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1. Dive Technolgy Drive Automation System Integration Services cOcococD_D_ovI x_n EURODRIVE DFD11B DeviceNet Fieldbus Interface Edition 10 2007 Manual 11637013 EN SEW EURODRIVE Driving the world T General NOUS iis cae taa aaraa ea aeda eaa a aaaea Ea a ab evevuan adea aia anida iaia 5 1 1 Structure of the safety notes 02 cece cece cence eeteeeeeceeeeeeeeeeeeeeeteeeeeeeaeeeteaeeee 5 1 2 Right to claim under warranty 0 ccccceeeseeeeeeeenneeeeeeeeneeeeeeeenaeeeeeeeenaaeeeeeeeaes 5 1 3 Exelusion of habite niae a face a ceeded a aae 5 2 Safety Noles znani e ee eea aaaeeeaa ae aaraa aat ty etna a Ea aE e iaai 6 2 1 Other applicable documentation cccccceceseceeeteeeteeeeeeeeeeeeeeeeeseaeeeseneeeeaes 6 2 2 General safety notes for DUS SyYStemS eeseeeseeseieerrissirrerrresrrrerintsrrserns 6 2 9 Safety TUNCtions eea aa aa a e aa A aa oaea o aeaaea hese 6 2 4 HoistappliGations non an a A e a o A 6 2 5 Product names and trademarks ssssssesssressrrrserrrnnsserrnnertnnnnesennnnentnnnnenennana 6 26 gt DISPOSal ss ny aA E A ae Avie 6 Si MIGJuUCHOM se ens srnir ErAn e cde eee aah Seed pan eve a TETTA R EAAS 7 3 1 Content of this Manual s s sanoinaan hipuan kuaik ekia iaaa akit 7 3 2 Additional documentation serena iesin eiu rere t Lanat ae EAER E aen AANA an Ei 7 S e E E E E E E fe E A A E E E AT 7 3 3 1 MOVIDRIVE MOVITRAC B and DeviceNet
2. following fig ure Make sure that this CPS command is executed after the automatically by DeviceNet Tag Generator generated DNet_ScannerInputsRoutine DeviceNetInputs MainRoutine Jump To Subroutine Routine Name DNet_ScannerinputsRoutine E Controller Sample Controller Tags C3 Controller Fault Handler 3 Power Up Handler E Tasks H 8 MainTask E A DeviceNetInputs E Program Tags MainRoutine Process data Addr B DNet_ScannerIn 11 from Drive 3 MainProgram PS S cB DeviceNetOutputs Synchronous Copy File A Program Tags Source DNet_Scanner_Ni1_POL_ Eh MainRoutine Dest 411_Movidrive Pl B DNet_Scannero renga C3 Unscheduled Programs amp Motion Groups C3 Ungrouped Axes C3 Trends amp Data Types 5 H User Defined 11754AXX In order to copy the data from the new data structure to the drive a CPS command is added into the MainRoutine that writes the data to the local I O Make sure that this CPS command is executed before the automatically by DeviceNet Tag Generator generated DNet_ScannerOutputsRoutine a Controller Sample DeviceNetOutputs MainRoutine Controller Tags e leale e lesie rair ea Controller Fault Handler iI Se EEx eix EEA EAE S eee ener SEV MOVIDRIVE DFD11B B fa MainTask Synchronous Copy File CB DeviceNetInputs Source A11_Movidrive PO Program Tags Dest DNet_Scanner_N11_POL_O Ei MainRoutine Length 1 B DNet_ScannerIn 3 MainProgram
3. in the MSG instruction to open the Message Configuration Window following figure Message Configuration ReadParameter g x Configuration Communication Tag Message Type cir Generic ioe Get Attribute Single x Source Element ReadParameterRequ Source Length fi2 Bytes Service le 7 Code e Hex Class 7 Hex Destination ReadParameterResp Instance fi Attribute 4 Hex New Tag 11767AXX Select CIP Generic as message type Fill in the further data in the following order A Source Element ReadParameterRequest Index B SourceLength 12 C Destination ReadParameterResponse lndex D Class 7hex E Instance 1 F Attribute 4hex G Service Code ene The Service Type is set automatically 5 The target device is to be specified on the Communication tab following figure Message Configuration ReadParameter f xj Configuration Communication Tag Path PNet_Scanner 2 11 Browse DNet_Scanner 2 11 11768AXX The path consists of Name of the scanner e g DNet_Scanner e 2 always 2 e Slave address e g 11 bit Manual DFD11B DeviceNet Fieldbus Interface 39 C xD Project Planning and Startup Programming samples in RSLogix 5000 6 After downloading the changes to the PLC the index of the parameter to be read can be entered at ReadParameterRequest Index By altering ReadParameterStart to 1 the read request is executed
4. sscecsceeeeesnteeees 7 3 3 2 Data exchange via Polled I O and bit strobe l 0 sssssssnsenennennneeeenne 8 3 3 3 Parameter access via explicit MESSAGES eeeeeceeeeeeteeeeeeetteteeeeenaes 8 3 3 4 Monitoring fUNCtIONS 0 ccc e ee eecne eee eeeeeeeeeeesaaeeeeeeeaaeeeeeeeeaeeeeeeeeaas 8 33 5 Diagnostics ocios di eve abe eee Aa dee aes 8 3 3 6 Fieldbus Monitor seiors rdinara iee rai ati iaae i aA TAD a T S Aa 8 4 Assembly and Installation ccccsesseeeeeseeeeeeeeeseceeeeenseeeeeeeeeseeeeeeeeeseeeeeeenseeeeeneees 9 4 1 Installing the DFD11B option card in MOVIDRIVE MDX61B c 0 0 ese 0 9 4 121 Before you begins ony eaan E ead ed Lee dA 10 4 1 2 Basic procedure for installing and removing an option card MDX61B BG eG usec ctede inaano a a aaa 11 4 2 Installing the DFD11B option card in MOVITRAC B 12 4 2 1 System bus connection between a MOVITRAC B and the DED11B OPIO ir a E a A 12 4 2 2 System bus connection between multiple MOVITRAC B units 13 4 3 Installing the DFE11B UOH11B gateway eeeeeeeseeereesrresrreerrerrrrerne 15 4 4 Connection and terminal description DFD11B option eeeeeeeeeeeeeeeeeeee 16 4 5 PIN ASSIQNMENE eoe eani aiii ei rain NT AE ace 17 4 6 Shielding and routing bus cables ceceeeeeeeceeeeeeeeeeeteeeeeeeeeeeeeeeeeaeeeeenees 18 4 B sterninatioMNecscsaores ias iiia acter icin a eee AEAT 18 4 8 Setting the DIP switches eceecceeeceeeee cence ee
5. DFD11B DeviceNet Fieldbus Interface 5 29 5 30 C xD Project Planning and Startup 5 4 Configuring the MOVITRAC B frequency inverter Configuring the MOVITRAC B frequency inverter ban EINTE 10 Sopor acan a iaz Gy MOVITRACER Parameters 100 Setport source f Bus 1 Food setpoint gt Oy 0 Display valuos 101 Control signal source S Bus 1 Sy 1 Setponte amp generators E 10 Setpoint selection 102 Frequency scaling kHz 10 00 TI Analog input 1 0 10V 12 FBG Setport gensrator opton SH 60 Bary puts lS x 13 Speed ramps 1 601 Binary input 0102 I fEnable Stop 14 Speed ramps 2 3 S5 15 Molor potentiometer funcion 602 Binar mput D103 T No function 16 Fixed setpoints 1 603 Binary input D104 T No function gt 17 Feed selports 2 a E 2 Contoller parameters 604 Binary input D105 f No function z E S 32 Molor parameters 608 Binary input 0100 T No function 7 gt Be 4 Reference sgnal S 5 Montoing unction ND ocen con saranno sE loiz 6 Terminal assignment i 60 Binary inputs 870 Setpe Por Control word 1 62 Binary outputs 871 Setport desorption PO2 set speed 64 Analog outputs ophon S 7 Contiol functions 872 Setpont descnption POS No function 2e oz functions 873 Actual value descrpton PII Status word 1 X Setup 81 Serial Communication 874 Actual value description PI2 Actual speed 82 Brako operation shue description f 83 Fauk responses OTS Ach
6. 11760AXX Please note that the structure DNet_Scanner_N10_POL_O Data contains the PD to all drives on the gateway so that the 6 data bytes of to each drive have to be copied to the structure with a specific offset 0 6 12 42 7 Finally save and download the project to the PLC set the PLC to Run Mode and set the Scanner CommandRegister Run to 1 to activate the data exchange via DeviceNet Now the actual values from the device can be read and setpoint values can written gt following figure Controller Tags Sample controller Scope f Sample Show Show All Name Value _ Style Data Type Description SAIQS1_Movitac e o SEW_Drive Process data Addr 10 SBus 1 AIO_S1_Movitrac Pl word 1680004 Hex INT Status Word 1 FA10_S1_Movitrac Pl word2 16 0000 Hex INT Actual Speed SA10 St Movies Pwo 1640000 Hex INT Apparent Output Caren SAI0S1_MoviracPO f 3 words Process data Addr 10 SBus 1 A10_S1_Movitrac PO word 16 0006 Control Word 1 H A10_S1_Movitrac PO word2 16 0400 Set Speed EMIO S1 Movitec PO worda _16 0000 Hex INT No Function A11_S7_Movitac ep SEW Drive Process data Addr 10 SBus 7 11761AXX Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD Programming samples in RSLogix 5000 The data in the controller tags should be equal to the process da
7. 12 DFD11B option card in MOVIDRIVE Pata ral spigen tet ECE MONG TE terine eiai Eis 9 B draten nenna na a a ae 14 Installing and remove an option card a 11 BIO LED roete en din a doraa 21 System bus connection between a BUS Pies MOVITRAC B and the DFD11B option 12 Shielding ANA rOUBNO sareti ena innia 18 System bus connection between multiple Bus termination cccceec cc eeceeseeeseeeeeeeaeeeeeeaas 18 MOVITRAC B UN UES ooccccccccccccccccccccccccceceseees 13 BUS FAULT LED ariari ienen antena enaa arate 21 MODINET LED rriad einai aed dee 20 CIP object directory Monitoring functions ccccsescceeesectcseteeeeeeeeeees 8 Connection object A A A TEET 59 MOVIDRIVE MDX61B DeviceNet object Ai r a a aa 58 Configuring the drive inverter u 29 Identity object AE T a E T A ead Nara Sala ea aaea 56 MOVIDRIVE MOVITRAC B and DeviceNet 7 Parameter object DFD11B as gateway 65 MOVITRAC B Parameter object DFD11B in Configuring the frequency inverter 30 MOVIDRIVE B oieee 63 Register object sensein 60 N Configuration Notes MOVIDRIVE MDX61B drive inverter 29 Assembly installation a se g MOVITRAC B frequency inverter 4 30 o Configuring PLC and master n 23 l i Connection Operating MOVITOOLS MotionStudio DFD11B option a amore e 16 via De yiceNet mssi aana 69 Content of this manual e sesisiseeieieeririreeeeererrerenn 7 Option card Installation a
8. B a DeviceNetOutputs A Program Tags Jump To Subroutine Routine Name DNet_ScannerOutputsRoutine B DNet_ScannerOu C3 Unscheduled Programs Motion Groups iC Ungrouped Axes 3 Trends Data Types 11755AXX Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD Programming samples in RSLogix 5000 6 Finally save and download the project to the PLC set the PLC to Run Mode and set the Scanner CommandRegister Run to 1 to activate the data exchange via De viceNet Now the actual values from the device can be read and setpoint values can written Controller Tags Sample controller Scope f Sample Show Show All Name CS Value Style Data Type Eaua oo wore a e a BATT MovidvePiveat 16roooafHes NT BATT Movie PLword2 1650000 He ATT MovidiePLword3 1650000 He aaao 5 a 1610006 Hex NT 1691000 He SANT MoviiveP0 ne 1690000 Hor NT The data in the controller tags should be equal to the process data displayed in the parameter tree of MOVITOOLS MotionStudio gt following figure Process data Addr 11 Process data Addr 11 fre Status Word 1 Actual Speed Apparent Output Current Process data Addr 11 to Control Word 1 Set Speed No Function 11756AXX MOVIDRIVE B parameters Display values Bus diagnostics 5 MOVIDRIVE B parameters 030 PD configuration 3 PDW Paramete
9. OF hey Class Attribute Access Name Data type Default value Description hex Get Max Instance UINT 0035 Maximum instance 53 Get Parameter UINT 0009 Bit 0 Supports parameter instances Class Bit 3 Parameters are saved perma Descriptor nently 9 Get Configura UINT 0000 Configuration assembly is not sup tion Assem ported bly Interface Instance 1 53 Attribute Access Name Datatype Default value Description hex 1 Set Get Parameter UINT 206C Parameter that is to be read or writ Value ten see table fieldbus parameter gateway 2 Get Link Path USINT 00 Not used here Size 3 Get Link Path Packed 00 Not used here EPATH Get Descriptor WORD 0000 Read write parameter 5 Get Data Type EPATH 00C8 UINT Get Data Size USINT 04 Data length in bytes Fieldbus parame ters gateway Instance Access Group Name Meaning 1 Get PD configuration Process data configuration 2 Get Set Timeout response Timeout response Device 3 Get parame Fieldbus type DeviceNet 4 Get ters Baud rate Baud rate via DIP switches 5 Get MAC ID MAC ID via DIP switches 6 29 Get PO moni PO1 setpoint Monitor of the tor PO24 setpoint Process output data words 30 53 Get PI monitor PI1 actual value Monitor of the PI24 actual value Process input data words NOTE The data format for these instances deviates from the SEW fieldbus profile to meet the DeviceNet specification Supported ser vices Service Code
10. Possible consequence s if disregarded e Measure s to avoid the hazard Symbol Signal word Meaning Consequences if disre garded Example Imminent hazard Severe or fatal injuries A A WARNING Possible hazardous situation Severe or fatal injuries General hazard AN CAUTION Possible hazardous situation Minor injuries Specific hazard e g electric shock STOP Possible damage to property Damage to the drive system or its environ NOTE Useful information or tip il Simplifies drive system handling 1 2 Right to claim under warranty A requirement of fault free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the documentation Therefore read the manual before you start operating the device Make sure that the manual is available to persons responsible for the plant and its op eration as well as to person who work independently on the device You must also en sure that the documentation is legible 1 3 Exclusion of liability You must comply with the information contained in the MOVIDRIVE MOVITRAC documentation to ensure safe operation and to achieve the specified product character istics and performance requirements SEW EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non observance of these operating instructions In such cases any liability for defects is e
11. the current actual value of the device with address 8 which is locat ed in memory area I 3 6 process input data word 2 is multiplied by a constant factor in this case by 1 and written to output memory area O 3 7 process output data word 2 of the device with address 0 In addition the value 6 ENABLE is written to the process output data word 1 of the de vice with address 0 0 3 6 Thus the device with address 0 follows the actual speed with enable signal from the device with address 8 Transmit actual position from motor 1 to motor 2 END 4 01914AEN Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD Programming samples in RSLogix 500 for SLC 500 5 6 2 Exchanging explicit messages parameter data with MOVIDRIVE B Task In this program parameter data are exchanged between the control and the inverter Exchange of parameter data between inverter and SLC500 takes place via M Files gt Installation instructions on DeviceNet scanner module A memory area from word 224 to 255 in these M Files is reserved for the explicit mes sages The structure of this memory area is shown in the following figure Transmission header Explicit Message Body TXID cmd status Class Instance Attribute This memory area is split up into two areas e Transmission header three words e Explicit message body Word 224 Word 225 Word 226 Word 22
12. 1 min 1500 0 Read OBSERVER Write OPERATOR 162 intemal setpoint n13 4In Index 8489 0 150000 150 0 Scopable 11770AXX The complete list of index numbers and scaling factors can be taken from MOVIDRIVE Fieldbus Unit Profile manual Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup g Programming samples in RSLogix 5000 5 Only few changes are required for parameter write access e Define the controller tags following figure Data Type MESSAGE SEW_Parameter_Channel SEW_Parameter_Channel BOOL WriteParameter WriteParameterRequest WriteParameterResponse WriteParameterStart 11771 AXX e Create a rung for the WriteParameter execution following figure WriteParameterStart Type Unconfigured Message Control 11772AXX For contact select the tag WriteParameterStart For the Message Control select the tag WriteParameter Click on in the MSG instruction to open the Message Configuration Window following figure Message Configuration WriteParameter a x Configuration Communication Tag Message Type CIP Generic 7 peaks Set Attribute Single v Source Element WriteParameterR equ v j ype Source Length 12 2 Bytes Service fig gt po Code 1d Hex Class 7 Hex Destination WiiteParameterResp Instance 2 Attribute f4 Hex New Tag 11773AXX Fill in
13. 3 of the drive with the lowest SBus address e g 1 e Byte6 11 contain PD 1 3 of the drive with the next higher SBus address e g 2 The content of process data word 1 3 from and to the drives is defined in each drive individually via parameter P870 P875 Manual DFD11B DeviceNet Fieldbus Interface 5 27 5 28 gw Project Planning and Startup Configuring PLC and master DeviceNet scanner 5 2 3 Auto setup for gateway operation The auto setup function lets you start up the DFD11B as gateway without a PC The function is activated via the Auto Setup DIP switch see section 4 4 page 16 NOTE Setting the Auto Setup DIP switch AS from OFF to ON position causes the function to be executed once The Auto Setup DIP switch must then remain in the ON po sition The function can be reactivated by turning the DIP switch off and back on again As a first step the DFD11B searches for drive inverters on the lower level SBus This process is indicated by the H1 LED system bus error flashing briefly For this purpose different SBus addresses must be set for the drive inverters P881 We recommend as signing the addresses beginning with address 1 in ascending order based on the ar rangement of inverters in the switch cabinet The process image on the fieldbus side is expanded by three words for each detected drive inverter The H1 LED remains lit if no drive inverter was located A total o
14. 6 Manual DFD11B DeviceNet Fieldbus Interface 7 69 a 8 2 a Error Diagnostics Diagnostic procedures 8 Error Diagnostics 8 1 Diagnostic procedures The diagnostic procedures described in the following section demonstrate the fault anal ysis methods for the following problems Inverter does not work on DeviceNet e Inverter cannot be controlled using the DeviceNet master For more information dealing specifically with the inverter parameter settings for various fieldbus applications refer to the Fieldbus Unit Profile manual and the MOVIDRIVE pa rameter list Step 1 Check the Status LED and the Status display of the DeviceNet scanner See documentation of the DeviceNet scanner Step 2 Check the Status LEDs of the DFD11B The explanation of the different LEDs can be found in chapter 4 The following table shows the corresponding unit states and their causes An X indicates that the state of the respective LED is not relevant LED DFD11B MODINET PIO BIO BUS FAULT Status Cause Off Off Off Off Off No power supply via MOVIDRIVE B or X26 when mounted into MOVITRAC B or gateway hous ing Off Yellow Off Off Booting During bootup and synchronization to MOVIDRIVE B Off Flashing X Off Baud rate Invalid baud rate setting via DIP red invalid switches Off x Flashing Off No PD Invalid number of process data red invalid words set via DI
15. Gateway Housing UOH11B 257 5 62281AXX DFD11B option for MOVITRAC B and Gateway External voltage supply V DC 24 V 15 20 Imax DC 200 mA Pmax 3 4 W Communication protocol Master slave connection set acc to DeviceNet specification version 2 0 Number of process data words Adjustable via DIP switches 1 24 process data words 1 4 process data words with Bit Strobe I O Baud rate 125 250 or 500 kBaud to be set via DIP switches Bus cable length For thick cable according to DeviceNet specification 2 0 Appendix B 500 m at 125 kBaud 250 m at 250 kBaud 100 m at 500 kBaud Transmission level ISO 11898 24 V Connection technology 3 wire bus and 2 wire supply voltage DC 24 V with 5 pole Phoenix termi nal Pin assignment according to DeviceNet specification MAC ID 0 63 can be set using DIP switch Max 64 stations Supported services Polled I O Bit strobe I O Explicit messages Tools for startup MOVITOOLS MotionStudio version 5 40 and higher Firmware version of MOVITRAC B No special firmware is required Manual DFD11B DeviceNet Fieldbus Interface 73 10 74 Index 10 Index A l Additional documentation seeeeeeeeeeeeeeeeee eere 7 Installation Auto setup for gateway operation n e e 28 DFD11B UOH11B ovosiirernuenenii 15 B DFD11B option card in MOVITRAC B
16. SLC500 in rung 2 The process data values are output to the scanner memory area in the following figure If status gt 3 change to status 0 GRT H Greater Than A gt B Source A B3 2 0000000000000010 Source B 3 3a Status 0 Start motor speed 1000 rpm EQU H Eya Source A B3 2 0000000000000010 Source B 0 O lt Status 1 Stop motor EQU 5 Equal Source A B3 2 oo00000000000010 lt Source B 1 le hMov Move Source 6 6 lt Dest 0 3 3 O lt hMor Move Source 5000 5000 lt Dest O 3 4 O lt por Move Source 0 0s Dest 0 3 3 O lt por Move Source 0 0s Dest 0 3 4 O lt 01913AEN Status 0 is created in rung 4 In this status a 6 ENABLE is written to memory area 47 5 48 C 3d 0008 0009 Project Planning and Startup Programming samples in RSLogix 500 for SLC 500 0 3 3 that represents process output data word 1 A 5000 is written to memory area O0 3 4 process output data word 2 which represents 1000 rpm Status 1 is created in rung 5 In this status a0 RAPID STOP is written to memory area 0 3 3 that represents process output data word 1 A 0 is written to memory area 0 3 4 process output data word 2 which represents the value 0 rom This means the motor is stopped with the rapid stop States 2 and 3 are treated similarly to states O and 1 and are thus not explained any further In the figure above
17. Strobe I O Control word of the scanner POD1 device POD2 device POD3 device POD1 device POD2 device POD3 device POD1 device POD2 device POD3 device 8 8 8 0 0 0 4 4 4 Process data to device 11 Process data to device 10 Polled I O Polled I O Polled I O Polled I O Polled I O Polled I O Polled I O Polled I O Polled I O Bit Strobe for device 8 Manual DFD11B DeviceNet Fieldbus Interface The Bit Strobe data are contrasted to the Polled I O data in bold 5 45 5 C xD Project Planning and Startup Programming samples in RSLogix 500 for SLC 500 5 6 1 Exchange of polled I O process data with MOVIDRIVE B Task In the following program process data are to be sent to a MOVIDRIVE MDX61B and the motor should run at a different speed The program sequence is shown in the follow ing figure Cycle 0 START Speed 1000 rpm Enable Cycle 1 Speed 0 rpm Rapid stop Cycle 2 Speed 400 rpm Enable Cycle 3 Speed 0 rpm Rapid stop ooo The parameters listed in the following table must be set in the MOVIDRIVE MDX61B drive inverter for exchange of the process data 54178AEN Menu no Index Parameter Value 100 8461 Setpoint source Fieldbus 101 8462 Control signal source Fieldbus 870 8304 Process output data description 1 Control wo
18. assignment X46 1 SC11 System bus incoming high X26 1 SC11 SBus CAN High X46 2 SC12 System bus incoming low X26 2 C12 SBus CAN Low X46 3 GND System bus reference X26 3 GND CAN GND X46 4 SC21 System bus outgoing high X26 4 Reserved X46 5 SC22 System bus outgoing low X26 5 Reserved X46 6 GND System bus reference X26 6 GND CAN GND X46 7 DC 24 V X26 7 DC 24 V X12 Terminal assignment X12 8 DC 24 V X12 9 GND reference potential for the binary inputs Manual DFD11B DeviceNet Fieldbus Interface 13 Assembly and Installation Installing the DFD11B option card in MOVITRAC B Please note If possible use a 2x2 core twisted and shielded copper cable data transmission ca ble with braided copper shield Connect the shield on both sides to the electronics shield clamp of the MOVITRAC B over a large area Additionally for a 2 core cable connect the shield ends to the GND The cable must meet the following specifica tions Cable cross section 0 25 mm AWG23 0 75 mm AWG18 Line resistance 120 W at 1 MHz Capacitance per unit length lt 40 pF m at 1 kHz Suitable cables are e g CAN bus or DeviceNet cables The permitted total cable length depends on the baud rate setting of the SBus 250 kBaud 160m 500 kBaud 80m 1000 kBaud 40 m Connect the system bus terminating resistor S1 ON at the end of the system bus connection Switch off the terminating resist
19. commands and two controller tags Input amp Output for each DeviceNet device as a byte array The tag name contains the MAC ID of the DeviceNet unit and POL_ for polled input data or POL_O for polled output data following figure Controller Tags Sample controller Controller Sample Controller Tags C Controller Fault Handler C Power Up Handler Tasks MainTask 4 O DeviceNetInputs C MainProgram OB DeviceNetOutputs a i DNet_ Scannet_N11_POL_ 0138_8 SEW MOVIDRIVE DFD118 ex DNet_Scanner_N11_POL_ Data Decimal SINT 6 M RIVE DFD1 gt i DNet_Scanner_N11_POL_O _0138_8 SEW MOVIDRIVE DFD118 DNet_Scanner_N11_POL_O Data Decimal SINT 6 EW MOVIDRIVE DFD118 11748AXX The content of the process data words 1 3 from and to MOVIDRIVE B is defined via parameter P870 P875 The content of the process data words 4 10 is defined by an IPOSP S program or an application module Manual DFD11B DeviceNet Fieldbus Interface 5 25 5 C xD Project Planning and Startup Configuring PLC and master DeviceNet scanner 5 2 2 DFD11B as fieldbus gateway in MOVITRAC B or UOH11B gateway housing By reading the device properties in online mode the process data Pd configuration of the DFD11B can be checked gt following figure lt SEW GATEWAY DFD11B 2 xi Ih I General Parameters 1 0 Data EDS File r Select the para
20. fault that cannot be remedied Major Recoverable Fault Major fault that cannot be remedied Major Unrecoverable Fault Major fault that cannot be remedied Bit Name 0 Owned 1 z 2 Configured 3 be 4 7 8 9 10 11 12 15 Reserved e Coding of the extended device status Bit 4 7 Value binary Description 0000 Unknown 0010 At least one faulty I O connection 0101 No I O connection established 0110 At least one I O connection active Supported ser viges Service Code hex Service Name Instance 05 Reset X 0E Get_Attribute_Single X Manual DFD11B DeviceNet Fieldbus Interface 57 6 58 C x DeviceNet Characteristics The Common Industrial Protocol CIP DeviceNet object e The DeviceNet object provides information on the DeviceNet communication inter face e Class code O3hex Class Attribute Acc Name Data type Default Description value hex 1 Get Revision UINT 0002 Revision 2 Instance 1 Attribute Acc Name Description 1 Get MAC ID According to DIP switches 0 63 2 Get Baud rate According to DIP switches 0 2 3 Get BOI 4 Get Set Bus off Counter Error counter of the physical CAN Interface 0 255 5 Get Allocation information Get MAC ID switch changed Information as to whether DIP switch sett
21. hex Service Name Class Instance 0E Get_Attribute_Single x X 10 Set_Attribute_Single x Manual DFD11B DeviceNet Fieldbus Interface 6 66 DeviceNet Characteristics Return codes for parameter setting via explicit messages C z9 6 3 Return codes for parameter setting via explicit messages SEW specific return codes Return codes from DeviceNet Timeout of explicit mes sages The return codes which the inverter sends back in the event of incorrect parameter set ting are described in the manual for the fieldbus device profile and do not form part of this documentation However the return codes are sent back in a different format in con junction with DeviceNet The following table shows the data format for a parameter re sponse telegram Byte offset 0 1 2 3 Function MAC ID Service code 94hex General error code Additional code Example O1hex 94hex 1Fhex 10hex e MAC ID is the DeviceNet address e The Service code of an error telegram is always 94hpex The General Error Code of an inverter specific return code is always 1F pe propri etary error The additional code is identical to the additional code described in the SEW fieldbus device profile manual The table shows the proprietary error10pex Illegal parameter index DeviceNet specific return codes are sent in the error message if the data format is not maintained during the transfer or if a service i
22. of liability 2 sees 5 mMe sdg S xin mi ia i ana iani 66 General notes te eeteneeseneeaeeoneeeaneenneeeneeaneeeneeeneeaneteaas 5 right to claim under Warranty ccscssessssessseesseeeeeees 5 right to claim under warranty oen 5 Structure of the safety NOLES 5 S General safety notes for bus systems 005 6 Sally Notes heann aa T els erates 6 Manual Fieldbus Interface DFD11B DeviceNet Index Dic LORT ener peter epeerrecr reer per tre tr reerer A 6 General safety notes for bus systems 6 Product names and trademarks nannan 6 Safety notes Hoist applications o on 6 Safety FUNCHIONS varini E 6 Setting DIP switches Configuring the SBus communication of tHE GatOWAY or a T 19 Setting the MAC ID ccccccsscetenteeeeeeenees 19 Setting the Daud rate nosece 19 Setting the process data length ienen 19 Setting the DIP switches 19 Structure of the safety notes ee eeeeeeeeeee 5 T Technical Data 00 ceeeeeeeeeecteeeeeeentteeeeeeenaees 72 DFD11B option for MOVIDRIVE B 72 DFD11B option for MOVITRAC B and UOH11B gateway housing 0ce 73 Terminal description DFD11B OptiOn ccccceceeeeeccteeeeeeeeetteeteeees 16 The Common Industrial Protocol CIP 56 V Validity of the EDS files for DFD11B 22 Manual Fieldbus Interface DFD11B DeviceNet 10 75 Drive Technology Drive Automation System Inte
23. previously 19 Store operation failure The data could not be stored because an error occurred while saving them 1A 1E Reserved for DeviceNet 1F Vendor specific error Vendor specific error gt Manual SEW Fieldbus Device Pro file 20 Invalid parameter Invalid parameter This error message is used when a parameter does not satisfy the requirements of the specification and or the requirements of the application 21 CF Future extensions Reserved by DeviceNet for additional definitions DO DF Reserved for Object Class and service errors Use this area if an occurring error cannot be entered in one of the error groups listed above Manual DFD11B DeviceNet Fieldbus Interface 6 67 6 68 gw 6 4 DeviceNet Characteristics Definitions of terminology Definitions of terminology Term Description Allocate Provides a service for setting up a connection Attributes Attribute of an object class or instance Describes the characteristics of the object class or instance in more detail BIO Bit Strobe I O All stations can be addressed with a broadcast telegram The addressed sta tions respond with the process input data Class DeviceNet object class Device Net scanner Plug in module for the Allen Bradley PLC which connects the PLC fieldbus to the peripheral devices DUP MAC check Duplicate M
24. system bus terminating resistor at the end of the system bus connection Manual DFD11B DeviceNet Fieldbus Interface 15 4 4 Part number Assembly and Installation Connection and terminal description DFD11B option Connection and terminal description DFD11B option DeviceNet fieldbus interface type DFD11B 824 972 5 NOTES e The DeviceNet fieldbus interface DFD11B option is only possible in conjunction with MOVIDRIVE MDX61B not with MDX60B e Plug the DFD11B option into the fieldbus slot Front view of DFD11B Description DIP switch Function Terminal DFD 11B MOD O NET Plo O Blo BUS O FAULT 0 1 NA 5 NA 4 NA 3 NA 2 NA 1 NA 0 DR 1 DR 0 S1 AHHAR MOD NET module network sta tus PIO Polled I O BIO Bit Strobe I O BUS FAULT The two color LEDs display the current status of the fieldbus interface and the DeviceNet system Six DIP switches for setting the MAC ID Two DIP switches for setting the baud rate Five DIP switches for setting the NA 0 NA 5 Setting the MAC ID Media Access Control Indentifier DR 0 DR 1 Setting the DeviceNet baud rate DRO 0 DR1 0 gt 125 kBaud DRO 1 DR1 0 gt 250 kBaud DRO 0 DR1 1 gt 500 kBaud DRO 1 DR1 1 gt invalid PD 0 PD 4 Setting the process data length 1 24 words in proce
25. terminal to a 24 V signal and to program the remaining input termi nals to NO FUNCTION NOTE Set the parameter P881 SBus address to values between 1 to 8 in ascending order 8 A MOVITRAC B with integrated DFD11B has the SBus address 1 as factory setting as of firmware 15 The SBus address 0 is used by the DFD11B gateway and must therefore not be used Set P883 SBus timeout to values between 50 200 ms Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD 5 Programming samples in RSLogix 5000 5 5 Programming samples in RSLogix 5000 5 5 1 MOVIDRIVE B with 3 PD data exchange 1 Set the DIP switches on the DFD11B to e adjust the baud rate to the DeviceNet network e set the address MAC ID to a value used by no other node e set the number of PD according to this sample to 3 2 Then follow chapter 5 2 and 5 2 1 to add MOVIDRIVE B with DFD11B to the De viceNet configuration 3 Follow chapter 5 3 to set the communication parameters of MOVIDRIVE B 4 Now the integration into the RSLogix project can performed Generate a controller tag with a user defined data type to get a plain interface to the inverters process data following figure BA Data Type SEW_ Drive Controller Sample A Controller Tags CI Controller Fault Handler CI Power Up Handler Tasks Le MainTask OD Unscheduled Programs Phases Motion Groups CS Ungrouped Axes C Tre
26. using MOVITOOLS or the DBG60B keypad because it can only be activated via the bus If a timeout occurs for the polled I O messages this connection type enters timeout sta tus Incoming polled I O messages are no longer accepted The timeout causes the timeout reaction set in the inverter to be carried out The timeout can be reset with DeviceNet by means of the reset service of the connection object class 0x05 instance 0x02 undetermined attribute by disconnecting the con nection by means of the reset service of the identity object class 0x01 instance 0x01 undetermined attribute or with the reset bit in the control word Bit strobe I O messages are not contained in the SEW fieldbus profile The messages represent a DeviceNet specific process data exchange The master sends a broadcast message that is 8 bytes 64 bits long One bit in this message is assigned to each station in accordance with its address The value of this bit may be 0 or 1 triggering two different responses in the recipient Bit Meaning BIO LED value 0 Sends back process input data only Green light 1 Trigger fieldbus timeout reaction and send back process input data Green light Manual DFD11B DeviceNet Fieldbus Interface DeviceNet Characteristics C xD Process data exchange STOP The BIO LED on the front of the DFD11B option can be used for distinguishing between the timeout triggered by the bit str
27. 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 05 11 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 04 11 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 03 11 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 02 11 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 01 11 10 08 08 08 00 00 00 04 04 04 00 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 00 11 10 08 08 08 00 00 00 04 04 04 Status word of the scanner Process data Process data Process data Process data PID1 device PID2 device PID3 device PID1 device PID2 device PID3 device PID1 device PID2 device PID3 device PID1 device PID2 device PID3 device PID1 device PID2 device PID3 device PID1 device PID2 device PID3 device from device 11 from device 11 from device 10 from device 10 Polled I O Polled I O Polled I O Bit Strobe I O Bit Strobe I O Bit Strobe I O Polled I O Polled I O Polled I O Bit Strobe I O Bit Strobe I O Bit Strobe I O Polled I O Polled I O Polled I O Bit Strobe I O Bit Strobe I O Bit
28. 08 08 08 00 00 00 04 04 04 1747 SDN Scanlist Map Discrete Input Map 13 R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 Discrete Output Map 13 11 10 08 08 08 00 00 00 04 04 04 12 R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 12 10 08 08 08 00 00 00 04 04 04 11 R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 11 11 10 08 08 08 00 00 00 04 04 04 KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KKK KK KK KKK KK KK RRRRRRRR KKK KKK KKK KKK KKK KKK KKK KKK KK KK KK KK KK KK KK KK KK KK KKK KK KKK KK KK k k EEEE kk 10 09 08 07 06 05 04 03 02 01 R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 10 11 10 08 08 08 00 00 00 04 04 04 R R R R R R R R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 09 11 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 08 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 07 11 10 08 08 08 00 00 00 04 04 04 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 06 11 10 08 08 08 00 00 00 04 04
29. 125 kBaud 0 1 250 kBaud 1 0 500 kBaud 1 1 Invalid Up to ten data words DFD11B in MOVIDRIVE B and up to 24 data words DFD11B as gateway in MOVITRAC B or UOH11 B can be exchanged between the DeviceNet master and the DFD11B The number is set with DIP switches S2 PD0 to S2 PD4 ina binary coded manner 0 1 NA5 i NA4 NAGS 1 Setting the MAC ID 11 Nazm S NAIT 2 Setting the baud rate NAO EL 3 Setting the process data length 2 DRI E 4 Auto setup for gateway operation L DRO E PD4 E 5 No function on iae The figure depicts the following settings Bj PD2 E e figure depicts the following settings PD1 1 ID PDO E MAC ID 4 4 ASE Baud rate 125 kBaud gf F2 E Bh Ft fe Process data length 8 PD 62196AXX The AS DIP switch is used to configure the SBus communication of the gateway chapter Auto setup for gateway operation The configuration is carried out when the AS DIP switch is set from 0 to 1 For fur ther operation the AS DIP switch must remain in position 1 ON Manual DFD11B DeviceNet Fieldbus Interface 19 4 9 MOD NET LED PIO LED 20 Assembly and Installation DFD11B option card status LED DFD11B option card status LED The DFD11B option card is equipped with four two color LEDs for diagnostic of the De viceNet system these indicate the current status of the DFD11B an
30. 1B 4 1 2 Basic procedure for installing and removing an option card MDX61B BG 1 6 60039AXX 1 Remove the two retaining screws holding the card retaining bracket Pull the card re taining bracket out evenly from the slot do not twist 2 Remove the two retaining screws of the black cover plate on the card retaining brack et Remove the black cover plate 3 Position the option card onto the retaining bracket so that the three retaining screws fit into the corresponding bores on the card retaining bracket 4 Insert the retaining bracket with installed option card into the slot pressing slightly so itis seated properly Secure the card retaining bracket with the two retaining screws 5 To remove the option card follow the instructions in reverse order Manual DFD11B DeviceNet Fieldbus Interface 11 12 Assembly and Installation Installing the DFD11B option card in MOVITRAC B 4 2 Installing the DFD11B option card in MOVITRAC B NOTE Only SEW EURODRIVE engineers may MOVITRAC B install or remove option cards for 4 2 1 System bus connection between a MOVITRAC B and the DFD11B option ONOIR WN N MOVITRAC B 62198AXX 1 Terminating resistor activated S1 ON 2 DIP switch S2 reserved S2 OFF X46 X26 Terminal assi
31. 47 SDN 1746 IB16 1746 OB16 1794 ADN 1794 IB16 1794 ADN 1794 OV16 erminating J ferminatin resistor DeviceNet remote line 1485C P1 A50 resistor 1485A C2 1485A C2 54179AEN Figure 1 PLC equipment configuration The following devices are used Unit MAC ID SLC5 04 DeviceNet scanner 1747 SDN 1 INPUT module with 32 inputs OUTPUT module with 32 outputs DeviceNet adapter with input module with 16 inputs 11 DeviceNet with output module 16 outputs 10 MOVIDRIVE MDX61B with DFD11B 8 MOVIDRIVE MDX61B with DFD11B 0 MOVIDRIVE MDX61B with DFD11B 4 Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup Programming samples in RSLogix 500 for SLC 500 C 3S 0 a The following memory areas have been specified with the DeviceNet manager software 1 3 000 1 3 001 1 3 002 1 3 003 1 3 004 1 3 005 1 3 006 1 3 007 1 3 008 1 3 009 1 3 010 1 3 011 1 3 012 1 3 013 1 3 014 1 3 015 1 3 016 1 3 017 1 3 018 1 3 019 1 3 020 1 3 021 1 3 022 0 3 000 0 3 001 0 3 002 0 3 003 0 3 004 0 3 005 0 3 006 0 3 007 0 3 008 0 3 009 0 3 010 0 3 011 0 3 012 15 R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 15 R 11 10 08 08 08 00 00 00 04 04 04 14 R 11 11 10 10 08 08 08 08 08 08 00 00 00 00 00 00 04 04 04 04 04 04 14 R 11 10
32. 7 Word 228 Word 229 Word 230 Word 255 54172AEN The memory areas in the M Files are described in more detail in the following overview Memory area Function Length Value Description Transmission header cmd status follow cmd Entry of command code ing table status Entry of transmission status TXID 1 255 During creation or downloading of a request to the scanner the contact plan program of the SLC5 processor assigns a TXID to the transfer Size 1 2 word 3 29 an the explicit message body in each ytes Connec 0 DeviceNet connection 0 tion Service OEnex Get_Attribute_Single Read 10hex Set_Attribute_Single Write hex Reset etc see DeviceNet specification for more services Explicit message body Class DeviceNet class Instance 1 word each 0 255 DeviceNet instance Attributes DeviceNet attribute Data 0 26 words 0 65535 Data content Manual DFD11B DeviceNet Fieldbus Interface 5 49 5 50 C 3d Project Planning and Startup Programming samples in RSLogix 500 for SLC 500 The following overviews offer a description of the command and status codes Command codes Command code Description cmd 0 Ignore transmission block 1 Execute transmission block 2 Receive transmission status 3 Reset all client server transmissions 4 Delete transmission from queue 5 255 Reserv
33. AC ID test Explicit message body Includes the class no instance no attribute no and the data Explicit message Parameter data message assists in addressing the DeviceNet objects Get_Attribute_Single Read service for a parameter Instance Instance of an object class Divides the object classes into additional sub groups MAC ID Media Access Control Identifier node address of the device M File Provides the data range between the PLC and the scanner module Mod Net Module Network Node ID Node address MAC ID PIO Polled I O Process data channel of DeviceNet allows process output data to be sent and process input data to be received Release Provides a service for setting up a connection Reset Provides a service for resetting an error Rung SLC500 program line Service Service performed via bus e g read service write service etc Set_Attribute_Single Write service for a parameter SLC500 Allen Bradley PLC Manual DFD11B DeviceNet Fieldbus Interface Operating MOVITOOLS MotionStudio via DeviceNet C xD Definitions of terminology 7 Operating MOVITOOLS MotionStudio via DeviceNet At the moment it is not possible to run MOVITOOLS MotionStudio via DeviceNet or via DeviceNet master to enable communication down to the drives The access to single pa rameters by the PLC can be achieved via Explicit Messages gt Chapter
34. D11B option for MOVIDRIVE B 72 DFD11B option Part number 824 9725 Power consumption P 3W Communication protocol Master slave connection set acc to DeviceNet specification version 2 0 Number of process data words Adjustable via DIP switches 1 10 process data words 1 4 process data words with Bit Strobe I O Baud rate 125 250 or 500 kBaud to be set via DIP switches Bus cable length For thick cable according to DeviceNet specification 2 0 Appendix B 500 m at 125 kBaud 250 m at 250 kBaud 100 m at 500 kBaud Transmission level ISO 11898 24 V Connection technology 3 wire bus and 2 wire supply voltage DC 24 V with 5 pole Phoenix termi nal Pin assignment according to DeviceNet specification MAC ID 0 63 can be set using DIP switch Max 64 stations Supported services Polled I O Bit strobe I O Explicit messages Tools for startup MOVITOOLS software package from version 4 20 DBG60B keypad Firmware status of MOVIDRIVE MDX61B Firmware status 824 854 0 11 or above gt display with P076 Manual DFD11B DeviceNet Fieldbus Interface DFD11B option for MOVITRAC B and Gateway Housing UOH11B Technical Data 9 2 45 gt wo 15 xt Q y N al 30 DFD11B option for MOVITRAC B and
35. DeviceNet Specification a linear bus structure without or with very short DeviceNet con droplines is required nection The maximum permitted cable length depends on the baud rate setting Baud rate Maximum cable length 500 kBaud 100 m 250 kBaud 250 m 125 kBaud 500 m Manual DFD11B DeviceNet Fieldbus Interface 17 18 Assembly and Installation Shielding and routing bus cables 4 6 Shielding and routing bus cables The DeviceNet interface supports RS 485 communications protocol and requires cable type A specified for DeviceNet in accordance with EN 50170 as shielded twisted pair cable for the physical connection Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments The following measures ensure the best possible shielding e Manually tighten the mounting screws on the connectors modules and equipotential bonding conductors e Apply the shielding of the bus cable on both ends over a large surface e Route signal and bus cables in separate cable ducts Do not route them parallel to power cables motor leads e Use metallic grounded cable racks in industrial environments e Route the signal cable and the corresponding equipotential bonding close to each other using the shortest possible route e Avoid using plug connectors to extend bus cables e Route the bus cables closely along existing grounding surfaces STOP In case of fluct
36. EW EURODRIVE personnel may install or remove option cards for Mg IDRIVE MDX61B size 0 Users may only install or remove option cards for MOVIDRIVE MDX61B sizes 1 to 6 e The DFD11B option card must be plugged into fieldbus slot 1 e The DFD11B option is powered via MOVIDRIVE B A separate voltage supply is not required 62594AXX Manual DFD11B DeviceNet Fieldbus Interface 10 4 1 1 Assembly and Installation Installing the DFD11B option card in MOVIDRIVE MDX61B Before you begin Read the following notes before installing or removing an option card Disconnect the inverter from the power Switch off the 24 V DC and the supply volt age Take appropriate measures to protect the option card from electrostatic charge use discharge strap conductive shoes and so on before touching it Before installing the option card remove the keypad and the front cover gt oper ating instructions MOVIDRIVE MDX60B 61B section Installation After installing the option card replace the keypad and the front cover operating instructions MOVIDRIVE MDX60B 61B section Installation Keep the option card in its original packaging until immediately before you are ready to install it Hold the option card by its edges only Do not touch any components Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation 4 Installing the DFD11B option card in MOVIDRIVE MDX6
37. N Register object class 7hex must be used in order to read instance 1 to 9 or write in stance 2 and 3 parameters from the inverter via the SEW parameter data channel The data range is divided into the index 1 word and the parameter data 2 words TXID cmd status Word 224 Class Word 227 Transimission header Instance Word 228 Attribute Word 229 Data word Low HEX Word 231 Data word High HEX Word 232 Explicit Message Body 54177AEN Manual DFD11B DeviceNet Fieldbus Interface 51 C xD Project Planning and Startup Programming samples in RSLogix 500 for SLC 500 In the sample program a data area is reserved in the integer file N File following fig ure into which the data of the MO M1 files are written gt Data File N7 hex INTEGER ofl x 02149AXX The data telegram to be used is written in N7 0 to N7 8 N7 10 to N7 15 hold the data that are to be received Word length Request Function Value TXID 1 i Cmd 1 Start Connection 0 i Size 8 3 Service Ehex Read Request MAC_ID 8 4 Class 7 5 Instance 1 6 Attributes 4 7 Data 1 2070hex 8 Data 2 Ohex 9 Data 3 0 Word length Response Function Value TXID 1 i Status 1 Successful Connection 0 Size 6 5 Service 8hex Read Response MAC_ID 8 Data 1 2070nex Data 2 Qhex Data 3 0 Manual DFD11B DeviceNet Fieldbus Interface Proj
38. P switches Off Flashing Flashing Yellow No power Power supply via X30 not con green green via X30 nected switched on Off Flashing Flashing Flashing red Error Wrong baud rate or no other green green passive DeviceNet node connected Red Red Red Off DUP MAC_ Address MAC ID is assigned error twice in the network Flashing Off Off x operational DFD11B active on the bus but with green out connection to the master scan ner Flashing Flashing x X Timeout Timeout of the PIO connection to red red the master Green Green X x Connected DFD11B active on the bus with active PlO connection to the mas ter Flashing Green X X Module DFD11B with active PIO connection red error and active error of gateway see LED H1 or MOVIDRIVE B see 7 segment display 70 Manual DFD11B DeviceNet Fieldbus Interface Le DN Error Diagnostics a Diagnostic procedures lt Step 3 Troubleshooting When DFD11B is in status Connected or Module error the data exchange between master scanner and slave DFD11B is active If it is still possible to run the drive via DeviceNet the following questions should help to find the reason A Are the right values displayed for the process data words in MOVITOOLS Motion Studio Parameter group 09 MOVIDRIVE B or process data Gateway if yes proceed with F Is bit O in DeviceNet control register of the PLC set to 1 to activate the process data exchange Are the process da
39. al INT H ReadParameterResponse lndex Decimal M ReadParameterResponse Data 150000 Decimal AT iis ReadParameteesponse Subindex woerd SINT 2iDecins SINT lt Wr H ReadParameterResponse SubChannelt Decimal IS T H ReadParameterResponse Sub ddress2 Decimal SINT ReadParameterResponse SubChannel2 Decimal SINT ReadParameterStart lt 1 Decimal BOOL 11775AXX In this sample MOVITRAC B connected to the DFD11 B Gateway with SBus address 7 read the value 150 rpm from P160 Internal Setpoint n11 Index 8489 Manual DFD11B DeviceNet Fieldbus Interface 5 43 5 44 C xD Project Planning and Startup Programming samples in RSLogix 500 for SLC 500 5 6 Programming samples in RSLogix 500 for SLC 500 RSLogic500 for SLC System configuration 9324 RLO300END DeviceNet Power section t Pc f Po A RS232C RS232C 1 aie ate 16 i 16 DeviceNet 16 16 Power section SLC500 outputs inputs Scanner Adapter inputs Adapter inputs mama a Bann 3 F DEANA 1 gees 33 mnnn 3 e 5 5 ED ga EA S 453 p s 43 N g S re 2 re 2 amp _ rE ae Oo 7 Oo 1746 P2 1747 L542 17
40. bi 1756 DNB General Module Scanlist Input Output ADR Summary 21x G os A Fell a SEW MOVIDRIVE Available Devices Scaniist ft Strobed T Change of State Cyclic Input Size fe Bytes Change ofState Cy I Automap on Add Use Output Bit M A x Input Size 0 Upload from Scanner W Pet Output Size ed Download to Scanner Input Size e Bytes Heartbeat Rate 250 4 Edit 1 0 Parameters Dutput Size e 4 Bytes EA la Abbrecl Poll Rate Every Scan gt 11747AXX 24 Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD Configuring PLC and master DeviceNet scanner After adding the MOVIDRIVE B with DFD11B to the scanlist the number of Polled I O Bytes must be set to 2 x number of PD e g number of PD 3 x number of polled input Bytes 6 and output Bytes 6 via Edit I O Parameters When the DeviceNet config uration is saved and downloaded into the scanner RSNetWorx can be closed Depending on the DeviceNet configuration and the mapping rules in the scanner the data from and to DeviceNet units is packed into a DINT Array that is transferred from the scanner to the local I O tags of the Logix Processor In order not to have to search for the data from a certain device in this array manually the DeviceNet Tag Generator tool generates copy
41. cit messages parameter data with MOVIDRIVE Bis cise cs sts E E E T 49 DeviceNet Characteristics cccseeeseseeessseeeneeeeesseeeseseeeesenaeseseeeeenseeseseeeeensees 54 6 1 Process data exchange ccecceseeeeeeeeeeeeeeeeeneeeeeeenaeeeeeeseieeeeeeeenaeeeeeeeaaes 54 6 2 The Common Industrial Protocol CIP ececeeeseeeeeeeeeeeteeeeeeeeeteneeeeeneeeees 56 6 2 1 CIP object directory eree a a E E 56 6 3 Return codes for parameter setting via explicit messageS cee 66 6 4 Definitions of terMinOlOGY eeeeeeeeeeeeeeeeeeeeeeneeeeeeeeaeeeeeeesaeeeeeeesaeeeeeneaes 68 Operating MOVITOOLS MotionStudio via DeviceNet ccssscssssssssssssesseeees 69 Error Diagnoses ais ances a irena ENE KAADER coeeesesvcnteseriasuneeseissucecevers countess 70 8 1 Diagnostic Procedures niesrinriioir deiis tinse E rekanan ee i RARR A CERANAE 70 Techini al Datarsacicctscsetenccascteceds leseccicecesentu cents epeceunnsesicaedens ceteede leeenestecesenetepteresceetaes 72 9 1 DFD11B option for MOVIDPIVE B ireren ilaran anno 72 9 2 DFD11B option for MOVITRAC B and Gateway Housing UOH11B 73 MO INdex EE T E E A ee sak E T T E E T 74 Manual DFD11B DeviceNet Fieldbus Interface General Notes Structure of the safety notes 1 General Notes 1 1 Structure of the safety notes The safety notes in this manual are designed as follows Symbol gt A SIGNAL WORD Nature and source of hazard
42. d the DeviceNet sys tem The unit status corresponding to the status of the LED is is described in chapter Error diagnostics LED abbreviation Complete LED designation MOD NET Module Network Status PIO Polled I O BIO Bit Strobe I O BUS FAULT BusFAULT The function of the LED Mod Net described in the following table is contained in the De viceNet specification LED Status Meaning Off Not switched on OffLine Unit is off line Unit performs DUP MAC check Unit is switched off Flashing green Online and in operational The unit is on line and no connection has been estab 1 s cycle mode lished DUP MAC check performed successfully Aconnection to a master has not been established yet e Missing incorrect or incomplete configuration Green light Online operational mode Online and connected Connection to a master has been established Connection is active established state Flashing red Minor fault or connection A correctable error has occurred 1 s cycle timeout A device error is active MOVIDRIVE B gateway e Polled I O or and bit strobe I O connections are in time out state DUP MAC check has detected an error Red light Critical fault or critical link A correctable error has occurred failure Bus fault DUP MAC check has detected an error The PIO LED checks the polled I O connection LED S
43. e WRITE Get_Attribute_Single Set_Attribute_Single Output Instance 3 WRITE VOLATILE Input Get_Attribute_Single Instance 4 READ MINIMUM Get_Attribute_Single Input DPRAM READ MAXIMUM Instance 5 Input Get_Attribute_Single READ DEFAULT Instance 6 Get_Attribute_Single Input READ SCALING Instance 7 Get_Attribute_Single READ ATTRIBUTE Input Instance 8 Get_Attribute_Single DeviceNet CIP READ EEPROM Input Instance 9 SEW fieldbus profile Figure 2 Description of the parameter channel Manual DFD11B DeviceNet Fieldbus Interface gw 62367AEN 6 61 6 C xD DeviceNet Characteristics The Common Industrial Protocol CIP Instance 1 9 Attribute Access Name Datatype Default value Description hex 1 Get Bad Flag BOOL 00 0 good 1 bad 2 Get Direction BOOL 00 00 Input register 01 01 Output register Get Size UINT 0060 Data length in bits 96 bits 12 bytes 4 Get Set Data ARRAY of Data in format of the SEW parameter BITS channel NOTES Explanation of the attributes e Attribute 1 indicates whether an error occurred during the previous access to the data field e Attribute 2 displays the dir
44. e value of 200 rpm In the MOVITOOLS MotionStudio parameter tree the value can be checked The tooltip of a parameter displays e g index subindex scaling of a parameter 11774AXX Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C x Programming samples in RSLogix 5000 5 5 4 MOVITRAC B parameter access via DFD11B VOH11B The access to MOVITRAC B parameter data via DeviceNet SBus Gateway DFD11B UOH11B is identical to the access to MOVIDRIVE B parameter data gt chapter 5 5 3 The only difference is that Read WriteParameterRequest SubChannel1 is to be set to 2 and Read WriteParameterRequest SubAddress71 is to be set to the SBus ad dress of the MOVITRAC B connected to the DFD11B UOH11B gt following figure Scope f Sample Show Show All Name amp Value Style Data Type ES PS esac iReadParametefiequest Can SEW_Parameter Channel ReadParameterR equest Reserved 0 Decimal INT ReadParameterR equest Index INT E ReadParameterRequestData 16 0000_0000 Hex DINT ReadParameterR equest Subindex Decimal SINT ReadParameterR equest Reserved2 epea SINT E ReadParameterRequest Sub ddress J 7 Decimal SINT Decimal SINT H ReadParameterR equest SubAddress2 Decimal SINT E ReadParameterRequest SubChannel2 0 Decimal SINT EReadParameterResponse e SEW_Parameter_Channel E ReadPaemeteiResponse Reseved Decim
45. ect Planning and Startup C xD Programming samples in RSLogix 500 for SLC 500 0005 0006 0007 0003 The SEW parameter data channel can be addressed via Class 7 Instance 1 9 and Attribute 4 Statement of Conformance In rung 5 the 9 bytes starting from N7 0 are copied into the MO file with a rising edge of bit B3 0 1 This starts the reading of parameter 8304 2070 In rung 6 the system waits for the rising edge of scanner bit I 3 0 15 I 3 0 15 shows that the data are present Request profile B3 0 1 can then be reset At this point the received data still have to be written into the N file To this end nine words of the M1 files N7 10 19 are written Write transmit data B3 0 1 B3 0 14 OSR B3 0 1 1 3 0 15 1747 SDN Read receive data B3 0 1 Source M1 3 224 Dest N7 10 Length 9 01921AEN Manual DFD11B DeviceNet Fieldbus Interface 5 53 6 54 C z9 DeviceNet Characteristics Process data exchange 6 DeviceNet Characteristics 6 1 Process data exchange Polled I O The polled I O messages correspond to the process data telegrams of the SEW fieldbus profile Up to 10 process data words for operation with MOVIDRIVE B or up to 24 pro cess data words for Gateway operation can be exchanged between the control and DFD11B The process data length is set via DIP switches S2 PD0O S2 PD4 NOTE The set process data length influenc
46. ection of the instance Attribute 3 indicates the data length in bits Attribute 4 represents the parameter data When accessing attribute 4 the SEW parameter channel must be attached to the service telegram The SEW parameter channel consists of the elements listed in the following table e In order to offer full compatibility to older drives and applications the parameter channel can be reduced to 6 Byte Index and data Name Datatype Description Index UINT SEW parameter index Data UDINT Data 32 bit Subindex BYTE SEW unit subindex Reserved BYTE Reserved must be 0 Subaddress 1 BYTE Ore Pam 3 426s Pe eyo a tee t9 Subchannel1 BYTE o gateway itself 2 SBus gt Subchannel of the gateway Subaddress 2 BYTE Reserved must be 0 Subchannel 2 BYTE Reserved must be 0 Supported ser oe Service Code hex Service Name Instance Ox0E Get_Attribute_Single X 0x10 Set_Attribute_Single X 62 Manual DFD11B DeviceNet Fieldbus Interface DeviceNet Characteristics The Common Industrial Protocol CIP C z9 Parameter object DFD11B in MOVIDRIVE B Class Instance 1 SEW parameter index Instance 2 Data read write The fieldbus parameters of the MOVIDRIVE B can be addressed directly via the in stance with the parameter object e In exceptional cases you can also use the parameter object to access SEW para mete
47. ed Status codes Network node status Description 0 Ignore transmission block 1 Transmission completed successfully 2 Transmission in progress 3 Error Slave device not in the scan list 4 Error Slave is off line 5 Error DeviceNet network connection deactivated off line 6 Error Unknown transmission TXID 7 Not used 8 Error Invalid command code 9 Error Scanner buffer full 10 Error Other client server transmission in progress 11 Error No connection to slave device 12 Error Response data are too long for the block 13 Error Invalid connection 14 Error Invalid size specified 15 Error Busy 16 255 Reserved Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD 5 Programming samples in RSLogix 500 for SLC 500 The M files are divided into a request file MO file and a response file M1 file Data transmission takes place as shown in the following figure PLC SLC500 Scanner 1747 SDN Request of a Scanner MOVIDRIVE MDX61B transmission 1 M0 File request block waiting loop g g f Contact plan scanning Process requests and responses DE 5 g Response of a Scanner transmission 4 M1 File response block waiting loop 54175AE
48. eneeeeeaeeeeeaaeeeseeeesaeeeteaeeeseaees 19 4 9 DFD11B option card status LED eeeeeeeeeenneeeeeeeeaneeeeeeenaeeeeeeenaes 20 5 Project Planning and Startup csseccccsecessseeceeeeeeesseeseneeeeeseeesseseeneeeseeseseeeeeneees 22 5 1 Validity of the EDS files for DFD11B c ececececeeeenee teeters eeneeeeeneeeeteaeeens 22 5 2 Configuring PLC and master DeviceNet scanner c cccceeeeteeeeseeeees 23 5 2 1 DFD11B as fieldbus option in MOVIDRIVE B 24 5 2 2 DFD11B as fieldbus gateway in MOVITRAC B or UOH11B gateway NOUSING cceeeeceeeeeeeeeeeeeeteeeeeeeeeteeeeaeeeeeennaaees 26 5 2 3 Auto setup for gateway operation eccceeeeeteteeeeeeteteeeeeeetteeeeeee 28 5 3 Configuring the MOVIDRIVE MDX61B drive inverter seee 29 5 4 Configuring the MOVITRAC B frequency inverter issie 30 5 5 Programming samples in RSLogix 5000 cecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 31 5 5 1 MOVIDRIVE B with 3 PD data OXCNANGE teeceeeceeecccceeedeeeeeereneeeees 31 5 5 2 Two MOVITRAC B via DFD11B UOH11B gateway ccee 34 5 5 3 MOVIDRIVE B Parameter ACCOSS 2 2 cccee cece ek eeeceeccaneeeeeeeeateenenenees 38 5 5 4 MOVITRAC B parameter access via DFD11B UOH11B 43 5 6 Programming samples in RSLogix 500 for SLC 500 44 Manual DFD11B DeviceNet Fieldbus Interface 5 6 1 Exchange of polled I O process data with MOVIDRIVE B 46 5 6 2 Exchanging expli
49. equired Install the following files with the RSNetWorx software to build the DeviceNet network with the DFD11B option Proceed as follows e Select the menu item lt Tools EDS Wizard gt in RSNetWorx You will be prompted to enter the names of the EDS and Icon file The files will be installed For detailed information on the installation of the EDS file refer to the Allen Bradley documentation for RSNetWorx e After installation the device is available in the device list under the entry Ven dor SEW EURODRIVE GmbH Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD 5 2 Configuring PLC and master DeviceNet scanner Configuring PLC and master DeviceNet scanner The following samples refer to the usage of an Allen Bradley PLC ControlLogix 1756 L61 together with the RSLogix 5000 programming software and the DeviceNet RSNetWorx configuration software for DeviceNet After adding the DeviceNet Scanner to the I O configuration the file dnt containing the DeviceNet configuration is selected To view and edit the DeviceNet configuration RSNetWorx can be launched from this dialog following figure fs RSLogix 5000 Sample in ControlLogix_1756_L61 ACD 1756 161 Fle Edit Yiew Search Logic Communications Tools Window Help alsel S e ols Asis te I Al omine 9 FRUN E He EE No Forces b a No Edits Br vo g Alel sel olofo Redundancy 15 D 7 s CI Con
50. er Object 6 2 1 CIP object directory Identity object e The identity object contains general information on the EtherNet IP device e Class code 01hex Class None of the class attributes are supported Instance 1 Attri Acc Name Data type Default value hex Description bute 1 Get Vendor ID UINT 013B SEW EURODRIVE GmbH amp Co KG Get Device Type UINT 0064 Manufacturer specific type Get Product Code UINT 000A Product No 10 DFD11B for MDX B 000E Product No 14 DFD11B as Gateway 4 Get Revision STRUCT of Revision of the identity object depends on Major Revision USINT firmware version Minor Revision USINT Get Status WORD gt Table Coding of attribute 5 Status Get Serial Number UDINT Unique serial number Get Product Name SHORT_STRING SEW MOVIDRIVE DFD11B Product name SEW GATEWAY DFD11B 1 Some values in Identity object depend on the device DFD11B is mounted in MOVIDRIVE B or Gateway 56 Manual DFD11B DeviceNet Fieldbus Interface DeviceNet Characteristics The Common Industrial Protocol CIP e Coding of attribute 5 Status C 3D Description Controlling connection is active Reserved Configuration complete Reserved Extended Device Status gt Table Coding of the extended device status Minor Recoverable Fault Minor fault that can be remedied Minor Unrecoverable Fault Minor
51. er settir 88 Senal communication SBus 1 89 Serial communication SBus 2 E 2 IPOS parameters Applications m ApplicationBuilder applications Manual operation 11638AXX However to control the MOVIDRIVE B drive inverter via DeviceNet you must first switch the drive inverter to control signal source P101 and setpoint source P100 FIELDBUS The FIELDBUS setting means the drive inverter parameters are set for con trol and setpoint entry via DeviceNet The MOVIDRIVE B drive inverter then responds to the process output data transmitted by the PLC The parameters of the MOVIDRIVE B drive inverter can be set straight away via De viceNet without any further settings once the DeviceNet option card has been installed For example all parameters can be set by the PLC after power on Activation of the control signal source and setpoint source FIELDBUS is signaled to the machine controller using the Fieldbus mode active bit in the status word For safety reasons you must also enable the MOVIDRIVE B drive inverter at the ter minals for control via the fieldbus system Therefore you must wire and program the ter minals in such a way that the inverter is enabled via the input terminals For example the simplest way of enabling the drive inverter at the terminals is to connect the DIOS function CONTROLLER INHIBIT input terminal to a DC 24 V signal and to program input terminals DI 1 DI 7 to NO FUNCTION Manual
52. erate the user defined data structure SEW_Parameter_Channel following figure E Data Type SEW_Parameter_Channel Controller Sample A Controller Tags 9 Controller Fault Handler 3 Power Up Handler H E Tasks B E Motion Groups C3 Ungrouped Axes 5 Trends Name SEW_Parameter_Channel Members B E Data Types Reserved Decimal ic a User Defined l Index INT Decimal R SEW_Drive E Data DINT Hex SEW_Parameter_Channel Subindex SINT Decimal a _013B_8249725_I_E771E08B G Reserved2 SINT Decimal _013B_8249725_0_E771E088 Sub ddess 1 SINT Decimal 8 _3_words Oo SubChannell SINT Decimal H O Strings G Sub ddress2 SINT Decimal Op Predefined SubChannel SINT Decimal 7 j 44 764AXX 2 Define the controller tags following figure Name amp Data Type ReadParameter MESSAGE ReadParameterR equest SEW _Parameter_Channel ReadParameterResponse SEW _Parameter_Channel ReadParameterStart BOOL 11765AXX 3 Create a Rung for the ReadParameter execution following figure ReadParameterStart Type CIP Generic Message Control 11766AXX For contact select the tag ReadParameterStart e For the Message Control select the tag ReadParameter Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup g Programming samples in RSLogix 5000 5 4 Click on
53. es the process data lengths of both the polled I O and the bit strobe I O messages The process data length of the bit strobe I O messages can include up to four process data words If the value for the process data length set via DIP switches is less than four it will be accepted If the value set via DIP switches is greater than four the pro cess data length will be automatically limited to four Timeout response with polled I O Bit strobe I O The timeout is triggered by the DFD11B option The timeout interval must be set by the master after the connection has been established The DeviceNet specification refers to an expected packet rate rather than a timeout interval in this case The expected packet rate is calculated on the basis of the timeout interval using the following formula ttimeout_inverter tTimeout interval_Polled_1 O 4x tExpected_Packet_Rate_Polled_1 O The expected packet rate can be set using the connection object class 5 instance 2 attribute 9 The range of values runs from 0 ms to 65535 ms in 5 ms steps The expected packet rate for the polled I O connection is converted into the timeout in terval and displayed in the device and the timeout interval in parameter P819 This timeout interval is retained in the device whenever the polled I O connection is dropped and the device switches to timeout status after the timeout interval has elapsed The timeout interval must not be altered in the inverter
54. etp descr PO2 Process output data assignment for PD2 9 Get Set De vice Setp descr PO3 Process output data assignment for PD3 10 Get parame Act v descr P11 Process input data assignment for PD1 11 Get Set ters Act v descr PI2 Process input data assignment for PD2 12 Get Act v descr PI3 Process input data assignment for PD3 13 Get Set PO Data Enable Enable process data 14 Get Timeout response Timeout response 15 Get Fieldbus type Fieldbus type 16 Get Baud rate Baud rate via DIP switches 17 Get Station address MAC ID via DIP switches 18 27 Get PO moni PO1 setpoint Monitor of the tor PO10 setpoint Process output data words 28 37 Get PI monitor PI1 actual value Monitor of the PI10 actual value Process input data words NOTE The data format for these instances deviates from the SEW fieldbus profile to meet the DeviceNet specification Supported ser vices Service Code hex Service Name Class Instance 0E Get_Attribute_Single x x 10 Set_Attribute_Single x Manual DFD11B DeviceNet Fieldbus Interface DeviceNet Characteristics The Common Industrial Protocol CIP C 3S Parameter object The fieldbus parameters of the gateway can be addressed directly via the instance DFD11B as gate with the parameter object way e Class code
55. f up to eight drive invert ers is taken into account After the search is completed the DFD11B periodically exchanges three process data words with each connected drive inverter The process output data are fetched from the fieldbus divided into blocks of three and transmitted The drive inverters read the pro cess input data put them together and send them to the fieldbus master The cycle time of the SBus communication is 2 ms per node at a baud rate of 500 kBit s without any additional engineering activities Thus for an application with 8 inverters on the SBus the cycle time of the process data update is then 8 x 2 ms 16 ms NOTE If you change the process data assignment of the drive inverters connected to the DFD11B you have to activate Auto Setup again because the DFD11B saves these values only once during Auto Setup The process data assignments of the connected drive inverters may not be changed dynamically after Auto Setup Manual DFD11B DeviceNet Fieldbus Interface Configuring the MOVIDRIVE MDX61B drive inverter 5 3 Project Planning and Startup C xD Configuring the MOVIDRIVE MDX61B drive inverter The following settings are required for simple fieldbus operation D E o Ei Sy MOVIDAIVE B parameters 100 Setpoint source Fieldbus x 3 EE leg Display values 101 Control source Fieldbus gt E 1 Setponts integrators fa ES 10 Setpoint preselection 102 F
56. gnment X46 1 X26 1 SC11 SBus CAN high X46 2 X26 2 SC12 SBus CAN low X46 3 X26 3 GND CAN GND X26 4 Reserved X26 5 Reserved X46 6 X26 6 GND CAN GND X46 7 X26 7 DC 24 V X12 Terminal assignment X12 8 DC 24 V input X12 9 GND reference potential for the binary inputs To simplify cabling the DFD11B can be supplied with DC 24 V from X46 7 of the MOVITRAC to X26 7 MOVITRAC B must be supplied with DC 24 V at terminals X12 8 and X12 9 when it supplies the DFD11B option Activate the system bus terminat ing resistor at the FSC11B option S1 ON Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation Installing the DFD11B option card in MOVITRAC B 4 2 2 System bus connection between multiple MOVITRAC B units 1 MOVITRAC B 2 0 RO z 8 MOVITRAC B MOVITRAC B 1 1 2 2 DG24 v FSC11B FSC11B Hel elelleler Heb islasleh Att TTT CL LL Te _ e SogegeieseBegetcegecedcta i iaaa EER A 15 Bce Bos sg 62602AXX 1 only the terminating resistor at the last unit is activated S1 ON 2 DIP switch S2 reserved S2 OFF MOVITRAC B DFD11B via UOH11B gateway housing X46 Terminal assignment X26 Terminal
57. gration Services How we re driving the world With people who With comprehensive With uncompromising think fast and With a worldwide With drives and controls knowledge in virtually quality that reduces the develop the service network thatis that automatically every branch of cost and complexity of future with you always close at hand improve your productivity industry today daily operations SEW EURODRIVE k Y Driving the world With a global presence With innovative With online information that offers responsive technology that solves and software updates and reliable solutions tomorrow s problems via the Internet available Anywhere today around the clock EURODRIVE SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com WWW sew eurodrive com
58. h Master Slave Config 11745AXX Manual DFD11B DeviceNet Fieldbus Interface 5 23 5 C xD Project Planning and Startup Configuring PLC and master DeviceNet scanner 5 2 1 DFD11B as fieldbus option in MOVIDRIVE B By reading the device properties in online mode the process data Pd configuration of the DFD11B can be checked gt following figure A DeviceNet_Configuration dnt RSNetWorx for DeviceNet Eile Edit view Network Device Diagnostics Tools Help ua eee ea ee ee MES e a a sew MOYIDRIYE DFD11B 2 x General Parameters 1 0 Data EDS File Select the parameter that you want to configure and initiate an action using the toolbar IV Groups ie a fa z Monitor E e ID Parameter mh Device Parameter Current Yalue 3 Device Identification 0 4 Control source FIELDBUS 5 Setpoint source FIELDBUS 6 amp Pd Configuration 3PD 7 Setp descr PO1 CONTROLWORD 1 8 Setp descr POZ SPEED 9 Setp descr POS NO FUNCTION 10 Act v descr PI1 STATUSWORD 1 11 Act v descr PIZ SPEED iz Act v descr PIS APARENT CURRENT 13 PO data enable YES 14 Timeout response RAPID STOP WARN 15 Fieldbus tvoe DEVICENET a Graph Spreadsheet M 11746AXX The parameter Pd configuration gives the number 1 10 of process data words PD set via DIP switches PD 0 PD 4 and defines the I O parameter for the DeviceNet scanner gt following figure
59. ined data type to get a plain interface to the inverters process data following figure BA Data Type SEW Drive Controller Sample Controller Tags CI Controller Fault Handler CI Power Up Handler Tasks MainTask 2 Unscheduled Programs Phases SJ Motion Groups CI Ungrouped Axes C Trends Data Types BSA og Bini Name SEW_Dnve Description Process data 5 a _013B_8249725_I_E771E08B WA _0138_8249725_0_E771E08B ad _3_words Predefined J 1 0 Configuration 1756 Backplane 1756 47 Ea fal EE 121 Camala 11752AXX The description for PI and PO data can be assigned to the controller tag fitting to the definitions made in MOVITRAC B gt chapter 5 4 Controller Tags Sample controller at A f Sample Show All amp Value Style Data Type Description 2 a SEW_Drive Process data Addr 10 SBus 1 a SESAI0S1 Mowiec PI a Process data Add 10 SBus 1 fom Dive C Eo St MowecPivedt 16r0000 Hex NT Sions Wor _ GA10_S1_Movitrac Plword2 16 0000 Hex INT Actual Speed mer O _ A10 51_Movitrac Pl word3 16 0000 Hex INT Apparent Dutput Current f 410_S1_Movitrac PO tas 3 words Process data Addr 10 SBus 1 to Drive 4 A10_51_Movitrac PO word 16 0006 Hex INT Control Word 1 HA10_S1_Movitrac PO word2 16 0000 Hex INT Set Speed 410_S1_Movitrac PO word3 16 0000 Hex INT No Funeti
60. ingle X 0x10 Set_Attribute_Single X Manual DFD11B DeviceNet Fieldbus Interface 59 6 60 C 3S DeviceNet Characteristics The Common Industrial Protocol CIP Register object Class e The register object is used to access an SEW parameter index e Class code O7 hex None of the class attributes are supported The MOVILINK parameter services are mapped in the nine instances of the register object The services Get_Attribute_Single and Set_Attribute_Single are used for ac cess As the register object is designed so that INPUT objects can only be read and OUTPUT objects can be read and written the options listed in the following table are available for addressing the parameter channel Instance INPUT OUTPUT Resulting MOVILINK service with Get_Attribute_Single Set_Attribute_Single 1 INPUT READ parameters Invalid 2 OUTPUT READ WRITE parameters 3 OUTPUT READ WRITE VOLATILE parameters 4 INPUT READ MINIMUM Invalid 5 INPUT READ MAXIMUM Invalid 6 INPUT READ DEFAULT Invalid 7 INPUT READ SCALING Invalid 8 INPUT READ ATTRIBUTE Invalid 9 INPUT READ EEPROM Invalid Manual DFD11B DeviceNet Fieldbus Interface DeviceNet Characteristics The Common Industrial Protocol CIP Input Get_Attribute_Single Instance 1 READ Get_Attribute_Single Output Instance 2 Set_Attribute_Singl
61. ings vary from MAC ID 7 Get Baud rate switch changed Information as to whether DIP switch settings vary from baud rate Get MAC ID switch value Actual DIP switch settings for MAC ID Get Baud rate switch value Actual DIP switch settings for baud rate Supported ser VEROR Service Code hex Service Name Class Instance 0E Get_Attribute_Single x x 10 Set_Attribute_Single x Manual DFD11B DeviceNet Fieldbus Interface DeviceNet Characteristics The Common Industrial Protocol CIP Connection object e Class code 05pex C 3D In the connection object the process and parameter connections are defined Class None of the class attributes are supported Instance Communication 1 Explicit message 2 Polled I O 3 Bit Strobe I O Instance 1 3 Attribute Access Name 1 Get State 2 Get Instance type 3 Get Transport Class trigger 4 Get Produce connection ID 5 Get Consume connection ID 6 Get Initial com characteristics 7 Get Produced connection size 8 Get Consumed connection size 9 Get Set Expected packet rate 12 Get Watchdog time out action 13 Get Produced connection path len 14 Get Produced connection path 15 Get Consumed connection path len 16 Get Consumed connection path 17 Get Production inhibit time Supported ser viges Service Code hex Service Name Instance 0x05 Reset X Ox0E Get_Attribute_S
62. instance 1 The get service executes read access to the parameters addressed in instances 1 2 Get Link Path Size USINT 00 No link is specified Get Link Path Packed 00 Not used EPATH Get Descriptor WORD 0000 Read write parameter Get Data Type EPATH 00C8 UDINT Get Data Size USINT 04 Data length in bytes Manual DFD11B DeviceNet Fieldbus Interface 6 63 6 64 C 3S DeviceNet Characteristics The Common Industrial Protocol CIP Instance 3 37 Instances 3 37 give access to the fieldbus parameters Attribute Access Name Datatype Default value Description hex 1 Set Get Parameter UINT Parameter that is to be read or writ ten see table fieldbus parameter MOVIDRIVE B 2 Get Link Path USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH 4 Get Descriptor WORD 0000 Read write parameter Get Data Type EPATH 00C8 UDINT Get Data Size USINT 04 Data length in bytes Fieldbus aul a B Instance Access Group Name Meaning 3 Get Device identification Part number device 4 Get Set Control source Control signal source 5 Get Set Setpoint source Setpoint source 6 Get PD configuration Process data configuration 7 Get Set Setp descr PO1 Process output data assignment for PD1 8 Get S
63. inverter has been switched on The LEDs are switched on in the following sequence Time in ms MOD NET LED PIO LED BIO LED BUS FAULT LED 0 Green Off Off Off 250 Red Off Off Off 500 Off Green Off Off 750 Off Red Off Off 1000 Off Off Green Off 1250 Off Off Red Off 1500 Off Off Off Green 1750 Off Off Off Red 2000 Off Off Off Off Manual DFD11B DeviceNet Fieldbus Interface 21 5 22 5 gw Project Planning and Startup Validity of the EDS files for DFD11B Project Planning and Startup This section provides you with information on project planning for the DeviceNet master and startup of the drive inverter for fieldbus operation NOTE The current version of the EDS file for the DFD11B option card is available on the SEW homepage http www sew eurodrive de under the heading Software 5 1 Validity of the EDS files for DFD11B NOTE Entries in the EDS file must not be changed or expanded SEW assumes no liability for inverter malfunctions caused by a modified EDS file Two different EDS files are available for the configuration of the master DeviceNet Scanner for the DFD11B e if DFD11B is used as a fieldbus option in MOVIDRIVE B the EDS file SEW_MOVIDRIVE_DFD11B eds is required e if DFD11B is used as a gateway in MOVITRAC B or in the gateway housing UOH11B the EDS file SEW_GATEWAY_DFD11B eds is r
64. ldbus technology MOVIDRIVE Fieldbus Unit Profile manual MOVITRAC B and MOVIDRIVE MDX60B 61B system manual Apart from the description of the fieldbus parameters and their coding the MOVIDRIVE Fieldbus Unit Profile manual and the MOVITRAC B and MOVIDRIVE MDX60B 61B system manual provide information on various control concepts and application options in the form of brief examples The MOVIDRIVE Fieldbus Unit Profile manual provides a list of all parameters of the drive inverter that can be read and written via the several communication interfaces such as System bus RS485 and via the fieldbus interface With the DFD11B option and its powerful universal fieldbus interface the MOVIDRIVE MDX61B drive inverter and the MOVITRAC B frequency inverter allow for a connec tion to higher level automation systems via DeviceNet MOVIDRIVE MOVITRAC B and DeviceNet The unit behavior of the inverter that forms the basis of DeviceNet operation is referred to as the unit profile It is independent of any particular fieldbus and is therefore a uni form feature This feature allows the user to develop fieldbus independent drive appli cations This makes it much easier to change to other bus systems such as EtherNet IP Option DF33B Manual DFD11B DeviceNet Fieldbus Interface Introduction Features 3 3 2 Data exchange via Polled I O and bit strobe I O SEW drives offer digital access to all drive parameters a
65. led I O Bytes must be set to 2 x number of PD e g number of PD 6 x number of polled input Bytes 12 and output Bytes 12 via Edit I O Parameters When the DeviceNet configuration is saved and downloaded into the scanner RSNetWorx can be closed Depending on the DeviceNet configuration and the mapping rules in the scanner the data from and to DeviceNet units is packed into a DINT Array that is transferred from the scanner to the local I O tags of the Logix Processor In order not to have to search for the data from a certain device in this array manually the DeviceNet Tag Generator tool generates copy commands and two controller tags Input amp Output for each DeviceNet device as a byte array The tag name contains the MAC ID of the DeviceNet unit and POL_ for polled input data or POL_O for polled output data following figure Scope f Sample mal Show All J Controller Sample A Controller Tags 2 Controller Fault Handler I Power Up Handler 3 Tass 0138_8 SEW GATEWAY DFDIIE 5 8 MainTask E DNet i NIO POL Data Decimal SINTA GATE BE DeviceNetinputs DE 0738 _8 SEW GATEWAY DFD118 a EEren E DNet Scanner N10 POL O Data Decimal SINT I2 SEW GATEWAY DFDIIE C3 DeviceNetOutputs 11751AXX In this Byte arrays from and to the DFD11B gateway the data is transferred to the drives connected to the SBus of this gateway as follows e Byte 0 5 contain PD 1
66. master is being established configuring state e Missing incorrect or incomplete configuration Green light Online operational mode e Online and connected A BIO connection has been established established state Flashing red Minor fault or connection tim Invalid number of process data is set via DIP switches 1 s cycle eout A correctable error has occurred e Bit strobe I O connection is in timeout state Red light Critical fault or critical link An error that cannot be remedied has occurred failure Bus fault _DUP MAC check has detected an error The BUS FAULT LED displays the physical status of the bus node Status of the Status Meaning BUS FAULT LED Off NO ERROR The number of bus errors is in the normal range error active status Flashing red The unit is performing a DUP MAC check and cannot 125 ms cycle send any messages because no other stations are con nected to the bus error passive state BUS WARNING Flashing red The number of physical bus errors is too high No more 1 s cycle error telegrams are actively written to the bus error pas sive state Red light BUS ERROR Bus fault state The number of physical bus errors has increased despite a switch to the error passive state Access to the bus is switched off Yellow light POWER OFF External voltage supply via X30 has been turned off or is not connected A power up test of all LEDs takes place once the drive
67. meter that you want to configure and initiate an Ez action using the toolbar IV Groups im fal Montr E Current Value a2 3 4 a Device Parameter Ho 1 amp Pd Configuration 6PD PARAMETER 2 Timeout response PADATA O WARN 3 Fieldbus type DEVICENET 4 amp amp Baudrate 500 kBaud 5 amp Station Address 10 Ca PO Monitor Ca PI Monitor 11749AXX The parameter Pd configuration gives the number 3 24 of process data words PD set via DIP switches PD 0 PD 4 The number of process data words must be 3 x number of drives 1 8 connected via SBus to the DFD11B gateway The number of PD then gives the I O parameter for the DeviceNet Scanner gt following figure 1756 DNB a General Module Scanlist Input Output ADR Summary xi Available Devices Scaniist GATEWAY DFD11B T Stobe T Change of State Input Size E 4 Biles Change of State JV Automap on Add UscGutoube R Input Size Upload from Scanner ye OOOO Dutput Size C Download to Scanner TV Polled URSE Edit 1 0 Parameters ree fiz Bytes Heartbeat Rate f a ae E a Output Size fi2 H Bytes aa aor Poll Rate Every Scan 11750AXX 26 Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD Configuring PLC and master DeviceNet scanner After adding the DFD11B gateway to the scanlist the number of pol
68. nRoutine BiN 11759AXX Please note that the structure DNet_Scanner_N10_POL_l Data contains the PD from all drives on the gateway so that the 6 data bytes of each drive have to be cop ied from the structure with a specific offset 0 6 12 42 Manual DFD11B DeviceNet Fieldbus Interface 35 5 36 C z9 Project Planning and Startup Programming samples in RSLogix 5000 In order to copy the data from the new data structure to the drive CPS commands are added into the MainRoutine that write the data to the local I O Make sure that these CPS commands are executed before the automatically by DeviceNet Tag Generator generated DNet_ScannerOutputsRoutine DeviceNetOutputs MainRoutine E Controller Sample f Controller Tags 3 Controller Fault Handler I Power Up Handler iz pes ce SEW GATEWAY DFD11B amp Tasks PS EE ik aa MainTas Synchronous Copy File E DeviceNetInputs Source A10_S1_Movitrac PO Program Tags Dest DNet_Scanner_N10_POL_O Data 0 ER MainRoutine Length 6 DNet_ScannerIn E 3 MainProgram Program Tags SEW GATEWAY DFD11B Ef MainRoutine PS S C3 DeviceNetOutputs Synchronous Copy File Program Tags Source 411_S7_Movitrac PO Ey MainRoutine Dest DNet_Scanner_N10_POL_O Data 6 Length 6 i DNet_ScannerO C3 Unscheduled Programs J Motion Groups Ungrouped Axes Jump To Subroutine C Trends Routine Name DNet_ScannerOutputsRoutine amp Data Types
69. nd functions via the DeviceNet interface The inverter is controlled via fast cyclic process data Via this process data channel you can enter setpoints such as the setpoint speed ramp generator time for acceleration deceleration etc as well as trigger various drive functions such as enable control inhibit normal stop rapid stop etc At the same time you can also use this chan nel to read back actual values from the inverter such as actual speed current unit sta tus error number or reference signals 3 3 3 Parameter access via explicit messages The parameters of the inverter are set exclusively using explicit messages This param eter data exchange enables you to implement applications in which all the important drive parameters are stored in the master programmable controller so that there is no need to make manual parameter settings on the drive inverter itself 3 3 4 Monitoring functions 3 3 5 Diagnostics Using a fieldbus system requires additional monitoring functions for the drive technolo gy for example time monitoring of the fieldbus fieldbus timeout or rapid stop concepts You can for example adjust the monitoring functions of MOVIDRIVE MOVITRAC specifically to your application You can determine for instance which of the drive in verter s error responses should be triggered in the event of a bus error For many appli cations a rapid stop function is be useful However you can also freeze the last set
70. nd removal soe 11 D Other applicable documentation 0000 6 Data exchange via Polled I O and bit strobe I O 8 P Definitions of terminology ssssssssesesserrerrenseeee 68 PE DeviceNet Characteristics cccccceeceeeeees 54 Parameter access via explicit messages 8 DFED11B Pin assignment X30 DeviceNet connection 17 Gohnettiom iss eina das e 16 PIO LED wetted Gadi eae ee ee 20 Terminal description ct ah tome etn eet 16 Power UP testenn dived aa a a e aean 21 DFD11B option card status LED cecseesseee 20 Process data exchange Diagnostics es acatas Nace isatpeatis lei urdiataias caildincdtt a 8 Bit strobe I O os eeseeesseeetieeeeieeeentetsneetenee 54 P lled I O vinin iieri aii 54 E Timeout response with bit strobe I O 55 Einstellung der DIP Schalter Timeout response with polled I O 54 Konfiguration der SBus Kommunikation des Programming samples in RSLogix 500 44 Gateways vesita a i iiia 19 Programming samples in RSLogix 5000 31 Error DiaQnOstiCs cccceeeeeeeeeeeeceeeeeeeettneeeeeeens 70 Project Planning and Startup 22 Exclusion of liability ec eeeeceeeeeeeestteeeeeeeaes 5 R F Return codes for parameter setting Fieldbus MOnitor rreri nia a R 8 Return codes from DeviceNet n 66 G SEW specific return codes n 66 Timeout of explicit MESSAGES 66 General Information _ Return codes for parameter setting via explicit Exclusion
71. nds Data Types Ca User Defined FUE SEW Drive W 0198_8249725_1_ 771E08B M _0138_8249725_0_E771E088 w _3_words i Strings Lh Predefined Ejh Module Defined E YO Configuration 9 1756 Backplane 1756 47 fa 0 1756 161 Sample 1 1756 ENBT A ENIP_Scanner J 2 1756 DNB DNet_Scanner DeviceNet Name SEW_Drive Description Process data Apply 11752AXX The description for PI and PO data can be assigned to the controller tag fitting to the definitions made in MOVIDRIVE B gt chapter 5 3 Controller Tags Sample controller Description R a SEW Drive Process data Addr 11 E S _3_words i Proces s data Addr 11 from Drive HA1 1_Movidrive Pl word1 16 0000 INT Status Word 1 HAI 1_Movidrive Pl word2 16 0000 INT Actual Speed 411_Movidrive Pl word3 16g0000 Hex INT Apparent Output Current rod fetes _3_words Process data Addr 11 to Drive 4 411_Movidrive PO word1 16 0000 Hex INT Control Word 1 FH AT1_Movidiive PO word2 16 0000 INT 4 411_Movidrive PO word3 16 0000 Hex INT Set Speed No Function 11753AXX Manual DFD11B DeviceNet Fieldbus Interface 31 C xD Project Planning and Startup Programming samples in RSLogix 5000 5 In order to copy the data from the drive to the new data structure a CPS command is added into the MainRoutine that reads the data from the local I O
72. obe telegram and a real timeout in the connection It remains continuously green if the timeout is triggered by the bit strobe telegram If the BIO LED flashes red this means there is a timeout in the bit strobe connection and no more bit strobe telegrams are accepted Each participant that has received this bit strobe I O message responds with its current process input data The length of the process input data corresponds to the process data length for the polled I O connec tion The process input data length can be up to four process data Timeout response with bit strobe I O The following table shows the data range of the bit strobe request message which rep resents the allocation of stations station address to data bits Example For example the participant with station address MAC ID 16 only processes bit 0 in data byte 2 Byte off 7 6 5 4 3 2 1 0 set 0 ID7 ID6 ID 5 ID 4 ID 3 ID 2 ID 1 IDO 1 ID 15 ID 14 ID 13 ID 12 ID 11 ID 10 ID9 ID 8 2 ID 23 ID 22 ID 21 ID 20 ID 19 ID 18 ID 17 ID 16 3 ID 31 ID 30 ID 29 ID 28 ID 27 ID 26 ID 25 ID 24 4 ID 39 ID 38 ID 37 ID 36 ID 35 ID 34 ID 33 ID 32 5 ID 47 ID 46 ID 45 ID 44 ID 43 ID 42 ID 41 ID 40 6 ID 55 ID 54 ID 53 ID 52 ID 51 ID 50 ID 49 ID 48 7 ID 63 ID 62 ID 61 ID 60 ID 59 ID 58 ID 57 ID 56 The timeout is triggered by the DFD11B option The timeout interval must be set by the master after the connection has been es
73. on co 4 411_S7_Movitrac Eee SEW_Drive Process data Addr 10 SBus 7 11758AXX 34 Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup g Programming samples in RSLogix 5000 5 6 In order to copy the data from the drive to the new data structure CPS commands are added into the MainRoutine that read the data from the local I O following figure Make sure that these CPS commands are executed after the automatically by DeviceNet Tag Generator generated DNet_ScannerlnputsRoutine E DeviceNetInputs MainRoutine E Controller Sample Controller Tags Controller Fault Handler C3 Power Up Handler J Tasks Jump To Subroutine fa MainTask Routine Name DNet_ScannerinputsRoutine amp O8 DeviceNetInputs A Program Tags EagMainRoutine Process data Addr B DNet_Scannerl 10 SBus 1 from amp MainProgram Drive A Program Tags PS Ef MainRoutine Synchronous Copy File Gy DeviceNetOutputs Source DNet_Scanner_N10_POL_I Data 0 Dest 10_51_Movitrac PI A Program Tags Bd MainRoutine B DNet_ScannerO C3 Unscheduled Programs E Motion Groups C3 Ungrouped Axes Length 1 Process data Addr 10 SBus 7 from C3 Trends amp Data Types Synchronous Copy File C User Defined Source DNet_Scanner_N10_POL_I Data 6 Oe Strings Dest 411_S 7_Movitrac Pl C Predefined Length 1 Eg Module Defined E 170 Configuration E E 1756 Backplane 1756 a 2 LA Mai
74. once following figure Scope fJ Sample Show Show All N ame amp Value Style Data Type E ReadParameter kee MESSAGE ReadParameterRequest Ee all SEW_Parameter_Channel ReadParameterR equest Reserved ReadParameterRequest Index ReadParameterRequest Data ReadParameterR equest Subindex Decimal Aad ats F Decimal Decimal _ iReadParemeteiRequestSubChanne 0 Decmal SINT o Decimal SINT SINT EResdPaaneteResone ues SEWPaemete Channa ReadParameterResponse Reserved i Decimal _ INT ReadParameterResponse Index ans T i pel 150000 Decimal SINT i F EeReadParameteResponse SubChamn 0 Decimal 0 0 Decinal SINT 1 Decimi BOL On response to the read request ReadParameterResponse ndex should indicate the read index and ReadParameterResponse Data should contain the read data In this sample P160 internal setpoint n11 Index 8489 has the value of 150 rpm In the MOVITOOLS MotionStudio parameter tree the value can be checked The tooltip of a parameter displays e g index subindex scaling of a parameter Decimal 11769AXX MOVIDRIVE B parameters Setpoints integrators Fixed setpoints 1 160 intemal setpoint n11 1 min NEm 160 intemal setpointn11 ZIn 161 intemal setpoint n12 1 min 750 0 Iper Tennog cis0 0 161 intemal setpointn12 Xin J Max 6000000 6000 0 162 intemal setpoint n13
75. or on the other units S1 OFF The DFD11B gateway must always be connected either at the beginning or the end of the system bus connection and features a permanently installed terminating resistor Point to point wiring is not permitted NOTE There must not be any potential displacement between the units connected with the SBus Take suitable measures to avoid a potential displacement e g by connect ing the unit ground connectors using a separate lead Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation Installing the DFE11B UOH11B gateway 4 3 Installing the DFE11B UOH11B gateway The following figure shows the connection of the DFD11B option via the UOH11B X26 gateway housing NOTE in from the UOH1 Only SEW EURODRIVE engineers are allowed to 1B gateway housing install or remove option cards SC11 Systembus CAN high C12 Systembus CAN low GND CAN GND UOH11B o1 E E a ny a Dl3 EH a oy S jo oy on one SEW Drive DC 24 V GND 62197AXX UOH11B gateway housing X26 Terminal assignment X26 1 SC11 system bus CAN high X26 2 SC12 system bus CAN low X26 3 GND CAN GND X26 4 Reserved X26 5 Reserved X26 6 GND CAN GND X26 7 DC 24 V The gateway housing has a power supply of DC 24 V that is connected to X26 Connect the
76. points so that the drive continues to operate with the most recently valid setpoints e g con veyor belt As the range of functions for the control terminals is also guaranteed in field bus mode you can continue to implement rapid stop concepts using the terminals of the drive inverter irrespective of the fieldbus used The MOVIDRIVE drive inverter and the MOVITRAC B frequency inverter offer you nu merous diagnostics options for startup and service You can for instance use the field bus monitor integrated in MOVITOOLS MotionStudio to control setpoint values sent from the higher level controller as well as the actual values 3 3 6 Fieldbus monitor Furthermore you are supplied with a variety of additional information about the status of the fieldbus interface The fieldbus monitor function in conjunction with the MOVITOOLS MotionStudio PC software offers you an easy to use diagnostic tool for setting all drive parameters including the fieldbus parameters and for displaying the fieldbus and device status information in detail Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation Installing the DFD11B option card in MOVIDRIVE MDX61B 4 Assembly and Installation This section contains information about assembly and installation of the DFD11B option card in MOVIDRIVE MDX61B MOVITRAC B and UOH11B gateway housing 4 1 installing the DFD11B option card in MOVIDRIVE MDX61B NOTES Only S
77. r Nameplate 2 E IPOS information DST Frei bus ype DeviceNet Unit information 092 Fieldbus baud rate kBaud 500 Sq 0 Display values jeld 00 Process values er ae 1 E 01 Status displays 094 PO1 Setpoint 6 Hex 7 02 Analog setpoints 03 Binary inputs basic unit 095 P02 Setpoint 1000 Hex zl 04 Binary inputs option 096 PO3 Setpoint 0 Hex x 05 Binary outputs basic unit 06 Binary outputs option 097 PI1 Actual value 4 Hex z 07 Unit data 098 PI2 Actual value OfHex H E 08 Fault memory 0 4 a Bus da 099 PI3 Actual value i ofe ri fea d Calaainba lintaarabara 11757AXX Manual DFD11B DeviceNet Fieldbus Interface 5 33 g Project Planning and Startup 5 Programming samples in RSLogix 5000 5 5 2 Two MOVITRAC B via DFD11B UOH11B gateway 1 Set the DIP switches on the DFD11B to e adjust the baud rate to the DeviceNet network e set the address MAC ID to a value used by no other node e set the number of PD according to this sample to 6 2 Then follow chapter 5 2 and 5 2 2 to add the DFD11B gateway to the DeviceNet con figuration 3 Execute the Auto Setup Function of the DFD11B gateway according to chapter 5 3 to configure the data mapping to the drives 4 Follow chapter 5 4 to set the communication parameters of MOVITRAC B 5 Now the integration into the RSLogix project can performed Generate a controller tag with a user def
78. rce required for performing the service is unavailable 03 07 Reserved for DeviceNet 08 Service not supported The service is not supported for the selected class instance 09 Invalid attribute value Invalid attribute data have been sent 0A Reserved for DeviceNet 0B Already in requested mode state The selected object is already in the requested mode state oc Object state conflict The selected object cannot perform the service in its current status 0D Reserved for DeviceNet 0E Attribute not settable It is not possible to access the selected object for writing OF Pivilege violation Violation of access entitlement 10 Device state conflict The current status of the device makes it impossible to perform the required service 11 Reply data too large The length of the transmitted data is longer than the size of the receive buffer 12 Reserved for DeviceNet 13 Not enough data The length of the transferred data is too short for the service to be performed 14 Attribute not supported The selected attribute is not supported 15 Too much data The length of the transferred data is too long for the service to be performed 16 Object does not exist The selected object is not implemented in the device 17 Reserved for DeviceNet 18 No stored attribute data The requested data have not been stored
79. rd 1 871 8305 Process output data description 2 Speed 872 8306 Process output data description 3 No function 873 8307 Process output data description 1 Status word 1 874 8308 Process output data description 2 Speed 875 8309 Process output data description 3 No function 876 8622 PO data enable YES MOVIDRIVE MDX61B now works in fieldbus mode and can receive process data The program can now be written for the SLC500 46 Manual DFD11B DeviceNet Fieldbus Interface Project Planning and Startup C xD 0000 0001 0002 0003 0003 0004 0005 Manual DFD11B DeviceNet Fieldbus Interface Programming samples in RSLogix 500 for SLC 500 Start DeviceNet communication 0 3 00 1747 SDN Status engine for control of sense of rotation S2 4 7 B3 10 ADD p ose Add Source A B3 2 0000000000000010 Source B 1 le Dest B3 2 0000000000000010 Output of the status engine MOY Move Source B3 2 0000000000000010 Dest 0 1 0 ls If status gt 3 change to status 0 GRT Mov Greater Than A gt B Move Source A B3 2 Source 0 0000000000000010 0z Source B 3 Dest B3 2 3 lt 0000000000000010 01912AEN Output bit O 3 0 0 is set in rung O program line 0 thereby starting DeviceNet commu nication gt description of the DeviceNet scanner Rungs 1 and 3 implement the status engine with which states 0 3 are implemented The current status is written to the outputs O 1 0 of the output module of the
80. requency scaling kHz fi 0 00 S 11 Analog input 1 0 107 t S 12 Analog inputs option S5 60 Binary inputs basic unit B xj ig E 13 Speed ramps 1 600 Binary input D101 Y No function n 14 Speed ramps 2 Notuncion SS S O YS 15 Motor potentiometer function 601 Binary input DIO2 5 No function 16 Fixed setpoints 1 E02 Binayinput DIO3 l Nornin ooo E 17 Fred setpoints 2 y a 2 S 2 Controller parameters 603 Binary input DIOS No function x E a 3 Motor parameters 604 Binary input DIOS E No function x 4 Reference signals Ta 4 5 Control functions 605 Binary input DIO6 No tunction Gi 6 Terminal assignment 606 Binary input DIO7 T7 Notuncion d 60 Binary inputs basic unit wash is etaa hd 61 Binary inputs option iis 97 Process data parameter setting 62 Binary outputs basic unit 5 a 63 Binary outputs option 870 Setpoint description PO1 Cortal wad 1 7 64 Analog outputs option 871 Setpoint description PO2 Set speed X 7 Control functions 5 8 8 Unit functions 872 Setpoint description POS No function gt 80 Setup 873 Actual value description PIT Status word 1 x 81 Serial communication 82 Braking operation 874 Actual value description PI2 factual speed 83 Faut peepee 875 Actual value description PI3 Apparent output current J 84 Reset behavior 85 Scaling speed actual value 876 PO data enable Yes 86 Modulation 3 87 Process data paramet
81. rs e Class code 0Fpex Attribute Access Name Datatype Default value Description hex Get Max Instance UINT 0025 Maximum instance 37 Get Parameter UINT 0009 Bit 0 Supports parameter instances Class Bit 3 Parameters are saved perma Descriptor nently 9 Get Configura UINT 0000 Configuration assembly is not sup tion Assem ported bly Interface Instance 1 and 2 of the parameter object offer access to SEW parameters as follows e First the index of the required parameter is set in instance 1 e Next instance 2 is used to access the parameter that is addressed in instance 1 Access to an SEW parameter index via the parameter object is complicated and prone to errors Consequently this process should only be used when the DeviceNet scanner does not support configuration using the mechanisms of the register object Attribute Access Name Datatype Default value Description hex 1 Set Parameter UINT 206C Index of the parameter Value 2 Get Link Path USINT 00 No link is specified Size 3 Get Link Path Packed 00 Not used EPATH 4 Get Descriptor WORD 0000 Read write parameter Get Data Type EPATH 00C7 UINT Get Data Size USINT 02 Data length in bytes Attribut Acces Name Data Default Description e s type value hex 1 Set Parameter UDINT The set service executes write access to Value the parameters addressed in
82. s performed which has not been imple mented The coding of these return codes is described in the DeviceNet specification section General Error Codes The timeout is triggered by the DFD11B option The timeout interval must be set by the master after the connection has been established The DeviceNet specification refers to an expected packet rate rather than a timeout interval in this case The expected packet rate is calculated on the basis of the timeout interval using the following formula tTimeout_ExplicitMessages 4x texpected_Packet_Rate_ExplicitMessages It can be set using connection object class 5 instance 1 attribute 9 The range of values runs from 0 ms to 65535 ms in 5 ms steps If a timeout is triggered for the explicit messages this connection type for the explicit messages is automatically dropped provided that the polled I O or bit strobe connec tions are not in the ESTABLISHED state This is the default setting of DeviceNet The connection for explicit messages must be re established to communicate through these messages again The timeout is not forwarded to the inverter Manual DFD11B DeviceNet Fieldbus Interface Return codes for parameter setting via explicit messages DeviceNet Characteristics gw General error codes DeviceNet specific error codes General error code hex Error name Description 00 01 Reserved for DeviceNet 02 Resource unavailable The sou
83. ss data length MOVITRAC B Setting the process data length 1 10 words in 2 MOVIDRIVE B 3 AS Auto setup for gateway operation 5 F1 F2 No function X30 DeviceNet connection X30 1 V X30 2 CAN_L X30 3 DRAIN X30 4 CAN_H 62008AXX X30 5 V Frentslowot Description Function MOVITRAC B and UOH11B O H1 O H2 X24 LED H1 red LED H2 green X24 X terminal 58129AXX System bus error only for gateway functions Reserved RS 485 interface for diagnostics via PC and MOVITOOLS MotionStudio Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation Pin assignment 4 5 Pin assignment The assignment of connecting terminals is described in the DeviceNet specification Volume I Appendix A DFD11B 54075AXX The DFD11B option card is opto decoupled on the driver side in accordance with the DeviceNet specification Volume I Chapter 9 This means the CAN bus driver must be powered with 24 V voltage via the bus cable The cable to be used is also described in the DeviceNet specification Volume I Appendix B The connection must be made ac cording to the color code specified in the following table Pin no Signal Meaning Color coding 1 vV 0V24 BK 2 CAN_L CAN_L BU 3 DRAIN DRAIN blank 4 CAN_H CAN_H WH 5 V 24 V RD DFD11B According to the
84. t applications MOVIDRIVE MDX60B 61B and the MOVITRAC B are not designed for use as a safety device in hoist applications Use monitoring systems or mechanical protection devices as safety equipment to avoid possible damage to property or injury to people Product names and trademarks Disposal The brands and product names in this manual are trademarks or registered trademarks of the titleholders Please follow the current national regulations Dispose of the following materials separately in accordance with the country specific regulations in force as e Electronics scrap e Plastics e Sheet metal e Copper Manual DFD11B DeviceNet Fieldbus Interface Introduction Content of this manual 3 3 1 3 2 3 3 3 3 1 Introduction Content of this manual This user manual describes e Installing the DHP11B option card in the MOVIDRIVE MDX61B drive inverter Using the DFD11B option card in the MOVITRAC B frequency inverter and in the UOH11B gateway housing e Starting up the MOVIDRIVE MDX61B with the DeviceNet fieldbus system e Starting up the MOVITRAC B with the DeviceNet gateway e Configuring the DeviceNet master with EDS files Additional documentation Features For information on how to connect MOVIDRIVE straightforwardly and effectively to the DeviceNet fieldbus system in addition to this user manual about the DeviceNet option you should request the following publications about fie
85. ta displayed in the monitor for the DFx fieldbus gateway or in the parameter tree in MOVITOOLS MotionStudio following figures MOVITRAC B Parameters Display values Bus diag E MOVITRAC B Parameters 094 P01 setpoint 6 Hex SQ 0 Display values eo 00 Process values nee 400 Hex zl E 01 Status displays 096 P03 setpoint Ofe 02 Analog setpoints 03 Binary inputs 097 PIT actual value 4 Hex 7 05 Binary outputs 098 PI2 actual value i he 07 Unit data E 08 Error memory 0 4 099 PI3 actual value 0 Hex f 09 Bus diagnostics 11762AXX 3 MO ITOOLS MotionStudio Test Project Edit Network View Plugin Settings Window Help Dae eiSBh S Bi eilie PAtTLx iGeria 4 OF OB tet BY Monitor Fieldbus Gateway DFx 0 DFD11B Gateway test an Sey Monitor Fieldbus Gateway DFx w Serial A 0 DFD11B Gateway ih T Gateway cor Esas SBus al 1 MOVITRAC B _01 Monitor DFx Gateway fi 7 MOVITRAC B_02 O F ieldbus Drive active Drive active Drive active Timeout Timeout Timeout 11763AXX Manual DFD11B DeviceNet Fieldbus Interface 5 37 5 38 C z9 O Project Planning and Startup Programming samples in RSLogix 5000 5 5 3 MOVIDRIVE B parameter access In order to get an easy to use read access to parameters of the MOVIDRIVE B via ex plicit messages and the register object follow the following steps 1 Gen
86. ta words copied to the right offset in the Local I O tag of the De viceNet scanner Check in controller tags and scanner mapping Is the PLC in RUN mode or does active forcing overwrite the transfer of the normal process data words If the PLC is not sending data to the DFD11B please refer to the documentation of the PLC manufacturer for support Is the DFD11B mounted into MOVITRAC B or gateway housing gt if yes proceed with H In MOVIDRIVE B is P100 contro source and P101 setpoint source FIELDBUS proceed with L Are all drives connected to the SBus of the gateway accessible from MOVITOOLS MotionStudio via serial interface X24 of the gateway Check SBus addresses and SBus baud rate Is LED H1 on the gateway off Has the Auto Setup function DIP switch AS been executed with all drives connected to the SBus and supplied with power In MOVITRAC B connected to the gateway is P100 control source and P101 set point source SBus 1 Are the process data words in the drive configured correctly P870 P875 Is process output data enabled P876 ON Is the wiring of the binary inputs disabling the operation Check parameter group PO3_ and P04_ Is an error active What is the state of the unit Is an IPOSPIUs program active which e g affects the inverter status Manual DFD11B DeviceNet Fieldbus Interface 71 Technical Data DFD11B option for MOVIDRIVE B 9 Technical Data 9 1 DF
87. tablished The DeviceNet specification refers to an expected packet rate rather than a timeout interval in this case The expected packet rate is calculated on the basis of the timeout interval using the following formula ttimeout_BitStrobe_ 0 4 X texpected Packet_Rate_BitStrobe_I O It can be set using connection object class 5 instance 3 attribute 9 The range of values runs from 0 ms to 65535 ms in 5 ms steps If a timeout occurs for the bit strobe I O messages this connection type enters timeout status Incoming bit strobe I O messages are no longer accepted The timeout is not for warded to the inverter The timeout reset takes place as follows e via DeviceNet with the reset service of the connection object class 0x05 instance 0x03 undetermined attribute by interrupting the connection e via reset service of the identity object class 0x01 instance 0x01 undetermined at tribute Manual DFD11B DeviceNet Fieldbus Interface 6 55 g DeviceNet Characteristics 6 The Common Industrial Protocol CIP 6 2 The Common Industrial Protocol CIP DeviceNet is integrated into the Common Industrial Protocol CIP In the Common Industrial Protocol all unit data can be accessed via objects The ob jects listed in the following table are integrated in the DFD11B option Class hex Name 01 Identify Object 03 DeviceNet Object 05 Connection Object 07 Register Object OF Paramet
88. tatus Meaning Flashing DUP MAC check Unit is performing DUP MAC check green 125 ms cycle Off Not switched on off line but Unit is off line not DUP MAC check Unit is switched off Flashing Online and in operational Unit is on line green mode DUP MAC check performed successfully 1 s cycle APIO connection to a master is being established configuring state e Missing incorrect or incomplete configuration Green light Online operational mode Online and connected APIO connection has been established established state Flashing red Minor fault or connection tim Invalid baud rate setting via DIP switches 1 s cycle eout A correctable error has occurred e Polled I O connection is in timeout state Red light Critical fault or critical link An error that cannot be remedied has occurred failure Bus fault DUP MAC check has detected an error Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation DFD11B option card status LED BUS FAULT LED Power UP test The BIO LED checks the bit strobe I O connection LED Status Meaning Flashing DUP MAC check Unit is performing DUP MAC check green 125 ms cycle Off Not switched on off line but Unit is off line not DUP MAC check e Unit is switched off Flashing Online and in operational Unit is on line green mode DUP MAC check performed successfully 1 s cycle ABlO connection to a
89. the data in the following order Source Element WriteParameterRequest Index Source Length 12 Destination WriteParameterResponse lndex Class 7hex Instance 2 Attribute 4hex Service Code 10hex Manual DFD11B DeviceNet Fieldbus Interface 41 5 42 C z9 Project Planning and Startup Programming samples in RSLogix 5000 7 After downloading the changes to the PLC index and value to be written into the pa rameter can be entered at WriteParameterRequest index and WriteParameterRe quest Data By altering WriteParameterStart to 1 the write request is executed once following figure Controller Tags Sample controller a z j Sample Show amp Value Style Data Type E wafan O o MSE E WiteParameteiRegest co SEW Parameter Channel INT oooO eS 200000 Decimal DINT SINT pe Reserved2 0 Se SINT WriteParameterRequest SubAddress1 0 Decimal SINT SINT H WiteParameteRequest SubAddess2 o Decmal SINT SINT EwitePaametafiewonse ass __ SEW_ Parameter Chanel i WiteParameteiResponse Reserved 0 Dacinal _ INT 5489 Decima SWNT 200000 Decinal JOINT soar SINT SINT Decinal SINT SINT Decina_ SNT er oo ee On response to the write request WriteParameterResponse Index should give the written index and WriteParameterResponse Data should contain the written data In this sample P160 internal setpoint n11 Index 8489 has th
90. troller Sample 3 Tasks 9 Motion Groups E Trends Cl Data Types amp DeviceNet File dnt DeviceNet_Configuration dnt amp 1 0 Configuration Foundin lt File not found gt ipie B E 1756 Backplane 1756 A7 m Launch RSNetWorx for DeviceNet ff 0 1756 L61 Sample f 1 1756 ENBT A ENIP_Scanner 2 1756 DNB ONet_Scanner ay View and edit the DeviceNet network DeviceNet 11744AXX In RSNetWorx for DeviceNet following figure either perform an online scan or add the required devices to the graph by drag and drop The address given under the icon of the device must be equal to the MAC ID set by the DIP switches of the DFD11B If the required devices are not in the selection list corresponding EDS files have to be reg istered via Tools Wizard A DeviceNet_Configuration dnt RSNetWorx for DeviceNet Eile Edit view Network Device Diagnostics Tools Help als W amp BE amp ale Ela ala El Hardware ixj SEW SEW EE O DeviceNet GATEWAY MOVIDRIVE DFDI1B DFD11B Category Vendor Phoenix Contact Rockwell Automation Allen Bradley SEW Eurodrive GmbH Unknown Device Type 100 de SEW GATEWAY MQD2x Ta SEW GATEWAY MQD3x SEW GATEWAY UFD11A SEW MOVIDRIVE DFD114 SEW MOVIDRIVE DFD11B fed SEW MOYIFIT CLASSIC jf SEW MOVIPLC ADVANCED Sew caTeway DFD11B H 4 gt Grap
91. uations in the ground potential a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth PE Make sure you supply adequate equipotential bonding according in accordance with relevant VDE regulations in such a case 4 7 Bus termination In order to avoid disruptions in the bus system due to reflections each DeviceNet seg ment must be terminated with 120 bus terminating resistors at the first and last phys ical participant Connect the bus terminating resistor between connections 2 and 4 of the bus plug Manual DFD11B DeviceNet Fieldbus Interface Assembly and Installation 4 Setting the DIP switches 4 8 Setting the DIP switches NOTE Before changing a DIP switch setting disconnect the drive inverter from power supply voltage and 24 V backup operation The DIP switch settings are adopted during ini tialization of the driver inverter only Setting the MAC ID Setting the baud rate Setting the pro cess data length Configuring the SBus communi cation of the gateway The MAC ID Media Access Control Identifier is set on the DFD11B option card with DIP switches S1 NAO S1 NAS5 in a binary coded manner The MAC ID represents the node address of the DFD11B The DFD11B supports the address range 0 63 The baud rate is set with DIP switches S2 DRO and S2 DR1 DIP switch S2 Baud rate DR1 DRO 0 0
92. ui er Comer oup cumert 84 Reset behavior fres gt 85 Modulation E 87 Process data parameter assignment 88 Serial come nh Sous C 88 Serial communication SBus 880 SBus piotocol Movil rh Manual operation 881 SBus addiess 082 SBus goupaddess fo 803 SBus imeat dety iso 884 SBus baud rate kba B86 CANopen ad s Do 11845AXX To control the MOVITRAC B frequency inverter via DeviceNet you must switch the drive inverter to control signal source P101 and setpoint source P100 SBus be forehand The SBus setting means the MOVITRAC B parameters are set for control and setpoint entry via gateway The MOVITRAC B then responds to the process output data transmitted by the PLC It is necessary to set the SBus1 timeout interval P883 to a value other than 0 ms for the MOVITRAC B inverter to stop if faulty SBus communication is encountered We recommend a value in the range 50 200 ms Activation of the control signal source and setpoint source SBus is signaled to the higher level controller using the SBus mode active bit in the status word For safety reasons you must also enable the MOVITRAC B at the terminals for control via the fieldbus system Therefore you must wire and program the terminals in such a way that the MOVITRAC B is enabled via the input terminals The simplest way of en abling the MOVITRAC B at the terminals is for example to connect the DI 1 function CW STOP input
93. xcluded Manual DFD11B DeviceNet Fieldbus Interface 2 2 1 2 2 2 3 2 4 2 5 2 6 Safety Notes Other applicable documentation Safety Notes Other applicable documentation e Installation and startup only by trained personnel observing the relevant accident prevention regulations and the following documents MOVIDRIVE MDX60B 61B operating instructions MOVITRAC B operating instructions e Read through this manual carefully before you commence installation and startup of the DFD11B option e Asa prerequisite to fault free operation and fulfillment of warranty claims you must adhere to the information in the documentation General safety notes for bus systems This communication system allows you to match the MOVIDRIVE drive inverter to the specifics of your application As with all bus systems there is a danger of invisible ex ternal as far as the inverter is concerned modifications to the parameters which give rise to changes in the unit behavior This may result in unexpected not uncontrolled system behavior Safety functions The MOVIDRIVE MDX60B 61B and MOVITRAC B drive inverters may not perform safety functions without higher level safety systems Use higher level safety systems to ensure protection of equipment and personnel For safety applications ensure that the information in the following publications is observed Safe Disconnection for MOVIDRIVE MDX60B 61B MOVITRAC B Hois

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