DeviceNet CFW700
Contents
1. 15 4 1 SYMBOLS FOR THE PROPERTIES 15 P0105 157 27 RAMP SELECTION 15 P0220 LOCAL REMOTE SELECTION 15 P0221 SPEED REFERENCE SELECTION LOCAL SITUATION 15 P0222 SPEED REFERENCE SELECTION REMOTE SITUATION 15 P0223 FORWARD REVERSE SELECTION LOCAL 15 P0224 RUN STOP SELECTION LOCAL 15 P0225 JOG SELECTION LOCAL 15 P0226 FORWARD REVERSE SELECTION REMOTE SITUATION 15 P0227 RUN STOP SELECTION REMOTE 2 10220 0 15 P0228 JOG SELECTION REMOTE 4 4220 00022 15 P0313 COMMUNICATION ER2. 26 P0713 DEVICENET READING 5 26 P0714 DEVICENET READING 6 26 0715 DEVICENET WRITING 4 93 2 eco uiia ca nao reca namo aaa 27 P0716 DEVICENET WRITING 4 27 P0717 DEVICENET WRITING 4 5 5 ce cenae uu aao oru a aaa sa ka anna aaa ame A ANNA ARAARA NARA ANKARANA 27 P0718 DEVICENET WRITING 596 c ceca seo cocco s aano Co 27 P0719 DEVICENET NETWORK STATUS 27 P0720 DEVICENET 5 5
3. 28 5 SUPPORTED OBJECT CLASSES iie tenn toca bona Uto o ERE nau aM KURO cuan RU RERDA DXNEEEEE DEN nnna 29 1 IDENTITY CLASS O1H coo enne coena nime ca une kia nnne ck inane er anne cr RAAEN AAEREN AARAA 29 5 2 MESSAGE ROUTER CLASS 02H 29 5 9 DEVICENET CLASS 29 5 4 ASSEMBLY CLASS 04 29 5 5 CONNECTION 55 30 5 5 1 Instance 1 Explicit Message ani Den 30 5 5 2 Instance 2 Polled tete canini dae ex ann din nanc aa as ara 30 5 5 3 Instance 4 Change of
4. 31 5 6 MOTOR DATA CLASS 28 31 5 7 CONTROL SUPERVISOR CLASS 29 11 1 eene 31 5 8 AC DC DRIVE CLASS 2222 6 suce eros tuia nica unas anaa Du cru aan nu C kx ausa EE nani Cn E uaa Ananaia 32 5 9 ACKNOWLEDGE HANDLER CLASS 2 eere esee eese ee esee 32 5 10 MANUFACTURER SPECIFIC CLASSES 33 6 FAULTS AND ALARMS RELATED TO THE DEVICENET COMMUNICATION 34 A133 F233 CAN INTERFACE WITHOUT POWER 34 A134 F234 BUS OFF 34 A136 F236 IDLE 34 A137 F237 DEVICENET CONNECTION TIMEOUT 35 CFW700 4 About this Manual ABOUT THIS MANUAL Th
5. ARRENAR ANNARRA 21 P0703 BUS OFF RESET e 21 P0705 CAN CONTROLLER lt 22 P0706 RECEIVED CAN TELEGRAM 22 P0707 TRANSMITTED CAN TELEGRAM 23 P0708 BUS OFF ERROR COUNTER 23 P0709 LOST CAN MESSAGE 23 P0710 DEVICENET I O 23 P0711 DEVICENET READING 8 lt 26 0712 DEVIGENET
6. 6 1 1 4 Error 6 1 1 5 CAN and eiiis seda ana XXX DE AER XR OX COR EX OCT LX ODE ERR E RN RR E 7 1 2 DEVICENET NETWORK CHARACTERISTIGCS ee ee esee enean 7 123 PHYSICAL LAYER cci ccce n ceca rude aun aa us ue cuna dido ca dun ULL usa cucecudscausvudecawseudsccunscutecdussadscunsedcsaasendes 7 1 3 1 D t Link Layer gm 8 1 3 2 Network and Transport 8 1 33 Application Layer CIP 9 1 34 Configuration File 5 9 1 3 5 Communication Modes sais aia catia aria RD GG OG EB D DE ER EE E X ER RR D RR 9 1 3 6 Set of Predefined Master Slave 1 caes cec eese ecce eene nnn 10 2 DEVICENET COMMUNICATION 5 11 2 1 01 KIT mR 11 2 2 CONNECTOR
7. programmed deceleration ramp L ps The inverter is disabled by removing the General Enabling and the 2 Disable via General Enable motor coasts to stop 3 Change to Local The inverter commands change to Local The inverter commands change to Local but the status of the enabling and speed reference commands received via network are kept providing that the inverter has been programmed to use in Local mode the commands via HMI and speed reference via either HMI Instead of an alarm the communication error causes an inverter 5 Causes a Fault fault so that an inverter fault reset becomes necessary in order to restore normal operation The following events are considered communication errors 4 Change to Local keeping commands and reference CANopen DeviceNet communication 133 alarm F233 fault CAN interface not powered A134 alarm F234 fault bus off A135 alarm F235 fault CANopen communication error Node Guaraling Heartbeal A196 alarm F236 fault DeviceNet master in mode 137 alarm F237 fault Detected timeout in one or more DeviceNet I O connections The actions described in this parameter are executed by means of the automatic writing of the selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface This pro
8. LOCAL REMOTE SELECTION SOURCE P0221 SPEED REFERENCE SELECTION LOCAL SITUATION P0222 SPEED REFERENCE SELECTION REMOTE SITUATION P0223 FORWARD REVERSE SELECTION LOCAL SITUATION P0224 RUN STOP SELECTION LOCAL SITUATION P0225 JOG SELECTION LOCAL SITUATION P0226 FORWARD REVERSE SELECTION REMOTE SITUATION P0227 RUN STOP SELECTION REMOTE SITUATION P0228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW700 frequency inverter local and remote situations In order that the device be controlled through the DeviceNet interface the options CANopen DeviceNet Profibus DP available in these parameters must be selected The detailed description of these parameters is found in the CFW700 Programming Manual P0313 COMMUNICATION ERROR ACTION Range O Inactive Default 0 1 Disable via Run Stop 2 Disable via General Enable 3 Change to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties CFG Access groups via HMI NET Description It allows the selection of the action to be executed by the device if it is controlled via network and communication error is detected CFW700 15 Programming Table 4 1 P0313 options No action is taken and the inverter remains in the existing status Disable via Bunte A stop command with deceleration ramp is executed and the motor stops according to
9. 11 23 POWER SUPPLY sia do 11 PU ZEN sie 11 2 5 CONNECTION WITH THE NETWORK nnn nana nana nana nana uasa ea na aa nasa a 11 2 6 MODULE 12 27 ACCESS TO THE 12 3 DEVICENET NETWORK 13 3 1 BAUD RATE 13 3 2 ADDRESS IN THE DEVICENET nana eee nana na eae ea ea ea ea ea ea ena n 13 3 3 TERMINATION 15 RS Rn 13 34 CABLE AG 13 3 5 CONNECTION IN THE NETWORK eee eee meneame nenem 14 4 PROGRAMMING
10. 2 Not Ready 3 Ready 4 Enabled 5 Stopping 6 Fault Stop 7 Fault 0 1 0 1 0 1 Running1 0 1 O Other state NEM 1 Enabled and Runt or Stopping and Running or Fault Stop and Running Ge Running2 0 1 O Other state d d 1 Enabled and Run2 or Stopping and Running2 or Fault Stop and Running2 1 Ready or Enabled or Stopping 1 Error 11 Get Wamng o0 0 JjO Nowamigs O gt 1 Error reset 15 Ge Ctrl from 0 1 O Local control 5 8 AC DC DRIVE CLASS 2AH _Attribute_ 3 p This class is responsible for modeling the management functions of the drive The following attributes have been implemented contains specific information of an AC DC Drive such as operation mode speed and torque ranges Table 5 13 AC DC Drive Class attributes Attribute Method Name Mn Max Description 10 0 10 0 based 00 Instance Table 5 14 AC DC Drive Class instance attributes in Description 1 Remote reference BE Lu Lua 1 Speed control open loop 2 Speed control closed loop Actual speed best approximation 8 SpeedRef Speed reference NOTE The CFW700 will work in speed mode V Hz or vector control independently of the content of the DriveMode attribute 5 9 ACKNOWLEDGE HANDLER CLASS 2BH This class is responsible for managing the reception of acknowledgment messages Table 5 15 Acknowledge H
11. After the EDS file registration in the network configuration software the user will get access to the equipment complete parameter list which can be accessed via explicit messages This means that it is possible to perform the drive programming and configuration through the network configuration software In order to get application details of this resource refer to the network master programming documentation PLC PC etc CFW700 12 eg DeviceNet Network Installation 3 DEVICENET NETWORK INSTALLATION The DeviceNet network such as several industrial communication networks for being many times applied in aggressive environments with high exposure to electromagnetic interference requires that certain precautions be taken in order to guarantee a low communication error rate during its operation Recommendations to perform the connection of the product in this network are presented next 31 BAUD RATE Equipments with DeviceNet interface generally allow the configuration of the desired baud rate ranging from 125Kbit s to 500Kbit s The baud rate that can be used by equipment depends on the length of the cable used in the installation The next table shows the baud rates and the maximum cable length that can be used in the installation according to the ODVA recommendation Table 3 1 Supported baud rates and installation size Baud Rate Cable Length 500 Kbit s 100m 250 Kbit s 125 Kbit s All network equipment must be progr
12. 4 Error Control The CAN specification defines several error control mechanisms which makes the network very reliable and with a very low undetected transmission error rate Every network device must be able to identify the occurrence of these errors and to inform the other elements that an error was detected A CAN network device has internal counters that are incremented every time a transmission or reception error is detected and are decremented when a telegram is successfully transmitted or received If a considerable amount of errors occurs the device can be led to the following states Error Active the internal error counters are at low level and the device operates normally in the CAN network You can send and receive telegrams and act in the CAN network if it detects any error in the transmission of telegrams Warning when the counter exceeds a defined limit the device enters the warning state meaning the occurrence of a high error rate Error Passive when this value exceeds a higher limit the device enters the error passive state and it stops acting in the network when detecting that another device sent a telegram with an error Bus Off finally we have the bus offstate in which the device will not send or receive telegrams any more The device operates as if disconnected from the network In the CAN protocol specification the ISO11898 standard is referenced as the definition of the layer 1 of this model physical
13. A fault has been recorded by the inverter Note The fault number can be read by means of the parameter P0049 Current Fault 0 The inverter is not in alarm condition 1 The inverter is in alarm condition Note The alarm number can be read by means of the parameter P0048 Current Alarm 1 The motor is rotating clockwise 1 The motor is rotating counterclockwise 0 The inverter is not ready to operate 1 The inverter is ready to operate states Ready Enabled or Stopping 0 The drive is controlled locally 1 The drive is controlled remotely 0 The speed reference is not being sent the DeviceNet network 1 It indicates that the speed reference is being Byte 1 indicates the drive status Bytes 2 ow and high represent the motor actual speed in RPM Control Bytes 2 ow and high represent the motor actual speed in RPM 2 Data format for the Manufacturer Specific 2W 2 words instances 3 Data format for the Manufacturer Specific 3W 4 Data format for the Manufacturer Specific 4W 4 words instances 5 Data format for the Manufacturer Specific 5W 5 words instances 6 Data format for the Manufacturer Specific 6W 6 words instances O Non Existent 1 Startup 2 Not Ready 3 Ready 4 Enabled 5 Stopping 6 Fault_Stop 7 Faulted sent via the DeviceNet network Bit 7 0 The inverter has not yet reached the programmed speed At Reference 1 The inverter
14. ISO model respectively Used mainly for the connection of industrial controllers and I O devices the protocol follows the model producer consumer supports multiple communication modes and has priority between messages is a system that can be configured to operate in master slave architecture as well as in a distributed point to point architecture Besides it defines two kinds of messages process data and explicit configuration and parameter setting It also has mechanisms to detect duplicated addresses and for node isolation in case of critical faults A DeviceNet network can have up to 64 devices addressed from O to 63 Any of them can be used There is no restriction although the 63 should be avoided because it is usually used for commissioning 1 3 PHYSICAL LAYER DeviceNet uses a network topology of the trunk derivation type that allows the signal wiring as well as the power wiring to be present in the same cable This power is supplied by a power supply connected directly to the network which feeds the CAN transceivers of the nodes and has the following characteristics 24Vdc DC output isolated from the AC input Current capacity compatible with the installed equipment The used Baud rate depends on the size cable length of the network as showed in the table below Table 1 1 Network size x Baud rate Baud Rate Network Derivation Size Maximum 250kons BOOkons In order to avoid reflectio
15. from P0696 P0697 to be the value used by the analog output 1 For this example we are going to select P0696 Program the option P0696 value as the function for the analog output 1 in P0254 Using the network interface write in POG96 the desired value for the analog output 1 between O and 100 according to the parameter scale NOTE 7 If the analog output is programmed for working from 10V to 10V negative values for this parameter must be used to command the output with negative voltage values i e 32768 to 32767 represent a variation from 10V to 10V at the analog output P0700 CAN PROTOCOL Range 1 CANopen Default 2 2 DeviceNet Properties Access groups via HMI NET Description It allows selecting the desired protocol for the CAN interface If this parameter is changed it becomes valid only after cycling power of the inverter If this parameter is changed the change takes effect only if the CAN interface is not powered auto baud after the equipment is switched off and on again 5 Refer to the CFW700 manual for the product actual output resolution CFW700 20 Programming P0701 CAN ADDRESS Range 127 Default 63 Properties CFG Access groups via HMI NET Description It allows programming the address used for the CAN communication It is necessary that each element of the network has an address different from the others The valid addresses for this par
16. has reached the programmed speed Bits Byte 0 Bit O Run Fwd Bit 1 Run Rev Bit 2 Fault Reset Bi Bi N Bi it 6 NetRef Bit 7 5 etCtrl 1 0 No function network 1 That the speed reference be sent via the network Reserved 3 words f in a fault condition then it executes the inverter reset t selects the local mode t selects the remote mode O The speed reference is not being sent via the DeviceNet 1 It runs the motor clockwise 1 It runs the motor counterclockwise Called Manufacturer Specific these instances present the simplest equipment operation interface according to the CFW700 frequency inverter profile The data mapping is showed below Besides the command and monitoring words showed above they make it possible to program up to 4 parameters of the equipment for reading and or writing via network through P0711 to P0718 parameters 6 After a reset the drive goes to the offline state 7 n order that this action be executed the parameters P0220 P0228 must be correctly programmed CFW700 25 Programming Monitoring Input P0710 option Status Word P0680 T DeviceNet Reading 4 DeviceNet Reading 5 DeviceNet Reading 6 Programmable Fixed Control Output P0710 option 400 DeviceNet Writing 6 Programmable Fixed P0711 DEVICENET READING 3 P0712 DEVICENET READING 4 P0713 DEVICENET R
17. rpm 2048 gt Speed in rom Speed in rom 1800 x 2048 8192 Speed in rom 450 rom Negative values in this parameter indicate that the motor is running in the reverse direction P0684 DEVICENET CONTROL WORD Range 0000h a FFFFh Default 0000h Properties Access groups via HMI NET Description It the device DeviceNet interface control word This parameter can only be changed CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter CFW700 17 Programming In order to have those commands executed it is necessary that the inverter be programmed to be controlled via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters 105 and P0220 to P0228 Each bit of this word represents an inverter command that can be executed THe USE E qeu um Function Table 4 3 P0684 parameter bit functions Q Values 0 It stops the motor with deceleration ramp Run Stop 1 The motor runs according to the acceleration ramp until reaching the speed reference value disables the drive interrupting the supply for the motor General enable enables the drive allowing the motor operation Bit 2 To run the motor in a direction opposed to the speed reference Speed direction To run the motor in the direction indicated by the speed reference 0 It disables
18. the CAN specification CFW700 34 eg Faults and Alarms Related to the DeviceNet Communication Possible Causes Correction Adjust the switch that commands the master operation mode for execution Aun or set the correspondent bit in the configuration word of the master software In case of doubts referrer to used master documentation A137 F237 DEVICENET CONNECTION TIMEOUT Description It is the alarm that indicates that one or more DeviceNet connections have expired Actuation It occurs when for any reason after the cyclic communication of the master with the product is started this communication is interrupted In this case the alarm A137 or the fault F237 depending on the P0313 programming will be signalized through the HMI In case of alarms if the connection with the master is reestablished the alarm indication will be removed from the HMI Possible Causes Correction Check the status of the network master Check the network installation broken cable or failed bad contact in the network connections CFW700 35 WEG Equipamentos El tricos S A Jaragua do Sul SC Brazil Phone 55 47 3276 4000 Fax 55 47 3276 4020 S o Paulo SP Brazil Phone 55 11 5053 2300 Fax 55 11 5052 4212 automacao weg net www weg net
19. 0685 0000h 0 decimal speed reference O P0685 2000h 8192 decimal speed reference synchronous speed Intermediate or higher reference values can be programmed by using this scale E g for a 4 pole 1800 rpm synchronous speed motor to obtain a speed reference of 900 rpm one must calculate CFW700 18 Programming 1800 rpm gt 8192 900 rpm gt 13 bit reference 13 bit reference 900 x 8192 1800 13 bit reference 4096 gt Value corresponding to 900 rpm 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P0684 bit 2 setting Bit 2 1 and P0685 gt 0 reference for forward direction Bit 2 1 and P0685 lt 0 reference for reverse direction Bit 2 0 and P0685 gt 0 reference for reverse direction Bit 2 0 and P0685 lt 0 reference for forward direction P0695 DIGITAL OUTPUT SETTING Range 0000h to 001Fh Default 0000h Properties Net Access groups via HMI NET Description It allows the control of the digital outputs by means of the network interfaces Serial CAN etc This parameter cannot be changed via HMI Each bit of this parameter corresponds to the desired value for one digital output In order to have the correspondent digital output controlled according to this content it is necessary that its function be programmed f
20. EADING 5 P0714 DEVICENET READING 6 Range O to 1199 Default 0 disabled Properties CFG CAN Access groups via HMI NET Description These parameters allow the user to program the content of input words 3 to 6 input slave sends to the master Using these parameters it is possible to program the number of other parameter whose content shall be made available in the input area of the network master For instance in case it is necessary to read the motor current in amperes from the inverter the value 3 must be programmed in some of these parameters since the parameter is the parameter that contains this information Note that the reading value of any parameter is represented with a 16 bit word Even if the parameter has a decimal resolution value the value is transferred with no decimal indication For instance if the parameter has the value 4 7 the value transferred via network will be 47 These parameters are used only if the drive is programmed in parameter PO710 to use options 3 through 6 According to the selected option it will be available up to six words for reading by the network master The first two input words are fixed NOTE The O zero value disables the word writing The amount of input words however always remains the same as it was programmed in parameter PO7 10 CFW700 26 Programming Range 0101199 Default 0 disabled Properties CFG CAN A
21. Each device in a DeviceNet network has an EDS configuration file that contains information about the device operation and must be registered in the network configuration software for programming of devices present in the DeviceNet Network The EDS configuration file is supplied together with the product and it can also be obtained from the website http www weg net It is necessary to observe the equipment software version in order to use an EDS file that is compatible with that version 1 3 5 Communication Modes The DeviceNet protocol presents two basic types of messages I O and explicit Each one of them is adequate to a specific kind of data as described below CFW700 9 eg Introduction to the DeviceNet Communication O it is a kind of synchronous telegram dedicated to the movement of priority data between one producer and one or more consumers They are divided according to the data exchange method The main types are Polled it is a communication method where the master sends one telegram to each of the slaves of its list scan list As soon as receiving the request the slave responds promptly to the request from the master This process is repeated until all be consulted restarting the cycle Bit strobe it is a communication method where the master sends to the network a telegram containing 8 data bytes Each bit from those 8 bytes represents a slave that if addressed responds according to the programmed Chang
22. LASS 28H This class stores the information on the motor connected to the product The following attributes have been implemented Table 5 9 Motor Data Class attributes Attribute Method Min Max Description Revision of the Motor Data Object Class Definition upon which the implementation is based Instance Table 5 10 Motor Data Class instance attributes Method 3 Get Set Motor Type 0 10 0 Non Standard Motor 1 PM DC Motor 2 FC DC Motor 3 PM Synchronous Motor 4 FC Synchronous Motor 5 Switched Reluctance Motor 6 Wound Rotor Induction Motor 7 Squirrel Cage Induction Motor 8 Stepper Motor 9 Sinusoidal PM BL Motor 10 Trapezoidal PM BL Motor 6 Get Set_ Rated Current 0 999 9 Rated Voltage 0 600 Nominal voltage 57 CONTROL SUPERVISOR CLASS 29H Responsible for modeling the drive management functions The following attributes have been implemented Table 5 11 Control Supervisor Class attributes Attribute Method Mn Max Desorption 04 1 Get Revision 1 65535 Revision of the Control Supervisor Object Class Definition upon which the implementation is based Instance Maximum instance number CFW700 31 Supported Object Classes Table 5 12 Control Supervisor Class instance attributes Attribute Method Default 3 4 5 Get Set NetCtrl O Local control 1 Remote control MESES zs State O Vendor specific 1 Startup
23. Motors Automation Energy Transmission 8 Distribution Coatings DeviceNet CFW700 User s Manual BEEN eT Py DeviceNet User s Manual Series CFW700 Language English Document Number 10001114309 00 Publication Date 02 2011 Contents CONTENTS CONTENTES I MM ME E MU EM A 3 ABOUT THIS in nux UR UNES AU DEnENU DES uM PE uU ES uUDU E CU I DU AN UD IUUD UL UD UUDUDULU R 5 ABBREVIATIONS AND DEFINITIONGS eene nennen eee eee 5 NUMERICAL 5 DOCUMENT 5 1 INTRODUCTION TO THE DEVICENET COMMUNICATION 6 1 1 CAIN 6 1 1 1 Data Fraime EE TITEL TT TET CIE 6 1 1 2 Remote ciis uad ai tek ns a FAX casi 6 1 1 3 Access to the
24. ROR 444 4142 44444444 420 4 4 4 15 CFW700 3 Contents P0680 STATUS WORD 16 P0681 MOTOR SPEED IN 13 BITS 17 P0684 DEVICENET CONTROL 17 P0685 DEVICENET SPEED REFERENCE ee ss e enne 18 P0695 DIGITAL OUTPUT SETTING anon co a amu oar aepo c Co pna aa Cu aa aen cuu 19 P0696 VALUE 1 FOR ANALOG 20 P0697 VALUE 2 FOR ANALOG 1 20 700 PROTOCOL 20 701 CAN ADDRESS 21 P0702 CAN BAUD RATE 5 annan ra aano caca nd ao ca Cann R ENAN
25. ace In this case the alarm A134 or the fault F234 depending the P0313 programming will be signalized through the HMI In order that the communication be reestablished it will be necessary to cycle the power of the product or remove the power supply from the CAN interface and apply it again so that the communication be reinitiated Possible Causes Correction Verify if there is any short circuit between the CAN circuit transmission cables Verify if the cables have not been changed or inverted Verify if all the network devices use the same baud rate Verify if termination resistors with the correct values were installed only at the extremes of the main bus Verify if the CAN network installation was carried out in proper manner A136 F236 IDLE MASTER Description It is the alarm that indicates that the DeviceNet network master is in the 0 mode Actuation It acts when the CFW700 detects that the network master went to the d e mode In this mode only the variables read from the slave continue being updated in the memory of the master None of the commands sent to the slave is processed In this case the alarm A136 or the fault F236 depending on the P0313 programming will be signalized through the HMI In case of alarms If the master is set in the Aun mode again normal equipment operation status the alarm indication will be removed from the HMI 8 For more information on the error detection refer to
26. allocates and manages the internal resources associated with both I O and Explicit Messaging Connections The following methods are implemented 5 5 1 Instance 1 Explicit Message Table 5 6 Connection class Instance 1 Explicit Message Attribute Method Name Description 6 Get Initial Comm Defines message groups related to this connection Maximum size bytes of this transmission connection 9 GetSet ExpectedPacketRate Defines timing associated to this connection 5 5 2 Instance 2 Polled Table 5 7 Connection class Instance 2 Polled Attribute Method 1 1 Description 6 Get InitialComm Charac Defines message groups related to this connection 8 Get Consumed Connection Size Maximum size bytes of this reception connection 9 GeUSet ExpectedPacketHate Defines timing associated to this connection CFW700 30 Supported Object Classes 5 5 3 Instance 4 Change of State Cyclic Table 5 8 Connection class Instance 4 Change of State Cyclic Attribute Method Name Description 6 Get InitialComm Charac 7 Defines message groups related to this connection 8 Get Consumed Connection Size Maximum size bytes of this reception connection 9 Get Set_ 1 Rate Defines timing associated to this connection 5 6 MOTOR DATA C
27. ameter depend on the protocol programmed in PO700 P0700 1 CANopen valid addresses 1 to 127 P0700 2 DeviceNet valid addresses 0 to 63 If this parameter is changed the change takes effect only if the CAN interface is not powered auto baud after the equipment is switched off and on again P0702 CAN BAUD RATE Range 0 1 Mbit s Autobaud Default 0 1 800 kbit s Autobaud 2 500 Kbit s 3 250 Kbit s 4 125 Kbit s 5 100 Kbit s Autobaud 6 50 kbit s Autobaud 7 20 kbit s Autobaud 8 10 Kbit s Autobaud Properties CFG Access groups via HMI NET Description It allows programming the desired baud rate for the CAN interface in bits per second This rate must be the same for all the devices connected to the network The supported bauld rates for the device depend on the protocol programmed in the parameter 700 P0700 1 CANopen It is possible to use any rate specified in this parameter but it does not have the automatic baud rate detection function autobaud P0700 2 DeviceNet only the 500 250 and 125 Kbit s rates are supported Other options will enable the automatic baud rate detection function autobaud If this parameter is changed the change takes effect only if the CAN interface is not powered or after the equipment is switched off and on again After a successful detection the baud rate parameter 702 changes automatically to the detected rate In ord
28. ammed to use the same communication baud rate At the CFW700 frequency inverter the baud rate configuration is done through the parameter PO702 3 2 ADDRESS IN THE DEVICENET NETWORK Each DeviceNet network device must have an address or MAC ID and may range from O to 63 This address must be unique for each equipment At the CFW700 frequency inverter the address configuration is done through the parameter 701 3 3 TERMINATION RESISTOR The CAN bus line must be terminated with resistors to avoid line reflection which can impair the signal and cause communication errors The extremes of the CAN bus must have a termination resistor with a 1210 0 25W value connecting the CAN_H and CAN_L signals Figure 3 1 Termination resistor installation example 3 4 CABLE The connection of CAN_L and CAN_H signals must done with shielded twisted pair cable The following table shows the recommended characteristics for the cable Table 3 2 DeviceNet cable characteristics Cable length Resistance per Conductor cross m section mm2 0 25 0 34 40 300 0 34 0 60 300 600 0 50 0 60 600 1000 0 75 0 80 CFW700 13 DeviceNet Network Installation The use of a twisted pair cable to provide the additional 24Vdc power supply to the equipment that needs this signal is also recommended 3 5 CONNECTION IN THE NETWORK In order to interconnect the several network nodes it is recommended to connect the equip
29. andler Class instance attributes Attribute Method Acknowledge Timer Retry Limit COS Production Connection Instance CFW700 32 Supported Object Classes 5 10 MANUFACTURER SPECIFIC CLASSES The Manufacturer Specific Classes are used for mapping all CFW700 parameters These classes allow the user to read from and write to any parameter through the network The Manufacturer Specific Classes use DeviceNet explicit messages There are separate ranges for each group of parameters as presented in Table 5 16 Table 5 16 Manufacturer Specific Classes Class 101 65h Class 104 68h Class 105 69h Classe106 6Ah DOR CLASS F7 Parameters 600 699 Table 5 17 Parameters of the Manufacturer Specific classes Class 100 64h EXC Class 101 65h Class 101 65h Class 101 65h 0200 P0200 Class 102 P0201 Class 102 P0202 Class 102 BEEF Class 103 Class 103 Class 103 e The CFW700 uses only instance 1 for Manufacturer Specific Classes In order to access the parameters through the Manufacturer Specific Classes add the value 100 to the last two digits of any parameter This new resulting number is known as attribute For instance Parameter 23 class 64h instance 1 attribute 123 This path gives access to P0023 Parameter 100 class 65h instance 1 attribute 100 This path gives access to PO100 Parameter 202 class 66h instance 1 attri
30. ata exchange between one node and the other This data exchange uses messages of the I O type refer to item 1 3 5 The DeviceNet telegrams are classified in groups which define specific functions and priorities Those telegrams use the identifier field 11 bits of the CAN data frame to uniquely identify each one of the messages thus assuring the CAN priority mechanism A DeviceNet node can be a client a server or both Furthermore clients and servers can be producers and or consumers of messages In a typical client node for instance its connection will produce requests and will consume answers Other client or server connections will only consume messages In other words the protocol allows several connection possibilities among the devices The protocol also has a resource for detection of nodes with duplicated addresses Mac ID Avoiding that duplicated addresses occur is in general more efficient than trying to locate them later CFW700 8 eg Introduction to the DeviceNet Communication 1 33 Application Layer CIP Protocol In the application layer DeviceNet uses the Common Industrial Protocol CIP It is a protocol strictly orientated to objects used also by ControlNet and EtherNet IP In other words it is independent from the physical medium and from the data link layer The Figure 1 2 presents the structure of this protocol Volume 1 Common Industrial Protocol Pneumatic SEMI Other Safety Oth
31. bute 102 This path gives access to P0202 CFW700 33 eg Faults and Alarms Related to the DeviceNet Communication 6 FAULTS AND ALARMS RELATED TO THE DEVICENET COMMUNICATION A133 F233 CAN INTERFACE WITHOUT POWER SUPPLY Description It indicates that the CAN interface does not have power supply between the pins 1 and 5 of the connector Actuation In order that it be possible to send and receive telegrams through the CAN interface it is necessary to supply external power to the interface circuit If the CAN interface is connected to the power supply and the absence of power is detected the alarm A133 or the fault F233 depending on the P0313 programming will be signalized through the HMI If the circuit power supply is reestablished the CAN communication will be reinitiated In case of alarms the alarm indication will also be removed from the HMI Possible Causes Correction Measure the voltage between the pins 1 and 5 of the CAN interface connector Verify if the power supply cables have not been changed or inverted Make sure there is no contact problem in the cable or in the CAN interface connector A134 F234 BUS OFF Description The bus off error in the CAN interface has been detected Actuation If the number of reception or transmission errors detected by the CAN interface is too high the CAN controller can be taken to the bus offstate where it interrupts the communication and disables the CAN interf
32. ccess groups via HMI NET Description These parameters allow the user to program the content of output words 3 to 6 output masters sends to the slave Using these parameters it is possible to program the number of other parameter whose content shall be made available in the output area of the network master For instance in case it is necessary to write the acceleration in the inverter the value 100 must be programmed in some of these parameters since the parameter 100 is the parameter where this information is programmed Note that the written value of any parameter is represented with a 16 bit word Even if the parameter has a decimal resolution value the value is transferred with no decimal indication For instance if you want to set the parameter 100 with the value 5 05 the value 50 should be written via network These parameters are used only if the drive is programmed in parameter PO710 to use options 3 through 6 According to the selected option it will be available up to six words for writing by the network master The first two output words are fixed NOTE The 0 zero value disables the word writing The amount of output words however always remains the same as it was programmed in parameter PO710 P0719 DEVICENET NETWORK STATUS Range O Offline Default 1 Online Not Connected 2 Online Connected 3 Timed out Connection 4 Connection Failure 5 Auto baud Properties RO CAN Access gr
33. e node can initiate the transmission of its telegram In case it is not then the node must await If more than one node access the network simultaneously a priority mechanism takes action to decide which one will have priority over the others This mechanism is not destructive i e the message is preserved even if there is a collision between two or more telegrams CAN defines four types of telegrams data remote overload and error Among them DeviceNet uses only the data frame and the error frame Data is moved using the data frame This frame structure is showed in the Figure 1 1 Identifier RTR bit CRC Sequence Start of Frame Control Field Data Field CRC Delimiter ACK Slot ACK Delimiter End of Frame Interframe Space Figure 1 1 CAN data frame Errors however are indicated by means of the error frames CAN has a very robust error verification and confinement This assures that a node with problems does not impair the communication in the network For a complete description of the errors consult the CAN specification 1 3 2 Network and Transport Layer DeviceNet requires that a connection be established before data exchange with the device takes place In order to establish this connection each DeviceNet node must implement the Unconnected Message Manager UCMM or the Group 2 Unconnected Port These two allocation mechanisms use messages of the explicit type to establish a connection which will then be used for process d
34. e number of times the device entered the bus off state in the CAN network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0709 LOST CAN MESSAGE COUNTER Range 0 to 65535 Default Proprerties RO Access groups via HMI NET Description It is a cyclic counter that indicates the number of messages received by the CAN interface but could not be processed by the device In case that the number of lost messages is frequently incremented it is recommended to reduce the baud rate used in the CAN network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0710 DEVICENET I O INSTANCES Range ODVA Basic Speed 2 words Default 0 1 ODVA Extended Speed 2 words 2 Manuf Spec 2W 2 words 3 Manuf Spec 3W 3 words 4 Manuf Spec 4W 4 words 5 Manuf Spec 5W 5 words 6 Manuf Spec 6W 6 words Properties CFG CAN Access groups via HMI NET Description It allows selecting the Assembly class instance for the type communication The CFW700 frequency inverter has seven setting options Two of them follow the ODVA AC DC Drive Profile The other five represent specific CFW700 frequency inverter words The tables presented next describe each of these control and monitoring words NOTE 7 If this parameter is changed it becomes valid only after cycling th
35. e of State it is a communication method where the data exchange between master and slave occurs only when changes in the monitored controlled values happened until a certain time limit When this limit is reached the transmission and reception will occur even if there were no changes The configuration of this time variable is done in the network configuration program Cyozlic it is another communication method very similar to the previous one The only difference stays in the production and consume of messages In this type every data exchange occurs in regular time intervals whether or not they had been changed This time period is also adjusted in the network configuration software Explicit it is a kind of general purpose telegram and without priority It is mainly used for asynchronous tasks like the parameter settings and the configuration of the equipment NOTE The CFW700 frequency inverter does not provide the bit strobe communication method 1 3 6 Set of Predefined Master Slave Connections DeviceNet uses fundamentally a point to point message model However it is quite common to use a predefined communication model based on the master slave mechanism This model uses a simplified message movement of the I O type very common in control applications An advantage of this method is that the necessary requests to run it are generally less than for the UCMM Even simple devices with limited resources memory 8 bit processor a
36. e power of the product CFW700 23 eg Programming O Data format for the ODVA Basic Speed 2 words instances Called Basic Speed these instances represent the simplest operation interface of a device according to the AC DC Device Profile data mapping is showed below Monitoring Input Instance Byte Bit7 Bit5 Bit4 Bit3 Bit2 q Speed Actual low byte Speed Actual high byte Control Output Instance Bit 2 Speed Reference low byte Speed Reference high byte 1 Data format for the ODVA Extended Speed 2 words instances Called Extended Speed these instances present an equipment operation interface a little bit more refined which follows the AC DC Device Profile The data mapping is showed below Fault Reset Monitoring Input Instance Byte Bit7 Bit Bit5 Bit4 Bits B Reference Ref from Net Ctrl from Net 71 ia NNNM Speed Actual low byte Speed Actual high byte Control Output Instance Byte Bit7 Bit5 Bit4 Bits Bit2 1 Fault Reset Speed Reference low byte Speed Reference high byte The table below presents the meaning of data for the instances 20 70 and 21 71 CFW700 24 Programming Monitoring Bits Byte 0 Bit O Faulted Bit 1 Warning Ctrl from Net Running1 Fwd Running2 Rev Bit 6 Ref from Net 0 The inverter is not in a fault condition 1
37. er Valves Drives Devices Profiles 1 0 Block m 5 Safety Specific e Object Library Object Library D Data Management Services 5 Explicit Messages 1 0 Messages y Presentation Session Connection Management Routing Transport DeviceNet ControlNet Transport Transport Network Ethernet CAN ControlNet Data Link CSMA CD CSMA NBA Ethernet DeviceNet ControlNet Physical Layer Physical Layer Physical Layer Volume 2 Volume 3 Volume 4 EtherNet IP DeviceNet ControlNet Figure 1 2 CIP protocol structure in layers The CIP has two main purposes Transport of I O devices control data Transport of configuration and diagnosis information of the system being controlled A DeviceNet node master or slave is then molded by a set of CIP objects which encapsulate data and services thus determining its behavior There are obligatory objects each device must have and optional objects Optional objects are those that mold the device according to the category called profile to which they belong as AC DC drive bar code reader or pneumatic valve For being different each one of these will contain a group of also different objects For more information refer to the DeviceNet specification It presents the complete list of devices already standardized by the ODVA as well as the objects that compose them 1 3 4 Configuration File EDS
38. er to execute the autobaud function again it is necessary to change the parameter 702 to one of the Autobaud options P0703 BUS OFF RESET Range O Manual Default 0 1 Automatic Properties Access groups via HMI NET Description It allows programming the inverter behavior when detecting a bus off error at the CAN interface CFW700 21 Programming Table 4 5 Options for the parameter PO703 0 Manual Reset If bus offoccurs the A134 F234 alarm will be indicated on the HMI the action programmed in parameter P0313 will be executed and the communication will be disabled In order that the inverter communicates again through the CAN interface it will be necessary to cycle the power of the inverter 1 Automatic Reset If bus off occurs the communication will be reinitiated automatically and the error will be ignored In this case the alarm will not be indicated on the HMI and the inverter will not execute the action programmed in P0313 P0705 CAN CONTROLLER STATUS Range 0 Disabled Default 1 Autobaud 2 CAN Enabled 3 Warning 4 Error Passive 5 Bus Off 6 No Bus Power Properties RO Access groups via HMI NET Description It allows identifying if the CAN interface board is properly installed and if the communication presents errors Table 4 6 Values for the parameter PO705 Value Description interface installed CAN controller is trying to detect baud rate
39. er to the protocol specification for a detailed description 1 1 DeviceNet is a network based on i e it uses CAN telegrams for exchanging data in the network The CAN protocol is a serial communication protocol that describes the services of layer 2 of the ISO OSI model data link layer This layer defines the different types of telegrams frames the error detection method the validation and arbitration of messages 1 1 1 Data Frame CAN network data is transmitted by means of a data frame This frame type is composed mainly by an 11 bit identifier arbitration field and by a data field that may contain up to 8 data bytes 1 1 2 Remote Frame Besides the data frame there is also the remote frame RTR frame This type of frame does not have a data field but only the identifier It works as a request so that another network device transmits the desired data frame The DeviceNet communication protocol does not use this type of frame 1 1 3 Access to the Network Any device in a CAN network can make an attempt to transmit a frame to the network in a certain moment If two devices try to access the network simultaneously the one that sends the message with the highest priority will be able to transmit The message priority is defined by the CAN frame identifier the smaller the value of this identifier the higher the message priority The telegram with the identifier O zero is the one with the highest priority 1 1
40. gramming is achieved by means of parameters P0220 to P0228 P0680 STATUS WORD Range 0000h to FFFFh Default Properties RO Access groups via HMI NET Description It allows the device status monitoring Each bit represents a specific status ae a Reserved Active fast stop 1 The drive is executing the fast stop command Bit 5 O The drive is configured to use the first ramp values programmed in P0100 and P0101 as the motor Second ramp acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in 102 and PO103 as the motor acceleration and deceleration ramp times Bit 6 0 The drive is operating normally In configuration mode 1 The drive is in the configuration mode It indicates a special condition during which the inverter cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine o e o o c 2 Fault condition Active General Motor Running Alarm condition In configuration Table 4 2 P0680 parameter bit functions CFW700 16 Programming There is a parameter setting incompatibility There is no power at the drive power section Note It is possible to obtain the exact description of the special operation mode at the parameter PO692 Bit 7 0 The drive is not in alarm condition Alarm condition 1 The drive is i
41. is manual provides the necessary information for the operation of the CFW700 frequency inverter using the DeviceNet protocol This manual must be used together with the CFW700 user manual ABBREVIATIONS AND DEFINITIONS ASCII American Standard Code for Information Interchange CAN Controller Area Network CAN in Automation CIP Common Industrial Protocol PLC Programmable Logic Controller HMI Human Machine Interface ODVA Open DeviceNet Vendor Association ro Read only rw Read write NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number DOCUMENTS The DeviceNet protocol was developed based on the following specifications and documents CAN Specification Volume One 3 2 ODVA Common Industrial Protocol CIP Specification Volume Three 1 4 ODVA DeviceNet Adaptation of CIP In order to obtain this documentation consult ODVA which is nowadays the organization that keeps publishes and updates the information related to the DeviceNet network CFW700 5 eg Introduction to the DeviceNet Communication 1 INTRODUCTION TO THE DEVICENET COMMUNICATION In order to operate the equipment in a DeviceNet network it is necessary to know the manner this communication is performed Therefore this section brings a general description of the DeviceNet protocol operation containing the functions used by the CFW700 Ref
42. layer The CAN 2 0 specification defines two data frame types standard 11 bit and extended 29 bit For this implementation only the standard frames are accepted CFW700 6 eg Introduction to the DeviceNet Communication 1 1 5 and DeviceNet Only the definition of how to detect errors create and transmit a frame are not enough to define a meaning for the data transmitted via the network It is necessary to have a specification that indicates how the identifier and the data must be assembled and how the information must be exchanged Thus the network elements can interpret the transmitted data correctly In that sense the DeviceNet specification defines exactly how to exchange data among the devices and how every one must interpret these data There are several other protocols based on CAN as DeviceNet CANopen J1939 etc which use CAN frames for the communication However those protocols cannot be used together in the same network 1 2 DEVICENET NETWORK CHARACTERISTICS Introduced in 1994 DeviceNet is an implementation of the Common Industrial Protocol CIP for industrial communication networks Developed originally by Allen Bradley it had its technology transferred to the ODVA that since then keeps publishes and promotes DeviceNet and other networks based the protocol Furthermore it uses the Controller Area Network CAN protocol for the data link and access to the medium layers 2 and 1 of the OSI
43. licit message router object This class does not have any attribute implemented in the CFW700 53 DEVICENET CLASS 03H This class is responsible for maintaining the configuration and the state of the physical connections of the DeviceNet node The following attributes are implemented Table 5 2 DeviceNet Class attributes Attribute Method Default Description 1 65535 EB Revision of the DeviceNet Object Class Definition upon which the implementation is based Table 5 3 DeviceNet Class instance attributes Attribute Method Default Node address Get Set 202 0 Communication baud rate Bus Off Interrupt Bus off reset Get Set Counter 0255 Busofcoumter 024 Allocation Information Information about allocation byte 5 4 ASSEMBLY CLASS 04H This class is responsible for grouping several attributes in only one connection Only the attribute Data 3 is implemented in the CFW700 Table 5 4 Table 5 4 Attributes of the instances of the Assembly class Attributes Method Name Description Get Set Data contained in the assembly object The Assembly class contains the following instances in the CFW700 CFW700 29 Supported Object Classes Table 5 5 Instances of the Assembly class Instances Size 7 Description ODVA Extended Speed Control Input Manufacturer Specific Output Manufacturer Specific Input 5 5 CONNECTION CLASS 05H This class
44. ment directly to the main line without using derivations During the cable installation the passage near to power cables must be avoided because due to electromagnetic interference this makes the occurrence of transmission errors possible In order to avoid problems with current circulation caused by difference of potential among ground connections it is necessary that all the devices be connected to the same ground point DeviceNet Master Derivation Figure 3 2 DeviceNet network installation example To avoid voltage difference problems between the power supplies of the network devices it is recommended that the network is fed by only one power supply and the signal is provided to all devices through the cable If it is required more than one power supply these should be referenced to the same point The maximum number of devices connected to a single segment of the network is limited to 64 Repeaters can be used for connecting a bigger number of devices CFW700 14 Programming 4 PROGRAMMING Next only the CFW700 frequency inverter parameters related to the DeviceNet communication will be presented 4 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Read only parameter CFG Parameter that can be changed only with a stopped motor CAN Parameter visible on the HMI if the product has the CAN interface installed P0105 181 2 RAMP SELECTION P0220
45. modules have a green LED to indicate that the interface is powered The alarms faults and communication status indications are done through the product HMI and parameters 25 CONNECTION WITH THE NETWORK For the connection of the inverter using the active DeviceNet interface the following points must be observed The use of cables specific for CAN DeviceNet networks is recommended 4 The limit number of devices that can be connected to the network depends also on the used protocol CFW700 11 eq DeviceNet Communication Accessory Grounding of the cable shield at only one point thus avoiding current loops This point is usually at the power supply If there is more than one power supply only one of them must be connected to the protective earth termination resistors must be installed only at extremes of the main bus even if there are derivations The network power supply must be able to deliver enough current to feed all the equipment transceivers The CFW700 DeviceNet module consumes approximately 50mA 2 6 MODULE CONFIGURATION In order to configure the DeviceNet module follow the steps indicated below With the inverter powered off install the module on the XC43 connector slot 3 green Make sure it is properly fitted into the connector and secured by the screw Power up the inverter Verify the content of the parameter P0028 making sure the accessory was correctly recognized If necessary refer to
46. n alarm condition Note The alarm number can be read by means of the parameter P0048 Present Alarm Bit 8 0 The motor is stopped Motor Running 1 The drive is running the motor at the set point speed or executing either the acceleration or the deceleration ramp Bit 9 0 General Enable is not active Active General Enable 1 General Enable is active and the inverter is ready to run the motor Bit 10 0 The motor is running in the reverse direction Speed direction 1 The motor is running in the forward direction JOG 1 Active JOG function Bit 12 0 Drive in Local mode Undervoltage 1 With Undervoltage Bit 14 Reserved Reserved Bit 15 0 The drive is not in a fault condition Fault condition 1 The drive has detected a fault Note The fault number can be read by means of the parameter P0049 Present Fault P0681 MOTOR SPEED IN 13 BITS Range 32768 to 32767 Default Properties RO Access groups via HMI NET Description It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor synchronous speed P0681 0000h 0 decimal motor speed 0 P0681 2000h 8192 decimal motor speed synchronous speed Intermediate or higher speed values in rpm can be obtained by using this scale for a 4 pole 1800 rpm synchronous speed motor if the value read is 2048 0800h then to obtain the speed in rpm one must calculate 8192 gt 1800
47. n mode Idle When Aun reading and writing telegrams are processed normally and updated by the master When in dle only the reading telegrams from the slaves are updated by the master Writing in this case remains disabled When communication is disabled this parameter does not represent the actual state of the master CFW700 28 Supported Object Classes 5 SUPPORTED OBJECT CLASSES Any DeviceNet equipment is modeled as a set of objects The objects are responsible for defining the function that each device will have In other words depending on the objects the device implements it may be a communication adapter an AC DC drive a photoelectric sensor etc Mandatory and optional objects are defined for each Device Profile The CFW700 frequency inverter supports all mandatory classes defined for the AC DC Device Profile It also supports Manufacturer Specific classes The following sections present detailed information about these classes 5 1 IDENTITY CLASS 01H Provides general information about the device identity such as VendorlD Product Name Serial Number etc The following attributes are implemented Table 5 1 Identity Class instance attributes Method ProductCode Productcode Status Device status Serial Number Serial number Product Name CFW700 Vendor Revision __ Firmware version 5 2 MESSAGE ROUTER CLASS 02H Provides information on the exp
48. ns in the line it is recommended the installation of termination resistors at the line extremes because the absence of them may cause intermittent errors This resistor must have the following characteristics according to the protocol specification 1210 0 25W 1 tolerance 3 CIP actually represents a family of networks DeviceNet EtherNet IP and ControlNet use CIP in the application layer The difference among them is primordially in the data link and physical layers CFW700 7 eg Introduction to the DeviceNet Communication For DeviceNet several types of connectors can be used sealed ones as well as open ones The definition of the type to be used depends on the application and on the equipment operation environment The CFW70O uses a 5 wire plug in connector and its pinout is showed in the section 2 For a complete description of the connectors used with DeviceNet consult the protocol specification 1 9 1 Data Link Layer The DeviceNet data link layer is defined by the CAN specification which defines two possible states dominant logic level O and recessive logic level 1 A node can bring the network to the dominant state if it transmits any information Thus the bus will only be in the recessive state if there where no transmitting nodes in the dominant state CAN uses the CSMA NBA to access the physical medium This means that a node before transmitting must verify if the bus is free In case it is then th
49. of the network only for DeviceNet communication protocol 2 CAN Enabled CAN interface is active and without errors CAN controller has reached the warning state CAN controller has reached the error passive state 5 Bus Off CAN controller has reached the bus offstate 6 No Bus Power CAN interface does not have power supply between the pins 1 and 5 of the connector P0706 RECEIVED CAN TELEGRAM COUNTER Range 0 to 65535 Default Properties RO Access groups via HMI NET Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is received It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached CFW700 22 Programming P0707 TRANSMITTED CAN TELEGRAM COUNTER Range 0 to 65535 Default Properties RO Access groups via HMI NET Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is transmitted It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0708 BUS OFF ERROR COUNTER Range O a 65535 Default Properties RO Access groups via HMI NET Description It is a cyclic counter that indicates th
50. or PO695 Content at parameters P0275 to P0279 Function Table 4 4 P0695 parameter bit functions Values 0 DO1 output open DO1 setting 1 DO1 output closed 0 DO2 output open DO2 setting 1 DO2 output closed 0 DOS output open DOS setting 1 DOS output closed 0 DO4 output open 004 setting 1 DO4 output closed Bit 4 0 output open DOS setting 1 output closed Bits 5 to 15 Reserved CFW700 19 Programming P0696 VALUE 1 FOR ANALOG OUTPUTS P0697 VALUE 2 FOR ANALOG OUTPUTS Range 32768 to 32767 Default 0 Properties RW Access groups via HMI NET Description They allow the control of the analog outputs by means of network interfaces Serial CAN etc These parameters cannot be changed via HMI The value written in these parameters is used as the analog output value providing that the function for the desired analog output be programmed for 0696 P0697 value at the parameters P0251 P0254 The value must be written in a 15 bit scale 7FFFh 32767 to represent 100 of the output desired value i e P0696 0000h 0 decimal analog output value O 96 P0696 7FFFh 82767 decimal analog output value 100 96 The showed example was for P0696 but the same scale is also used for the parameters PO697 For instance to control the analog output 1 via serial the following programming must be done Choose a parameter
51. oups via HMI NET Description It indicates the status of the DeviceNet network The next table presents a brief description of those states CFW700 27 Programming Offline Device without power supply or not online Communication cannot be established Online Not Device online but not connected The slave has successfully completed Connected the MacID verification procedure This means that the configured baud rate is correct or it has been detected correctly in case of autobaud and that there are no other network nodes with the same address However there is no communication with the master yet in this stage Online Connected The device is operational and in normal conditions The master has allocated a set of I O type connections with the slave In this stage the effective exchange of data by means of I O type connections occurs Connection Failure It indicates that the slave was not able to enter the network due to addressing problems or due to the occurrence of bus off Make sure the configured address is not used by other device verify if the chosen baud rate is correct and make sure there are no installation problems The equipment is executing the autobaud mechanism P0720 DEVICENET MASTER STATUS Range O Run Default 1 Idle Properties RO CAN Access groups via HMI NET Description It indicates the DeviceNet network master status It may be in operation mode Run or in configuratio
52. re capable of executing the protocol CFW700 10 eq DeviceNet Communication Accessory 2 DEVICENET COMMUNICATION ACCESSORY In order to make the DeviceNet communication possible with the product it is necessary to use one of the CAN communication kits described next Information on the installation of these modules can be obtained in the guide that comes with the kits 21 CAN 01 KIT WEG part number 10051961 Composed by the CAN communication module drawing at the left mounting instruction The interface is electrically isolated and with differential signal which grants more robustness against electromagnetic interference External 24V supply It allows the connection of up to 64 devices to the same segment More devices can be connected by using repeaters A maximum bus length of 1000 meters 2 2 CONNECTOR PINOUT The CAN communication module presents a 5 wire plug in connector XC5 with the following pinout Ee ES 09 LI Table 2 1 CAN interface XC5 connector pinout Name won 2 3 POWER SUPPLY The CAN interface needs an external power supply between the pins 1 and 5 of the network connector The individual consumption and input voltage data are presented in the next table Table 2 2 CAN interface supply characteristics Supply Voltage 50 2 4 INDICATIONS The CAN interface
53. the JOG function 1 It enables the JOG function 0 The drive goes to the Local mode LOC REM 1 The drive goes to the Remote mode Bit 5 0 The drive uses the first ramp values programmed in 100 and P0101 as the motor acceleration Second ramp and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in PO102 and P0103 as the motor acceleration and deceleration ramp times Bit 6 O It does not execute the fast stop command Fast stop 1 It executes the fast stop command Note This function is not allowed with control types P0202 V f or VVW Bit 7 0 No function Fault reset 1 If in a fault condition then it executes the drive reset Bits 8 to 15 Fault reset Speed direction 0 1 0 1 P0685 DEVICENET SPEED REFERENCE Range 32768 a 32767 Default 0 Properties Access groups via HMI NET Description It allows programming the motor speed reference via the DeviceNet interface This parameter can only be changed via CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter In order that the reference written in this parameter be used it is necessary that the drive be programmed to use the speed reference via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters P0221 and P0222 This word uses a 13 bit resolution with signal to represent the motor synchronous speed P
54. the installation guide the CAN protocol for DeviceNet by means of the parameter P0700 A Adjust the address of the inverter in the network through the parameter 701 Valid values O to 63 Set the Baud Rate in P0702 Valid values O Auto 1 Auto 2 500kbps 3 250kbps 4 125kbps Auto 6 Auto 7 Auto 8 Auto the parameter PO710 configure the most suitable instance for the application this choice will impact the number of words exchanged with the network master The very same number of words must be adjusted at the network master Finally program a value different from O in the parameters PO711 to 7 18 Valid values O a 1199 Cycle the power of the CFW700 so that the changes become effective Connect the network cable to the module Register the configuration file EDS file in the network configuration software Add the CFW700 to the scan list of the master In the network configuration software choose a method of data exchange with the master i e poled change of state or cyclic The CFW700 DeviceNet module supports all these I O data types besides the explicit acyclic data f everything is configured correctly the parameter PO719 will indicate the Online Connected state Observe also the parameter that indicates the network master status PO720 There will only be effective data exchange when the master status is Aun 2 7 ACCESS TO THE PARAMETERS
Download Pdf Manuals
Related Search