusoidal 267 Get Motor Startup USINT 1 The type of motor startup for sinusoidal Type commutation 0 Self Sensing 1 Hall Inputs 268 Get Motor Hall Offset REAL 4 degs Hall Input offset in units of electrical degrees 269 Get Motor Rotary DINT 4 lines rev The number of encoder lines per revolution on a Line Count rotary motor encoder 270 Get Motor Linear Line DINT 4 lines m The number of encoder lines per meter of travel Count on a linear motor encoder 271 Get Motor USINT 1 Indicates whether the motor has a built in Thermostat thermostat 0 Not Present 1 Present 272 Get Motor Soft USINT 1 Determines whether the motor thamal protection Protection software is activated 0 Disabled 1 Enabled 273 Get Motor Rth w e REAL 4 C W Thermal resistance from the winding to the encoder 274 Get Motor Cth w e REAL 4 W s C Thermal capacitance from the winding to the encoder 275 Get Motor Rth w a REAL 4 C W Thermal resistance from the winding to ambient 276 Get Motor Cth w a REAL 4 W s C Thermal capacitance from the winding to ambient 277 Set Integer Data DINT 4 Range 2147483648 to 2147483647 308 0 31 Default 0 Automatically saved in no
43. ber 2001 Programming Reference 4 41 Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 183 Set DAC 1 Source USINT meN Selects the signal used for the DAC 1 output voltage when DAC 1 Mode is set to Auto mode 0 Unassigned default 1 Preg Command Pos 2 Preg Command Vel 3 Preg Feedbck Pos 4 Preg Error 5 Preg Output 6 Preg Tune Cmd 7 Preg Tune Fdbck 8 Vreg Command Vel 9 Vreg Command Acc 10 Vreg Fdbk Vel 11 Vreg Error 12 Vreg Output 13 Vreg Tune Cmd 14 Vreg Tune Fdbk 15 Shaft Position 16 Shaft Angle 17 Sine Ireg 18 Cosine Ireg 19 Ireg Loop Gain 20 Average Current 21 U Phase Current 22 W Phase Current 23 U Phase Voltage 24 V Phase Voltage 25 W Phase Voltage 26 Torque Command 27 Torque Feedback 28 Torque Error 29 Torque Output 30 Field Feedback 31 Field Error 32 Field Output Set DAC 1 Scale REAL A multiplier applied to signal selected by the DAC 1 Source to obtain a scaled voltage value that is added to the DAC 1 Offset to obtain the DAC 1 output voltage Range 3 4e10 to 3 4e10 Default 1 Set DAC 1 Offset REAL Volts A value added to the scaled voltage value Range 3 4e10 to 3 4e10 Default 0 Set Manual DAC 1 Value REAL Volts The
44. d Output Assemblies for I O Messages 3 3 Publication 2098 RM002A EN P October 2001 ii Table of Contents Programming Reference Troubleshooting DeviceNet Drives Publication 2098 RM002A EN P October 2001 Chapter 4 Object Models y rina m hot a a a ae aa How Objects Affect Behavior 4 244 308 9405 eSreese The Defined Object Interface n a nannaa auaa Object Addressing ace ahs be pce aah we ae hk ye Ved Scan Data Type Definitions aiid deta riiticte ge 8 Ge ER REE BE Identity Object Class ID Olp oaoa 9 oem eh Be bak Gowns Reset Service sensi oe Gade sesh wes Wine ae Ge Message Router Object Class ID 024 DeviceNet Object Class ID 03 a6 4 453e4 ene hies aes Assembly Object Class ID 044 2 0 0 000000000 ae DeviceNet Comm Fault Action DeviceNet Idle Fault Action yea 4e 45 ee 3 ALOK EES Using Explicit Messaging to Control the Ultra5000 Connection Object Class ID 05W oaaao aoaaa See goed Parameter Object Class ID OF oona naaa aaa Get_Attribute_All Response n anaana aaaea Chapter 5 Chapter Obj ctiyeS 2 4 ee eae Pie Pads ak a Module Status LED ca sx tcsree geen eh Ape ca a Network Status LADY tte Se Seed Gy ecr thas petess 2s Node Problems s 642 Gand amp A oid eb ddd Ae alee adobe Device Failure LED Status Check Scanner Problems 408s kk FSR E OLS Gos OE Oe ORD MES Power Supply Problems onnaa ean Wim a da ae awk
45. de a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure United States Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature 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 NV Pegasus Park De Kleetlaan 12a 1831 Diegem 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 2098 RM002A EN P October 2001 0013 1090 001 01 Copyright 2001 Rockwell Automation Inc All rights reserved Printed in the U S A
46. duct Assistance If you need to contact Allen Bradley for technical assistance please review the information in this manual or that listed in Related Documentation on page P 2 first Then call your local Allen Bradley representative For the quickest possible response we recommend that you have the catalog numbers of your products available when you call Installing Connecting amp Commissioning Your Ultra5000 with DeviceNet Chapter 1 The DeviceNet Interface This manual serves as a reference for configuring monitoring and controlling an Ultra5000 drive through a DeviceNet interface The following information is contained in this chapter Wiring the DeviceNet connector e Setting drive addresses through the rotary switches e Configuring the data baud rate e Understanding the DeviceNet LED indicators Refer to the Ultra5000 Intelligent Positioning Drive Installation Manual 2098 IN001x EN P for additional information regarding installation and troubleshooting of the main drive unit Figure 1 1 Ultra5000 DeviceNet External Connections Module Status Network Status pe Data Rate Selector Switch DeviceNet Connector a P MSD Node Address Selector Switch ss LSD Node Address Selector Switch Publication 2098 RM002A EN P October 2001 1 2 The DeviceNet Interface Publication 2098 RM002A EN P
47. e constant for a rotary motor Torque Constant 244 Get Motor Rotary REAL 4 kg cm2 Rotor inertia for a rotary motor Inertia 245 Get Motor Rotary DINT 4 The number of motor poles per revolution only for Pole Count a rotary motor 246 Get Motor Linear REAL 4 N A The sinusoidal force constant for a linear motor Force Constant 247 Get Motor Linear REAL 4 kg The mass of the moving part rotor of a linear Mass motor Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 47 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 248 Get Motor Linear REAL 4 meter The distance between motor poles for a linear Cycle Length motor 249 Get Integral Limits USINT 1 Indicates whether the motor provides built in feedback for travel limits 0 No default 1 Yes 250 Get Motor Rated REAL 4 Volts Voltage rating of the motor Voltage 251 Get Motor Resistance REAL 4 Ohms The phase to phase resistance of the motor stator 252 Get Motor Inductance REAL 4 mH The phase to phase inductance of the motor stator 253 Get Flux Saturation 0 REAL 4 The motor flux saturation value at 12 5 of motor peak current A value of one 1 indicates no saturation 254 Get Flux Saturation 1 REAL 4 The motor flux saturation value at 25 of motor peak
48. e to be the name of the file that is loaded 75 Get Camtable Mode USINT The current mode of the cam 0 Unlocked the cam table is inactive and a cam file may be loaded into memory Locked the cam isactive anda different cam file cannot be loaded The Cam Table is Locked whenever the Cam is enabled 76 Get Camtable Count DINT The number of segments in the loaded cam table Acam table is divided into segments that start at each point defined in the cam file except the final point displayed in the Ultraware Cam table interface which is only used to define the end of the previous segment not the start of a segment Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 29 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 71 Get Camtable Order DINT 4 Each of the segments of an Ultra5000 cam table is defined by a polynomial equation such as Output position A B Input Position C Input Position 2 The Camtable Order is the highest order term in the right side of this equation All of the segments in a cam table must have the same order When Ultraware generates a cam file it generates first order equations when the cam table is a linear type and 5th order equations when the cam table is a polyno
49. e version of Version firmware that was installed whenthe control was manufactured If the info version is zero this value will also be zero 236 Get Controller SHORT_S 1 byte The assembly rev is a string indicating the Assembly TRING length revision of the hardware that was installed when Revision indicator the control was manufactured If the info rev is 1 byte per zero this value will be a blank string character 237 Set Auto Motor USINT 1 Specifies if the drive should read the motor Identification parameters from an intelligent encoder or from non volatile RAM 0 Disable read motor parameters from non volatile RAM 1 Enable default read motor parameters from an intelligent encoder 238 Get Motor Model SHORT_S 1 byte The model name for the motor being used by the TRING length drive indicator 1 byte per character 239 Get Reserved USINT 1 Default 0 240 Set Total Linear Mass REAL 4 kg Only for linear motors The moving mass of linear motor and load combined 241 Get Motor Flag USINT 1 Indicates if the drive is configured for a standard or custom motor 0 Invalid default 1 Standard Motor indicates a motor that is pre configured in Ultraware 2 Custom indicates a user configured motor which was added to Ultraware Motor database using a utility that ships with Ultraware 242 Get Motor Type USINT 1 The type of motor selected 0 Rotary default 1 Linear 243 Get Motor Rotary REAL 4 N m A The sinusoidal torqu
50. elocity equals Jog Program Velocity 1 Seeking when the jog is accelerating or decelerating 44 Get Jog Mode USINT 1 Describes the direction of the drive s jog as follows 0 Stopped when not jogging 1 Forward when jogging forward 2 Reverse when jogging in reverse 45 Get Jog Current DINT 4 cnts The position generated by the current jog This Position value is automatically re set to zero at drive power up 46 Get Jog Current REAL 4 cnts sec The velocity command generated by the current Velocity jog 47 Get Jog Current REAL 4 cnts sec The acceleration command generated by the Accel current jog 48 Set Move Start USINT 1 Starts a trapezoidal move defined by the Move Command Program Distance Move Program Velocity Move Program Accel and Move Program Decel see Parameters 51 52 53 and 54 below 0 No Action default 1 Execute Command 49 Set Move Stop USINT 1 Brings the motor to a stop using the Move Command Program Decel 0 No Action default 1 Execute Command 50 Set Move Abort USINT 1 Brings the motor to an immediate stop Command 0 No Action default 1 Execute Command to an immediate stop 51 Set Move Program DINT 4 cnts The distance that the motor is to move when a Distance Move Start Command is executed Not saved in non volatile memory Range 2147483648 to 2147483647 Default 0 52 Set Move Program REAL 4 cnts sec The commanded motor velocity during a move Velocity Range
51. ent damage exists The Idle Fault Action value allows you to change the default configuration and to potentially allow the drive to continue to operate when communication with the DeviceNet Module is lost By default the Ultra5000 drive with DeviceNet will fault and disable the drive when an Idle Fault is triggered However no action will be taken if the Ultra5000 DNetConfigData Array Index 6 I O Receive Programming Reference 4 15 Select Parameter 8 is set to 0 No data consumed or if you configure the drive to ignore Array Index 3 DeviceNet Idle Fault Action by setting the DNetConfigData array to 1 Ignore Using Explicit Messaging to Control the Ultra5000 Explicit messages provide multi purpose point to point communication paths between two devices It is possible to control the drive through explicit messaging on DeviceNet by following particular guidelines and by writing to various Assembly Objects that are buffering the I O data Although it is possible to control the drive by writing to various parameter objects you should consider using a user program interfacing with the Assembly Objects for controlling the drive The guidelines are as follows e Write to the various Assembly Objects that are buffering the I O data e Write access to any Assembly Object is not allowed if the message is passed through a connection whose expected packet rate EPR is zero or if I O data is being sent over an I O messaging
52. er to Figure 1 1 on page 1 1 for the switch location on the drive Note Selecting AUTO automatically matches the device data rate to the rate of the network Selecting PGM sets the data rate according to a non volatile parameter stored in the drive Publication 2098 RM002A EN P October 2001 1 6 The DeviceNet Interface Figure 1 7 Data Rate Rotary Switch Use the Data Rate rotary switch on the DeviceNet panel of the drive to set the data rate 4 Apply power to the drive 5 Observe the module status LED If the module status LED Then Is not steady green Refer to Troubleshooting DeviceNet Drives on page 5 1 Is steady green The drive is ready Go to step 6 6 Observe the network status LED If the network status LED Then Is off Establishing communication with network wait for flashing or steady green Is not flashing or steady green Refer to Troubleshooting DeviceNet Drives on page 5 1 Is flashing or steady green Communication is ready Go to Chapter 2 Publication 2098 RM002A EN P October 2001 Chapter 2 DeviceNet Driver Installation Follow the procedure listed in the Ultraware User Manual publication 2098 UM001x EN P to load and create the requisite DeviceNet drivers for the Ultra5000 drive 1 Install the following files as Drivers to the Ultra5000 drive e DNetLoad exe e DNetServ exe 2 Load the following files to the Files branch of the Ultra5000 drive e
53. f an Object e Service A function performed by an Object The Object Model diagram on Page 4 2 depicts the objects supported in the Ultra5000 Drive with DeviceNet The following table indicates the object classes present in this device and the number of instances present in each class Object Class Number of Instances Identity 4 Message Router 1 DeviceNet 1 Assembly 16 Connection 1 1 0 6 Explicit Parameter 340 Publication 2098 RM002A EN P October 2001 4 2 Programming Reference Figure 4 1 Object Model DeviceNet Network DeviceNet Node Connection Object Assembly Object Class ID 5 0x05 Class ID 4 0x04 Message Router Class ID 2 0X02 OF Parameter Object Identity Object Class ID 1 0x01 Application Object Ultra5000 no public Interface Class ID 15 0X0F Class ID 3 0X03 How Objects Affect Behavior The objects in the Ultra5000 Drive with DeviceNet affect its behavior as shown in the table below Object Effect on Behavior Message Router No effect DeviceNet Configures port attributes node address data rate and BOI Assembly Defines I O data format Connection Contains the number of logical ports into or out of the device Parameter Provides a public interface to the device configuration data Publication 2098 RM002A EN P October 2001 Programming
54. fault 1 On Set Output 2 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Set Output 3 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Set Output 4 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Set Output 5 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Set Output 6 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Set Output 7 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Publication 2098 RM002A EN P October 2001 4 40 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 173 Set Output 8 State USINT 1 The current state or condition of the digital output Not saved in non volatile memory 0 Off default 1 On Set ADC 1 Scale REAL A multiplier applied to the voltage read at analog
55. fault Value 1 Parameter Value 2 Link Path Size 3 Link Path 4 Descriptor 5 Data Type 6 Data Size 7 Parameter Name String default character count 0 8 Units String default character count 0 9 Help String default character count 0 10 Minimum Value default 0 11 Maximum Value default 0 12 Default Value default 0 13 Scaling Multiplier Default 1 14 Scaling Divisor Default 1 15 Scaling Base Default 1 16 Scaling Offset Default 0 17 Multiplier Link Default 0 18 Divisor Link Default 0 19 Base Link Default 0 20 Offset Link Default 0 21 Decimal Precision Default 0 Publication 2098 RM002A EN P October 2001 Programming Reference 4 53 Parameter Object Specific Services Service Service Service Code Name Description 4B Get_Enum_String Use this service to read enumerated strings from the Parameter Instance See DeviceNet Specification Vol 2 Object Library Parameter Object referenced on page P 3 Enumerated strings are human readable strings that describe either a bit or a value depending on the data type of instance attribute 1 the Parameter Value If the data type is a BYTE WORD or DWORD the enumerated string is a bit enumerated string If the data type is INT USINT or UINT the enumerated string is a value enumerated string Any other data type does not have enumerated strings The table below describes the Get_Enum_String request service attribute Name Data Type Description
56. gram s to update and utilize the values as necessary The choice of which Input and Output Assembly to use should be based on what sort of information is appropriate in a particular system You should keep in mind that larger assemblies utilize more network bandwidth Information on the data format of all the Assemblies is given in Assembly Object Class ID 04H on page 4 11 Publication 2098 RM002A EN P October 2001 3 4 DeviceNet Overview Publication 2098 RM002A EN P October 2001 Object Model Chapter 4 Programming Reference The Ultra5000 Drive with DeviceNet implements a vendor specific device profile Rockwell Automation Miscellaneous Device Type 73hex The configuration data and behaviors implemented in the Ultra5000 Drive with DeviceNet are defined using object modeling The Ultra5000 Drive with DeviceNet is modeled as a collection of objects An Object is a collection of related attributes and services An attribute is an externally visible characteristic or feature of an object while a service is a procedure an object can perform The following general definitions also may be useful in understanding DeviceNet object modeling e Object A representation of a particular type of data component within the DeviceNet node e Instance A specific occurrence of an Object e Attribute A description of a characteristic or feature of an Object Attributes provide status information or govern the operation o
57. gth format XX YY ZZ where indicator XX major revision 1 byte per YY minor revision character ZZ maintenance revision 229 Get Controller FPGA SHORT_S 1 byte The version of the firmware containing the FPGA Version TRING length image and the burn in self test code The format indicator is XX YY ZZ where 1 byte per XX major revision character YY minor revision ZZ maintenance revision 230 Get Controller Rated REAL 4 Amps The maximum current the drive can continuously Current produce without faulting 231 Get Controller Peak REAL 4 Amps The maximum current the drive can produce on an Current intermittent basis 232 Get Service Clock DINT 4 secs The seconds the drive has been powered up 233 Get Controller Info DINT 4 The info version is the revision of the structure Version that was used to store the manufacturing data If this value is greater then zero the manufacturing data is valid Otherwise the data is invalid and has not been loaded 234 Get Date Code DINT 4 The date code indicates when the control was manufactured If the info version is zero this value will also be zero Publication 2098 RM002A EN P October 2001 Programming Reference Parameter Object Instances ID 1 340 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 235 Get Controller Create DINT 4 The create version indicates th
58. h_length UINT Number of bytes in the Consumed_connection_path attribute 16 Consumed_connection_path EPATH Specifies the Application Object s that are to receive the data consumed by this Connection 7 Set Production_inhibit_time UINT Defines minimum time between new data production for COS connections Publication 2098 RM002A EN P October 2001 Programming Reference 4 17 DeviceNet Connection Object Common Services Service Code Service Name Service Description OE Get_Attribute_Single Returns the contents of the specified attribute 104 Set_Attribute_Single Modifies the specified attribute 05 Reset Used to reset the Inactivity Watchdog Timer associated with a Connection Object Parameter Object The DeviceNet Parameter Object provides the interface to the Class ID OF Parameter Object Ultra5000 Drive with DeviceNet configuration data It supplies a full description of the parameter including its minimum and maximum values and a readable text string describing the parameter The instances start at one and increment with no gaps Attributes for Instance ID 0 Class Attributes Attr ID Access Rule 1 Get 2 8 9 Name Data Description Semantics of Values Type Revision UINT Revision of this object Current value 01 Max Instances Maximum instance number of an The largest instance number of a created object currently created in this class object at this class hiera
59. hase Current 22 W Phase Current 23 U Phase Voltage 24 V Phase Voltage 25 W Phase Voltage 26 Torque Command 27 Torque Feedback 28 Torque Error 29 Torque Output 30 Field Feedback 31 Field Error 32 Field Output Set DAC 2 Scale REAL A multiplier applied to signal selected by the DAC 2 Source to obtain a scaled voltage value that is added to the DAC 2 Offset to obtain the DAC 2 output voltage Range 3 4e10 to 3 4e10 Default 1 Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 43 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 191 Set DAC 2 Offset REAL 4 Volts A value added to the scaled voltage value Range 3 4e10 to 3 4e10 Default 0 192 Set Manual DAC 2 REAL 4 Volts The voltage value input to the Analog Output 2 Value when in Manual mode before the Scaled and Offset values are applied Not saved in non volatile memory Range 3 4e10 to 3 4e10 Default 0 193 Get DAC 2 Output REAL 4 Volts The Analog Output 2 output voltage value after the DAC 2 Scale and DAC 2 Offset values are applied 194 Set Clear Faults USINT 1 Clears all drive faults 0 No Action default 1 Execute Command 195 Set User Current REAL 4 Amps The current level that will generate a fault when Fault Limit exceeded by the average current level
60. is used 0 Disable default 1 Enable Publication 2098 RM002A EN P October 2001 4 36 Programming Reference Parameter Object Instances ID 1 340 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 141 Set Ratchet Negative BYTE 1 Bit 0 Ignore Negative Input Negative direction Mode master encoder input will generate NO motor movement Bit 1 Negate Negative Input Master encoder input in a negative direction will generate motor movement in a positive direction Note Selecting Ignore Negative Input above overrides this selection Bit 2 Buffer Negative Input Negative direction master encoder input is accumulated in a buffer without generating motor movement Note This selection will often be used together with Unbuffer Positive Input below Bit 3 Unbuffer Negative Input Negative direction master encoder input will be used first to reduce the accumulated positive directional buffer then only after this buffer is reduced to zero will generate motor movement in the negative direction Note This assumes Buffer Negative Input above is not selected Default 0 Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 37 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Descrip
61. meter to check for short circuit between CAN_H and CAN_L or CAN H or L to Shield V or V Branched drop length Total power load and at its distribution points Cumulative drop length Spot check power for noise Total trunk length Power supply cable length and gauge Terminator locations and size Ways to improve the efficiency of your physical network configuration include Shortening the overall length of the cable system Moving the power supply in the direction of an overloaded cable section Moving devices from an overloaded cable section to a less loaded section Moving higher current loads closer to the power supply Adding another power supply to an overloaded network Moving the power supply from the end to the middle of the network Publication 2098 RM002A EN P October 2001 5 6 Troubleshooting DeviceNet Drives Publication 2098 RM002A EN P October 2001 A address logically assigned 5 3 physically assigned 5 3 addressing attributes 4 3 instances 4 3 media access control MAC 4 3 nodes drives 1 5 object classes 4 3 ARRAY 4 4 assembly object 4 1 4 11 attribute addressing 4 3 definition 4 1 attributes assembly object attribute of instances 1 18 4 13 instance ID 1 18 4 12 connection object instance ID 1 10 4 16 DeviceNet object class specific services 4 11 instance ID 0 4 9 instance ID 1 4 9 identity object instance ID 0 4 5 instance ID 1 4 6 instance ID 5 4 6 insta
62. mial type A 5th order polynomial provides sufficient degrees of freedom to allow Ultraware to constrain the positions velocities and accelerations at the ends of each segment 78 Get Camtable Length DINT cnts The maximum value of Cam Input Position in the cam table 79 Get Camtable Offset DINT cnts The ending output position defined in the cam table 80 Set Gear Enable Command USINT Causes the gear to begin generating output and motion in response to input received from the Master Encoder or ratchet 0 No Action default 1 Execute Command Set Gear Disable Command USINT Causes the gear to stop generating output 0 No Action default 1 Execute Command 82 Set Gear Ratio REAL The number of counts the motor should move for each master encoder count received in Motor Counts per Master Count Not saved in non volatile memory Range 2147483520 to 2147483520 Default 0 83 Set Gear Slew USINT If Enabled the gear ratio will ramp up or down using the acceleration and deceleration specified below If Disabled the acceleration and deceleration are effectively infinite 0 Disable default 1 Enable 84 Set Gear Slew Accel REAL ratio sec If the gear is enabled while the gear input is in motion or the gear ratio is changed to a greater value The gear ratio will ramp up to
63. mmand 65 Set Cam Disable Command USINT Causes the cam to stop generating output but the Cam Current Position output is held constant at the current value 0 No Action default 1 Execute Command 66 Get Cam State USINT The current state of the cam 0 Disabled 1 Enabled 67 Get Cam Posi Input tion DINT cnts The current master position value This value will roll over to zero as it passes the Camtable Length value 68 Get Cam Input Velocity REAL cnts sec The current master velocity value 69 Get Cam Posi Current tion DINT cnts The output position of the cam This position always corresponds to the output position defined for the given Input Position in the cam table If the cam ends at a non zero output position this value will roll back to zero where all cams start and the Cam Offset status will be incremented by the difference between the starting and stopping output positions for the cam table The actual position command generated by the cam is the sum of the Cam Offset and Cam Current Position 70 Get Cam Current Velocity REAL cnts sec The actual velocity command generated by the cam This value will be equal to the Cam Input Velocity multiplied by the instantaneous cam table velocity which is the rate of change of the cam position Publication 2098 RM002A EN P
64. n of the digital Get Input 8 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 9 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 10 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 11 State USINT The current state input 0 Off 1 On or condition of the digital Get Input 12 State USINT The current state input 0 Off 1 On or condition of the digital Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 39 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 162 Get Input 13 State USINT 1 The current state or condition of the digital input 0 Off 1 On Get Input 14 State USINT The current state or condition of the digital input 0 Off 1 On Get Input 15 State USINT The current state or condition of the digital input 0 Off 1 On Get Input 16 State USINT The current state or condition of the digital input 0 Off 1 On Set Output 1 State USINT The current state or condition of the digital output Not saved in non volatile memory 0 Off de
65. n volatile storage 309 Set Float Data 0 31 REAL 4 Range 3 4e10 to 3 4e10 340 Default 0 Automatically saved in non volatile storage Publication 2098 RM002A EN P October 2001 Parameter Object Instance Attributes Programming Reference 4 49 AttrID Access Stub Name Data Type Description Rule Full Value Type and Data Size from or written to This attribute is read only if bit 4 of Attribute 4 is TRUE 2 Get Link Path Size USINT Size of Link Path attribute If this attribute is 0 then no link is specified Number of BYTEs in attribute 3 3 Link Path ARRAY of DeviceNet path Path to the object from where this parameter value is retrieved The link path is limited to 255 BYTEs Segment BYTE Refer to the DeviceNet Specification listed Type Port in Related Documentation on page P 3 for a description of the data type Segment Type Port Segment EPATH Path format depends on data contained in Address segment type port 4 Descriptor WORD Descriptor of parameter Bit Definitions for Instance Attribute 4 on page 4 51 5 Data Type USINT Data type code Data Types for Instance Attribute 5 on page 4 51 6 Data Size USINT Number of BYTEs in Attribute 1 Parameter Value Publication 2098 RM002A EN P October 2001 4 50 Programming Reference Parameter Object Instance Attributes Continued
66. nal Cable Color Designation 1 Black V 2 Blue Can_L 3 Bare Shield 4 White Can_H 5 Red V 6 Insert the connector on the Ultra5000 drive to attach the DeviceNet network The DeviceNet Interface 1 5 Configuring Your Ultra500Q0 To configure your Ultra5000 drive with DeviceNet with DeviceNet 1 Verify that there is no power applied to the drive and the DeviceNet cable is connected refer to figures 1 1 through 1 5 in this chapter 2 Set the node address for each drive in your system Valid node addresses are 00 63 and PGM The MSD rotary switch Figure 1 6 sets the most significant digit and the LSD rotary switch sets the least significant digit For switch locations refer to Figure 1 1 on page 1 1 of this chapter The following table provides examples For this Node Set the MSD switch to Set the LSD switch to Address 10 1 0 11 1 1 12 1 2 Figure 1 6 MSD and LSD Rotary Switches Use the MSD and LSD rotary switches on 1 DeviceNet panel of the drive to set node addresses Note Selecting an invalid node address gt 63 sets the node address according to a non volatile parameter stored in the drive Refer to the Ultra5000 Intelligent Positioning Drive Installation Manual 2098 IN001x EN P for a listing of reserved node addresses 3 Set the data rate switch Figure 1 7 to the established DeviceNet network data rate Valid data rates are 125 kbps 250 kbps 500 kbps AUTO and PGM Ref
67. nce IDs 1 4 4 5 status description 4 6 message router instance ID 1 4 8 parameter object instance attribute 4 4 51 instance attribute 5 4 51 instance attributes 4 49 instance ID 0 4 17 instance ID 1 996 4 18 baud rate see data rate BOOL 4 4 bus off example 5 3 LED red 5 3 BYTE 4 4 C class attributes DeviceNet object 4 9 identity object 4 5 parameter object 4 17 class ID 01 identity object 4 5 02 message router object 4 8 03 DeviceNet object 4 9 Index 04 assembly object 4 11 05 connection object 4 16 OF parameter object 4 17 common services assembly object 4 13 DeviceNet connection object 4 17 DeviceNet object 4 10 identity object 4 7 message router 4 8 parameter object 4 52 reset identity object 4 8 configuring drive with DeviceNet 1 5 connection object 4 1 4 16 connector 1 1 conventions used in this manual P 3 cumulative drop length 5 5 D data rate rotary switch 1 6 setting 1 5 switch location 1 1 data type ARRAY 4 4 BOOL 4 4 BYTE 4 4 DINT 4 4 DWORD 4 4 EPATH 4 4 INT 4 4 SHORT_STRING 4 4 SINT 4 4 UDINT 4 4 UINT 4 5 USINT 4 5 WORD 4 5 DeviceNet cable 1 3 configuration 1 5 connector 1 4 module status LED 1 6 network status LED 1 6 node objects 4 4 object 4 9 parameter object 4 17 DeviceNet object 4 1 DeviceNet object class instance ID 0 4 9 DINT 4 4 drive configuration 4 17 drop length design 5 5 DWORD 4 4 E efficiency
68. ncoder resolution or mechanical resonance in the system Setting to zero disables filtering Range 0 to 2000 Default 0 97 Set Vreg Upper Limit REAL 4 Amps The maximum positive current the drive may output to the motor Range 0 to 3 4e10 Default 30 98 Set Vreg Lower Limit REAL 4 Amps The maximum negative current the drive may output to the motor Range 3 4e10 to 0 Default 30 99 Get Vreg Command REAL 4 cnts sec The command velocity input to the velocity loop Velocity 100 Get Vreg Command REAL 4 cnts sec The command acceleration input to the velocity Accel loop 101 Get Vreg Feedback REAL 4 cnts sec The feedback velocity returned from the motor to Velocity the velocity loop 102 Get Vreg Error REAL 4 cnts sec The difference between Command Velocity and Feedback Velocity 103 Get Vreg Error Sum REAL 4 cnts sec The velocity error summation used by integral gain 104 Get Vreg Output REAL 4 Amps The generated output from the velocity loop 105 Get Vreg Tune State USINT 1 Indicates the state of the velocity tuning function 0 Idle 1 Running 2 Stopping 106 Set Start Vreg Tune USINT 1 Drives the motor with a square or step wave the shape of which is determined by the commanded Vreg Tune Step Vreg Tune Period and Vreg Tune Direction 0 No Action default 1 Execute Command 107 Set Stop Vreg Tune USINT 1 Stops velocity tuning 0 No Action default 1 Execute Command
69. ne Interpolation cosine encoders For example if the interpolation is set to x256 the drive will interpolate 256 counts for every 1 4 line of the input sinusoid Valid values are 4 x4 default 8 x8 16 x16 32 x32 64 x64 128 x128 256 x256 512 x512 1024 x1024 137 Set Motor Encoder USINT 1 Select the motor encoder s polarity Polarity 0 Positive default Turning the motor in a clockwise direction as viewed from the shaft end increases the feedback position in counts 1 Negative turning the motor in a clockwise direction as viewed from the shaft end decreases the feedback position in counts 138 Set Motor Encoder USINT 1 Select the state of the motor encoder filer The Filter filter reduces the upper limit of the rate at which feedback pulses will be recognized You may need to enable feedback in a noisy environment or when a long encoder cable is used 0 Disable default 1 Enable 139 Set Master Encoder USINT 1 Select the master encoder s polarity Polarity 0 Positive default Turning the motor in a clockwise direction as viewed from the shaft end increases the feedback position in counts 1 Negative 140 Set Master Encoder USINT 1 Select the state of the master encoder filter The Filter filter reduces the upper limit of the rate at which feedback pulses will be recognized You may need to enable feedback in a noisy environment or when a long encoder cable
70. neering value Also used to determine actual increment value so that incrementing a value causes a change in scaled engineering value to this precision 1 The access rule is defined in Bit Definitions for Instance Attribute 4 on page 4 31 If bit 4 is 0 the access rule is Set and the Parameter Value can be read and written If bit 4 is 1 the access rule is Get and the Parameter Value can only be read 2 Data type specified in Data Type Definitions on page 4 4 Publication 2098 RM002A EN P October 2001 Parameter Object Programming Reference Bit Definitions for Instance Attribute 4 Bit Definition Value 0 Supports settable 0 Link path can not be set path 1 Link path can be set 1 Supports 0 Enumerated strings are not supported enumerated strings 1 Enumerated strings are supported and may be read with the Get_Enum_String service 2 Supports scaling 0 Scaling not supported 1 Scaling is supported The scaling attributes are implemented and the value presented is in engineering units 3 Supports scaling links 0 Scaling links not supported 1 The values for the scaling attributes may be retrieved from other parameter object instances 4 Read only parameter 0 Parameter value attribute can be written set and read get Access rule is set 1 Parameter value attribute can only be read Access rule is get 5 Monitor parameter 0 Parameter value attribute is
71. network 5 5 electrical noise 5 3 5 4 5 5 EPATH 4 4 Publication 2098 RM002A EN P October 2001 1 2 Index Publication 2098 RM002A EN P October 2001 F fault device state conflict 4 17 H help see technical assistance identity object 4 1 4 5 instance addressing 4 3 definition 4 1 INT 4 4 intermittent data connections 5 3 intermittent power 5 3 T O messaging 4 11 L LED module status 1 6 5 2 network status 1 6 5 2 status check 5 3 MAC addressing 4 3 MAC ID 5 3 defined 4 3 message router object 4 1 messaging T O 4 11 router object 4 8 module status LED 1 6 5 2 MSD and LSD rotary switch 1 5 N network connector 1 1 network status LED 1 6 5 2 5 3 network efficiency 5 5 node address example with DeviceNet objects 4 4 switch locations 1 1 O object definition 4 1 object class addressing 4 3 assembly 4 1 connection 4 1 DeviceNet 4 1 effect on drive operation 4 2 identity 4 1 message router 4 1 number of instances 4 1 parameter 4 1 object description assembly 04 4 11 connection 05 4 16 DeviceNet object 03 4 9 identity object 01 4 5 message router 02 4 8 parameter 0F 4 17 object model description 4 1 illustration 4 2 output assemblies 4 18 P parameter object 4 1 4 17 get attribute all response 4 52 specific services 4 53 parameter objects 4 17 R related documentation P 2 reset services identity object 4 8 rotary switch data rate 1 6 MSD
72. nfiguration and to potentially allow the drive to continue to operate when communication with the DeviceNet module is lost Determines the action the drive should take if the drive detects a network failure while an I O messaging connection is active Value Description 0 DeviceNet fault E14 default 1 Ignore Publication 2098 RM002A EN P October 2001 2 4 DeviceNet Driver Installation Publication 2098 RM002A EN P October 2001 Array Index 5 1 0 Transmit Select Selects the input produced assembly that is transmitted by the drive over a Polled I O Messaging Connection If the value is modified you have to either close any existing I O Messaging connection s power cycle the drive reset the drive or remove and reapply DeviceNet power for the drive to use the modified value Refer to Assembly Object Instance ID 1 16 on page 4 12 for information on the data format Value Description 0 No data produced 1 One Integer DNetIntArray 0 2 Two Integers DNetIntArray 0 DNetIntArray 1 3 One Float DNetFltArray 0 4 Two Floats DNetFltArray 0 DNetFltArray 1 5 One Integer One Float DNetIntArray 0 DNetFltArray 0 6 Two Integers One Float DNetIntArray 0 DNetIntArray 1 DNetFltArray 0 7 One Integer Two Floats DNetIntArray 0 DNetFltArray 0 DNetFltArray 1 8 Two Integers Two Floats DNetIntArray 0 DNetIntArray 1 DNetFltArray 0 DNetFltArray 1
73. nical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools You can also visit our Knowledgebase at http www rockwellautomation com knowledgebase for FAQs technical information support chat and forums software updates and to sign up for product notification updates For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Contact your distributor You must provi
74. nodes to appear to be bus off steady red Network Status LED If a node goes bus off and the device is reset but bus off faults again the problem is likely not with the device The problem is likely to be the setting of the address data rate or a network wide problem related to topology grounding intermittent power data connections or electrical noise In the event that a scanner goes bus off nodes will not reallocate flashing green or red even if they are functioning correctly A steady red Module Status LED can mean an error If the Network Status LED goes steady red at power up it could mean there is a Duplicate MAC ID The user response is to test all devices for unique addresses If a steady red LED remains on after the Duplicate MAC ID test shows all devices to have a unique node address it means a Bus off error Do the following e Check data rate settings e If symptom persists replace node address with another address and correct data rate e If symptom persists replace tee tap e If symptom persists check topology e If symptom persists check power for noise with oscilloscope or power disturbance analyzer Publication 2098 RM002A EN P October 2001 5 4 Troubleshooting DeviceNet Drives Scanner Problems If using a scanner check the scan list data rate and addresses of devices Verify series and revision of the scanner is the latest If the scanner is Bus off recycle the 24V supply and then reset the
75. nput 11 12 Input 12 13 Input 13 14 Input 14 15 Input 15 16 Input 16 Publication 2098 RM002A EN P October 2001 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 34 Get Position Limit State USINT 1 State of the position limit function 0 Disabled Position Limits are not being monitored 1 Enabling The drive is transitioning from the Disabled state to Running 2 Running The drive is monitoring position limits 3 Stopping The drive has detected a limit violation and is decelerating the motor 4 Stopped The motor has been stopped in response to a limit violation The drive will not allow any commanded motion until the Position Limits are reset 5 Resetting The drive is transitioning from the Stopped state to Running 35 Get Position Limit Flags DWORD Indicates which position limit violation s have been detected Bit 0 Positive Soft Limit Bit 4 Positive Hard Limit Bit 8 Positive Motor Limit Bit 16 Negative Soft Limit Bit 20 Negative Hard Limit Bit 24 Position Motor Limit 36 Set Jog Forward Command USINT Spins the motor at the Jog Program Velocity Parameter 40 in the forward direction 0 No Action default 1 Execute Command 37 Set Jog Reve
76. nt where the drive will begin decelerating the axis Range 2147483648 to 2147483647 Default 0 Set Position Negative Soft Limit DINT cnts The position in counts when a negative soft limit violation will be detected by the drive This is the point where the drive will begin decelerating the axis Range 2147483648 to 2147483647 Default 0 Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 23 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 32 Set Position Positive Hard Limit USINT 1 The sel ected digital input to use to indicate a positive hard limit violation The drive will begin decelerating the axis when the input becomes active 0 Unassigned default 1 Input 1 2 Inp 3 Inp 4 I np 5 Inp 6 Inp 7 Inp 8 Inp ut 2 ut 3 ut 4 ut 5 ut 6 ut 7 ut 8 9 Inp ut 9 0 Input 5 Input 33 Set Position Negative Hard Limit USINT The sel ected digital input to use to indicate a negative hard limit violation The drive will begin decelerating the axis when the input becomes active 0 Unassigned default 1 Input 1 2 Input 2 3 Input 3 4 Input 4 5 Input 5 6 Input 6 7 Input 7 8 Input 8 9 Input 9 10 Input 10 11 I
77. or is correctly wired Flashing red On line 1 0 connection timed out 1 Re initiate 1 0 messaging by the master controller Time out 2 Reduce traffic or errors on the network so that messages can get through within the necessary time frame Steady red Network failure Failed Duplicate MAC ID 1 Ensure that all nodes have unique addresses aoe 2 Ifall node addresses are unique examine network for correct Were media installation 3 Ensure that all nodes have the same Data Rate Flashing green On line Not connected Passed Duplicate MAC ID check No connection established No action is needed The LED is flashing to signify that there are no open communication connections between the drive and any other device Any connection 1 0 or explicit message made to the drive over DeviceNet will cause the LED to stop flashing and remain Steady ON for the duration of any open connection Steady green On line Connected One or more connections established Publication 2098 RM002A EN P October 2001 No action needed This condition is normal Troubleshooting DeviceNet Drives 5 3 Node Problems Device Failure LED Status Check Give particular attention to the task of setting initial addresses and data rates Survey the network to ensure all assignments are known Some nodes can be logically assigned to a group of devices but physically located away from those devices One incorrect node can cause other
78. r Ratio when the Gear Slew State Seeking The current gear ratio is equal to the user entered Gear Ratio when the Gear Slew State Locked or if Gear Slew is Disabled 93 Set Vreg KP REAL 1 sec Proportional gain for the velocity loop Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Range 0 to 3 4e10 Default 200 94 Set Vreg KI REAL 1 sec Integral gain for the velocity loop gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Range 0 to 3 4e10 Default 0 95 Set Vreg KFF REAL Acceleration feedforward gain FF gain reduces velocity following error However high values can cause velocity overshoot Range 0 to 3 4e10 Default 1 Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 31 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 96 Set Vreg Bandwidth REAL 4 Hertz Lowpass output filter bandwidth Valid values range from 0 Hz to 2000 Hz Bandwidth reduces noise generated by e
79. r later version 3 00 with Service Pack 1 e Autobaud allows the drive to determine the network data rate Note User programs and files cannot be loaded to the Ultra5000 drive over DeviceNet The Ultra5000 with DeviceNet contains a set of parameters that are used to configure and monitor the drive You can perform configuration by changing the values associated with individual parameters Parameter values may be written and read via DeviceNet Writing a value to a parameter may configure drive operations such as the acceleration or deceleration rates Writing a value to a parameter may also configure DeviceNet operations such as which input and output assemblies are to be used for I O communications with a master scanner The parameter set is documented in Programming Reference beginning on page 4 1 Publication 2098 RM002A EN P October 2001 3 2 DeviceNet Overview DeviceNet Messaging Publication 2098 RM002A EN P October 2001 Electronic Data Sheet EDS files are specially formatted ASCII files that provide all of the information necessary for a configuration tool such as RSNetworx for DeviceNet to access and alter the parameters of a device Information about each parameter is contained in the file such as parameter min max and default values parameter data format and scaling and the parameter name and units You can create or access an EDS file stored in the Ultra5000 Drive with DeviceNet via RSNetworx for DeviceNe
80. ray of system of connection IDs of connection IDs UINT the currently active connections Message Router Object Common Services Service Service Service Code Name Description Get_Attribute_Single Returns the contents of the specified attribute Publication 2098 RM002A EN P October 2001 Programming Reference 4 9 DeviceNet Object Class ID 03 The DeviceNet Object provides configuration and status attributes of a DeviceNet port DeviceNet Object Attribute of Instance ID 0 Class Attribute Attr ID Access Attribute Data Description Semantics Rule Name Type of Values 1 Get Revision UINT Revision of the DeviceNet Object Class definition upon which the implementation is based DeviceNet Object Attributes of Instance ID 1 Attr Access Attribute Data Type Description Semantics ID Rule Name of Values 1 Set MAC ID USINT Node Address Range 0 63 Set is only supported if the MAC ID is programmable Refer to Ultra5000 Intelligent Positioning Drive Installation Manual listed on page P 3 for Rotary DIP switch data setting 2 Set Baud Rate Data Rate 0 125K 1 250K 2 500K Set is only supported if the data rate is programmable Refer to Ultra5000 Intelligent Positioning Drive Installation Manual for Rotary DIP switch data setting 3 Set Bus OFF BOOL Bus OFF Interrupt Default 0 Interrupt BOI 4 Bus OFF USINT Number of times Range
81. rchy level level of the device Parameter Class WORD Bit field that describe parameters Bit 0 supports parameter instances Descriptor Bit 1 full attributes Bit 2 nonvolatile storage save command Bit 3 params are stored in nonvolatile storage Configuration UINT Instance number of the configuration 0 configuration assembly not supported Assembly assembly Instance The table Parameter Instance on page 4 18 lists the parameter instances implemented in the Ultra5000 Drive with DeviceNet The table Parameter Object Instance Attributes on page 4 49 lists the instance attributes of the parameter object A parameter value is accessed via Attribute 1 of a parameter instance Additional information about the parameter object is located beginning on Page 4 51 Tiitwelia Some parameters can not be modified while the Ultra5000 Drive with DeviceNet is enabled The drive returns the error code 10 Device State Conflict if you attempt to modify one of these parameters while the drive is enabled Publication 2098 RM002A EN P October 2001 4 18 Programming Reference Parameter Object Instances ID 1 340 Note The Set_Attribute_Single service saves parameter values to RAM but not to non volatile storage To transfer parameter values from RAM to non volatile storage perform one of the following e Perform the Save service on the Parameter Object e Write the value Execute Command 1 to Par
82. reg Feedback DINT 4 cnts Offsets the Feedback Position value displayed on Offset the Ultraware s Oscilloscope to prevent the feedback trace from incrementing walking off the display Publication 2098 RM002A EN P October 2001 4 34 Programming Reference Parameter Object Instances ID 1 340 Parameter Name Parameter Access Instance Rule Data Type Data Size Bytes Units Scale Description 129 Set Start Preg Tune USINT 1 Drives the motor with a square or step wave the shape of which is determined by the commanded Preg Tune Step Preg Tune Period and the selected Preg Tune Direction 0 No Action default 1 Execute Command Stop Preg Tune USINT Stops position tuning 0 No Action default 1 Execute Command Preg Tune Direction USINT Selects a tuning direction Not saved in non volatile memory 0 Bi Directional default to tune the drive using an alternating step input to create alternately forward and reverse directional motion 1 Forward Only to tune the drive using a step input to create forward motion only 2 Reverse Only Only to tune the drive using a step input to create reverse motion only Preg Tune Period REAL Sec The time the drive will hold its present step position Not saved in non volatile memory Range 0 to 3 4e10 Default 0 Preg Tune Step DINT cnts The number of count
83. rs Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Range 0 to 3 4e10 Default 0 117 Set Preg Ki Zone DINT 4 cnts Enter the region in counts around Preg Command Position where integral gain is active Range 0 to 2147483647 Default 0 118 Set Preg Kff REAL 4 Velocity feedforward gain for the position loop Range 0 to 3 4e10 Default 1 119 Get Preg Command DINT 4 cnts The command position input to the position loop Position 120 Get Preg Command REAL 4 cnts sec The command velocity input to the position loop Velocity 121 Get Preg Command REAL 4 cnts sec The command acceleration input to the position Accel loop 122 Get Preg Feedback DINT 4 cnts The feedback position returned from the motor to Position the position loop 123 Get Preg Error DINT 4 cnts The difference between Preg Command Position and Preg Feedback Position 124 Get Preg Error Sum DINT 4 cnts The position error summation used by integral gain 125 Get Preg Output REAL 4 cnts sec The generated output from the position loop 126 Get Preg Tune State USINT 1 Indicates the state of the position tuning function 0 Idle 1 Running 2 Stopping 127 Get Preg Command DINT 4 cnts Offsets the Command Position value displayed on Offset Ultraware s Oscilloscope to prevent the command trace from incrementing walking off the display 128 Get P
84. rse Command USINT Spins the motor at the Jog Program Velocity Parameter 40 in the reverse direction 0 No Action default 1 Execute Command 38 Set Jog Stop Command USINT Brings the motor to a stop using the Jog Program Decel Parameter 42 rate 0 No Action default 1 Execute Command 39 Set Jog Abort Command USINT Brings the motor to an immediate stop 0 No Action default 1 Execute Command 40 Set Jog Program Velocity REAL cnts sec The commanded motor velocity when the drive is jogging Not saved in non volatile memory Range 3 4e10 to 3 4e10 Default 0 Set Jog Program Accel REAL cnts sec The acceleration rate used when ramping up to the Jog Program Velocity Not saved in non volatile memory Range 0 to 3 4e10 Default 0 Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 25 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 42 Set Jog Program REAL 4 cnts sec The deceleration rate used when ramping down Decel from Jog Program Velocity to zero Not saved in non volatile memory Range 0 to 3 4e10 Default 0 43 Get Jog State USINT 1 Describes the relation between the Jog Program Velocity and Jog Current Velocity as follows 0 Locked when Jog Current V
85. s the drive will move ina single direction In Bi Directional tuning the direction will alternate Not saved in non volatile memory Range 0 to 2147483647 Default 0 134 Get Preg Tune Command DINT cnts The position command driving the position regulator while the position tuning algorithm is running If the Preg Tune Direction is set to c or Reverse Only this signal is adjusted after each period of the tuning signal to remove the offset that is accumulating in the position of the motor This allows the uni directional signal to be displayed in Ultraware s oscilloscope without having to constantly adjust the offset 135 Get Preg Tune Feedback DINT cnts The position feedback to the position regulator while the position tuning algorithm is running If the Preg Tune Direction is set to Forward Only or Reverse Only this signal is adjusted after each period of the tuning signal to remove the offset that is accumulating in the position of the motor This allows the uni directional signal to be displayed in Ultraware s oscilloscope without having to constantly adjust the offset Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 35 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 136 Set Motor Encoder UINT 2 The amount of interpolation to be used with si
86. scanner If the scanner goes Bus off again the problem is some combination of e Defective node device e Incorrect node data rate e Bad network topology e Faulty wiring e Faulty scanner e Faulty power supply e Bad grounding e Electrical noise Power Supply Problems If a single power supply is used add up the current requirements of all devices drawing power from the network This total should be considered the minimum current rating in selecting the power supply used In addition check the e Length and current level in trunk and drop cables e Size and length of the cable supplying power to the trunk e Voltage measured at the middle and ends of the network e Noise in network power measured with an oscilloscope Publication 2098 RM002A EN P October 2001 Troubleshooting DeviceNet Drives 5 5 Cable Installation and Design Problems Adjusting the Physical Network Configuration Cable installation and design refers to the physical layout and connections on the network Walk the network if possible to determine the actual layout and connections Network management software displays only a logical record of the network Ensure that you have a diagram of the physical layout and a record of the information from the tables below Cable Checks Power Checks Number of nodes Break the earth ground of the V and Shield and verify gt 1 0 Mohm to frame ground with power supply off Individual drop lengths Use a multi
87. t 3 00 01 or later version 3 00 with Service Pack 1 or download an EDS file for the Ultra5000 Drive with DeviceNet from Rockwell Automation Allen Bradley web site www ab com networks eds The Ultra5000 with DeviceNet operates as a slave device on a DeviceNet network The drive supports Explicit Messages and Polled I O Messages of the predefined master slave connection set The drive also supports the Unconnected Message Manager UCMM so that up to five Group 3 Explicit Message connections may be established with the drive Predefined Master Slave Connection Set A set of messaging connections that facilitate communications and is typically seen in a master slave relationship is known as the Predefined Master Slave Connection set The master is the device that gathers and distributes I O data for the process controller A DeviceNet master scans its slave devices based on a scan list it contains Each slave device returns I O data to its master device The I O data exchanged over this connection is pre defined Explicit Response Request Messages Explicit Request messages are used to perform operations such as reading and writing parameter values Explicit Response messages indicate the results of the attempt to service an Explicit Request message Polled 1 0 Command Response Messages The Poll Command is an I O message transmitted by the master device A Poll Command is directed toward a specific slave device A separate Poll Command m
88. te Value Description 0 125 kps default 1 250 kps 2 500 kps 3 Autobaud Array Index 2 DeviceNet Module Fault Action ATTENTION Risk of severe bodily injury or equivalent damage exists The Module Fault Action value allows you to change the default configuration and to potentially allow the drive to continue to operate when communication with the DeviceNet module is lost Determines the action the drive should take when it cannot communicate with the DeviceNet module Value Description 0 DeviceNet fault E14 default 1 Ignore DeviceNet Driver Installation 2 3 Array Index 3 DeviceNet Idle Fault Action ATTENTION Risk of severe bodily injury or equivalent damage exists The Idle Fault Action value allows you to change the default configuration and to potentially allow the drive to continue to operate when communication with the DeviceNet module is lost Determines the action the drive should take if the master sends a zero length I O message to the drive which may occur if a PLC master is set to program mode No action will be taken if I O Receive Select is set to 0 No data consumed Value Description 0 DeviceNet fault E14 default 1 Ignore Array Index 4 DeviceNet Comm Fault Action ATTENTION Risk of severe bodily injury or equivalent damage exists The Comm Fault Action value allows you to change the default co
89. te of change of acceleration generated by Jerk the current move 61 Set Camtable Load USINT 1 Loads the cam file specified by Camtable Filename into memory 0 No Action default 1 Execute Command 62 Set Camtable Unload USINT 1 Unloads the cam file from memory This frees drive memory 0 No Action default 1 Execute Command Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 27 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 63 Set Camtable Filename SHORT_S TRING 1 byte length indicator 1 byte per character The filename up to 32 characters describing the cam motion Ultraware generates Cam files when you insert a cam table under the Cam branch in the workspace The cam files generated by Ultraware are always stored in the drives flash file system under a directory named Cam dir If a cam table is created in Ultraware with the default name of Table cam and loaded into drive memory the File Name will be Cam dir Table cam User programs may set the Camtable Filename attribute to different paths 64 Set Cam Enable Command USINT Causes the cam to begin generating an output position A cam table file must be loaded to enable cam or an Invalid State error occurs 0 No Action default 1 Execute Co
90. ten permission of Rockwell Automation is prohibited Throughout this manual we use notes to make you aware of safety considerations ATTENTION Identifies information about practices or circumstances that can lead to personal injury or 1 death property damage or economic loss Attention statements help you to e identify a hazard e avoid a hazard e recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley is a registered trademark of Rockwell Automation RSNetWorx Ultra3000 Ultra5000 and Ultraware are trademarks of Rockwell Automation DeviceNet is a trademark of the Open DeviceNet Vendor Association Publication 2098 RM002A EN P October 2001 Preface The DeviceNet Interface DeviceNet Driver Installation DeviceNet Overview Table of Contents TA OCMCHION i gt acre ne oul Bate Bigs 6 ee EG ee ee Bey P 1 Who Should Use this Manual 0 04 P 1 Purpose of this Manual icin gk nai ee a ew a P 1 Contents of this Manual aana gree BO a Ew et P 2 Related Documentation cages aah eS 40g He a P 2 Conventions Used in this Manual P 3 Allen Bradley Support noana aana P 4 Local Product Support o on aaa a P 4 Technical Product Assistance date Geek Ee P 4 Chapter 1 Installing Connecting amp Commissioning Your Ultra5000 with DeviceNet ie a nd tie pa a eod a Meal
91. the end of the cable leaving no more than 6 4mm 0 25 in of the braided shield exposed Figure 1 2 Exposing the braided shield 6 4mm 0 25 in ON ee lt Outer Jacket h M Braided Shield 4 lt lt 2 Wrap the end of the cable with 38 mm 1 5 in of shrink wrap covering part of the exposed wires and part of the outer jacket Figure 1 3 Adding shrink wrap 38 mm 1 5 in Outer Jacket Pam S 3 Strip 8 1 mm 0 32 in of the insulation from the end of each of the insulated wire i Shrink Wrap Note Be careful not to nick cut or otherwise damage the individual strands of wire Trim the last 6 5 mm 0 26 in of the bare wires so that the outside dimension does not exceed 0 17 mm 0 045 in Figure 1 4 Exposing wire stands 8 1 mm Outer Jacket 0 32 in Shrink Wrap Publication 2098 RM002A EN P October 2001 1 4 The DeviceNet Interface Publication 2098 RM002A EN P October 2001 4 Insert each wire into the appropriate clamping cavity of the plugable screw connector according to the color of the cable insulation 5 Use an 1 8 inch flat blade screwdriver to attach wires in the connector Firmly tighten the clamping screws to secure each wire Figure 1 5 Wiring the DeviceNet connector 1 5 4 3 2 ti jf Plug Connector Red V White Can_H Bare Shield Blue Can_L Black V Termi
92. the output is ON Get Axis State USINT Indicates if the axis is enabled or disabled 0 Disabled 1 Enabled Get Controller Fault USINT Provides the fault status of the drive 0 No Fault 4 Motor Overtemperature 5 IPM Fault 9 Bus Undervoltage 10 Bus Overvoltage 11 Bad Illegal Hall State 14 Network Communication 17 User Current 18 Overspeed 19 Position Following Error 20 Motor Encoder Error 21 Auxiliary Encoder Error 22 Motor Filter 23 IPM Filter 24 Velocity Error 26 User Velocity 58 Excess CPU Load Get Controller State USINT Provides the state of the controller 0 Idle 1 Running 2 Erasing 3 Programming 4 FlashFault Get Average Current REAL Amps Average current Get Torque Command REAL Amps Torque command Get Torque Feedback REAL Amps Torque feedback Get Torque Error REAL gt A S gt Amps Torque error Publication 2098 RM002A EN P October 2001 Parameter Object Instances ID 1 340 Programming Reference 4 21 Parameter Access Parameter Data Data Units Description Instance Rule Name Type Size Scale Bytes 22 Set Enable Position USINT 1 Enables the position limits This causes the drive Limit to start monitoring the position limits The Position Limit State Parameter 34 will transition to Running 0
93. the specified value at this rate Range 0 to 3 4e10 Default 0 Publication 2098 RM002A EN P October 2001 4 30 Programming Reference Parameter Object Instances ID 1 340 Parameter Name Access Rule Parameter Instance Data Type Data Size Bytes Units Scale Description 85 Set Gear Slew Decel REAL 4 ratio sec If the gear is disabled while it is in motion or the gear ratio is changed to a smaller value The gear ratio will ramp down to the specified value or zero if disabling at this rate Range 0 to 3 4e10 Default 0 86 Get Gear State USINT Indicates if the gear is enabled and generating output 0 Disable 1 Enable 87 Get Gear Offset REAL cnts The floating point value of the Gear Current Position 88 Get Gear Current Position DINT cnts The position generated by gearing This value is automatically re set to zero at drive power up 89 Get Gear Current Velocity REAL cnts sec The velocity command generated by gearing 90 Get Gear Current Accel REAL cnts sec The acceleration command generated by gearing 91 Get Gear Slew State USINT Indicates if the gear ratio is changing 0 Locked The gear ratio has reached the target value 1 Seeking The gear ratio is ramping up or down 92 Get Current Gear Ratio REAL The current gear ratio may not equal the user entered Gea
94. tion 142 Set Ratchet Positive Mode BYTE 1 Bit 0 Ignore Positive Input Positive direction master encoder input will generate NO motor movement Bit 1 Negate Positive Input Master encoder input in a positive direction will generate motor movement in a negative direction Note Selecting Ignore Positive Input above overrides this selection Bit 2 Buffer Positive Input Positive direction master encoder input is accumulated in a buffer without generating motor movement Note This selection will often be used together with Unbuffer Negative Input above Bit 3 Unbuffer Positive Input Positive direction master encoder input will be used first to reduce the accumulated negative directional buffer then only after this buffer is reduced to zero will generate motor movement in the positive direction Note This assumes Buffer Positive Input above is not selected Default 0 143 Get Motor Encoder Output DINT cnts The motor encoder s output 144 Get Master Encoder Output DINT cnts The master encoder s output 145 Get Ratchet State USINT Provides the state of the ratchet 0 Disable 1 Enable 146 Get Ratchet Buffer DINT cnts The accumulated value stored in the buffer when negative or positive input is set to buffer and or unbuffer This value is automatically re s to zero at drive power up 147 Get
95. ust be sent to each slave device that is to be DeviceNet Overview 3 3 I O Messaging and Explicit Messaging with DeviceNet Selecting Input and Output Assemblies for 1 0 Messages polled The Poll Response is the I O message that the slave device transmits back to the master device You can configure and monitor the drive with either I O Messaging or Explicit Messaging I O messages are for time critical control oriented data I O messages typically are used for moving predefined data repeatedly with minimum protocol overhead Explicit Messages provide multi purpose point to point communication paths between two devices Explicit Messaging typically would not be used to exchange data periodically since I O Messages have a higher priority and lower protocol overhead than Explicit Messages However Explicit Messages have more flexibility by specifying a service to be performed and a specific address The Ultra5000 with DeviceNet provides sixteen generic Input and Output Assemblies The choice of which Input and or Output Assembly to use should be based on the type of information that is appropriate in the particular system The I O Assemblies are mapped to the first four 32 bit values of the Long Integer DNetIntArray and Floating point DNetFltArray arrays The Ultra5000 has no pre defined information stored in these locations The contents of the locations are under user program control and it is the responsibility of the user pro
96. voltage value input to the Analog Output 1 when in Manual mode before the Scaled and Offset values are applied Not saved in non volatile memory Range 3 4e10 to 3 4e10 Default 0 Publication 2098 RM002A EN P October 2001 4 42 Programming Reference Parameter Object Instances ID 1 340 Parameter Instance Access Rule Parameter Name Data Type Data Size Bytes Units Scale Description 187 Get DAC 1 Output REAL Volts The Analog Output 1 output voltage value after the DAC 1 Scale and DAC 1 Offset values are applied Set DAC 2 Mode USINT Selects on the following 0 Manual default The voltage at the output is determined by the Manual DAC 2 Value setting of the output along with its scale and offset 1 Auto The voltage at the outputis determined by the DAC 2 Source along with its scale and offset Set DAC 2 Source USINT Selects the signal used for the DAC 2 output voltage when DAC 2 Mode is set to Auto mode 0 Unassigned default 1 Preg Command Pos 2 Preg Command Vel 3 Preg Feedbck Pos 4 Preg Error 5 Preg Output 6 Preg Tune Cmd 7 Preg Tune Fdbck 8 Vreg Command Vel 9 Vreg Command Acc 10 Vreg Fdbk Vel 11 Vreg Error 12 Vreg Output 13 Vreg Tune Cmd 14 Vreg Tune Fdbk 15 Shaft Position 16 Shaft Angle 17 Sine Ireg 18 Cosine Ireg 19 Ireg Loop Gain 20 Average Current 21 U P

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