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Emerson Epsilon EiDeviceNet Drive User's Manual

1. Name DN Data Type Class Instance Attribute OutputLine OutputLinesStatusBitMap WORD 109 0x6D 1 0x01 4 0x04 Position FollowingError DINT 0 Ox6E 1 0x01 1 0x01 Position FollowingErrorEnable WORD 110 Ox6E 1 0x01 2 0x02 Position FollowingErrorLimit DINT 0 Ox6E 1 0x01 3 0x03 Position RolloverPosition UDINT 0 Ox6E 1 0x01 4 0x04 Position RolloverPositionEnable WORD 0 Ox6E 1 0x01 5 0x05 Position InPositionWindow UDINT 0 Ox6E 1 0x01 6 0x06 Position InPositionTime UINT 0 Ox6E 1 0x01 7 0x07 ProductID FirmwareRevisionBase String 111 Ox6F 1 0x01 1 0x01 ProductID FirmwareRevisionOption String 111 Ox6F 1 0x01 2 0x02 ProductID InterfaceRevisionBase UINT 111 Ox6F 1 0x01 3 0x03 ProductID InterfaceRevisionOption UINT 111 Ox6F 1 0x01 4 0x04 ProductID Option1IDFunctionModule UINT 111 Ox6F 1 0x01 5 0x05 ProductID Option2IDAnybus 1 UINT 111 Ox6F 1 0x01 6 0x06 ProductID Option3IDAnybus2 UINT 111 Ox6F 1 0x01 7 0x07 ProductID ProductGroup UINT 111 Ox6F 1 0x01 8 0x08 ProductID ProductID UINT 111 Ox6F 1 0x01 9 0x09 ProductID ProductSerialNumber String 111 Ox6F 1 0x01 10 0x0A ProductID ProductSubGroup UINT 111 Ox6F 1 0x01 11 0x0B Setup DriveAmbientTemperature UINT 112 0x70 1 0x01 1 0x01 Setup DriveAxisName String 112 0x70 1 0x01 2 0x02
2. polled I O Code Description 0x00 No Operation 0x01 Index 0 Position 0x02 Index 0 Velocity 0x03 Index 0 Accel 0x04 Index 0 Decel 0x05 to 0x10 Reserved 0 11 Reserved 0x12 Reserved 0x13 to 0 1 Reserved Ox1E Reset Set Bit 0 to 1 0 1 Reserved Response Assembly Codes The Response Assembly Code is used only when the position controller object is in use and the Ei DN 15 online and connected The Response Assembly Code gives the drive a 32 bit parameter based on the code it is set for The parameter is placed in words 2 and 3 of the polled I O Code Description 0x00 No Operation 0x01 Actual Position 0x02 Commanded Position 0x03 Actual Velocity 0x04 to Ox1D Reserved 0 1 Fault Status Bitmap 0 1 Reserved 16 Configuring the DeviceNet Network Data Processing Order of Operations for Fixed Assembly Blocks Since the transfer of parameters over the DeviceNet network has the potential to transfer on the same scan of the PLC the user needs to take special consideration of the order of bits sent When the Master sends two or more bits in the same DeviceNet message the bits get implemented in the Ei DN in the following order Get Master Send Data Pointer Process Master Send Data Block update word information Process Master Send Bits Send Input data to Master Receive FAB The following list represents the priority order of bit data proc
3. Final Word XXX00100XXX01010 With zeros in for reserved bits Final Word 1034 0x40A 13 Set Output Bit O 1 1 0 high to initiate this incremental index 14 Set Output Bit O 1 1 2 high and O 1 1 1 low to indicate an absolute index 15 Using Output Word Select Data Pointer 0x01 to set the Index Distance Position Register and Input Select Data Pointer 0x07 to read back this same parameter in order to verify the transfer Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Jog Jog Data Pointer See page 15 0x01 page 14 0x07 x x x 00001 x x x 00111 Final Word XXX00001XXX00111 With zeros in for reserved bits Final Word 263 0x107 16 Set Output Bit O 1 1 0 high to initiate this absolute Index Note After the motion parameters have been configured accel decel dist these parameters remain static until they are changed using either explicit messaging or the data select pointers Example 4 Position Control This sample procedure for the Position Controller Assembly Block will completely set up an index and then initiate it using the addresses assigned in previous examples 1 Start a new Ei DN configuration in PowerTools FM and configure the drive for the particular motor that will be used For more information consult the Epsilon Ei Drives Reference Manual P N 400507 01 45 Epsilon Ei DeviceNet Drive Refere
4. Ta ma CONTROL ww TECHNIQUES WEA Epsilon Ei DeviceNet Drive Reference Manual P N 400501 08 Revision A2 Date March 20 2002 2001 2002 Control Techniques Drives Inc EMERSON Industrial Automation Epsilon Ei DeviceNet Drive Reference Manual aS CONTROL YY TECHNIQUES Information furnished by Control Techniques Drives Inc Control Techniques is believed to be accurate and reliable However no responsibility is assumed by Control Techniques for its use Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice Control Techniques also assumes no responsibility for any errors that may appear in this document Information in this document is subject to change without notice P N 400501 08 Revision A2 Date March 20 2002 2001 2002 Control Techniques Drives Inc 2001 2002 Control Techniques Drives Inc Part Number 400501 08 Revision A2 Date March 2002 Printed in United States of America Information in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical for any purpose without the express written permission of Control Techniques The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Tec
5. Configuring the DeviceNet Network DN Comm Time out Fault Count Ei DN Modbus Address 40717 Range Units Default Type DN Type Group NVM Res Access 0 215_1 Counts US16 UINT Yes RO This parameter indicates the total of Communication Time out Faults that have occurred on the DeviceNet network DN Device Type Ei DN Modbus Address 34002 Range Units Default Type DN Type Group NVM Res Access 0816 UINT No RO DN Device Type indicates the ODVA Open DeviceNet Vendors Association definition for devices The Ei DN is set at a DN Device Type of 0 DN Duplicate MaclD Fault Count Ei DN Modbus Address 40718 Range Units Default Type DN Type Group NVM Res Access 0 215_1 Counts 0816 UINT Yes RO The DN Duplicate MacID Fault Count indicates the total number of duplicate MacID faults that have occurred on the DeviceNet network DN FAB Master Receive Block Ei DN Modbus Address 34011 34014 Range Units Default Type DN Type Group NVM Res Access US16 UINT No RO The DN FAB Master Receive Block displays the polled data being transferred from the drive to the master via the Master Receive fixed assembly block FAB Word Modbus Address 0 34011 1 34012 2 34013 3 34014 25 Epsilon Ei DeviceNet Drive Reference Manual DN FAB Master Send Bloc
6. Installation The connector provided for the DeviceNet connection is keyed VT pin 5 and should be wired to the keyed slot f mmm mmm m m a o o Insert Term Resistor 121 Ohms ree E599 opo 8 2 1 E993 O Standard DeviceNet Thin Cables DeviceNet allows both Multi Tap and Multi Drop Daisy Chaining ann ence ten enn ene Z wam wa un um wm mm zm za ma ma ma ma ma ue Multi Tap Box Insert Term Resistor 121 Ohms Figure 3 DeviceNet Wiring Epsilon Ei DeviceNet Drive Reference Manual Configuring the DeviceNet Network Connection Types The Epsilon Ei DN DeviceNet interface was designed to communicate with a DeviceNet network in two ways Polled I O connections and Explicit Messaging connections can be used to access all read or read write data from the Epsilon Ei DN Polled I O Connections Implicit Messaging The Poll Command is an I O Message that is transmitted by the Master A Poll Command is directed towards a single specific Slave point to point A Master must transmit a separate Poll Command Message for each one of its Slaves that is to be polled The Poll Response is an I O Message that a Slave transmits back to the Master A Polle
7. This parameter returns the values for the selected master receive bits DN Master Receive FAB Type Ei DN Modbus Address 44005 Range Units Default Type DN Type Group NVM Res Access 0 3 ENM Word Yes RW The DN Master Receive FAB Type displays the chosen fixed assembly block configuration as shown Value Master Receive FAB Type 0 Index Select Predef 1 Index Select Userdef 2 Index Type 3 Position Control DN Master Send Bitmap Ei DN Modbus Address 34005 Range Units Default Type DN Type Group NVM Res Access 0816 UINT No RO This parameter returns the values for the selected master send bits 27 Epsilon Ei DeviceNet Drive Reference Manual DN Master Send FAB Type Ei DN Modbus Address 44004 Range Units Default Type DN Type Group NVM Res Access 0 4 ENM Word Yes RW The DN Master Send FAB Type displays the chosen fixed assembly block configuration as shown Value Master Receive FAB Type 0 Index Select Predef 1 Index Select Userdef 2 Index Type 3 Position Control 4 No Operation DN Module Status Ei DN Modbus Address 34208 Range Units Default Type DN Type Group NVM Res Access 0 31 ENM Word No RO The DN Module status indicates the ODVA specific status of the DN device as follows 28 Value Module
8. 23 DN Baud Rate an ren b EE Boe e E UTR e eR 24 DN Bus Off Counters 20 v RE Ip Ee Te SH DAS 24 DN Bus Off Fault 8 eee rh 24 DN Bus Off Interupt cd He cet von tu VE ud RE EE EA ERE RUE LEN ES 24 DN Comm Time out Fault Count 25 DN Device Ly pe en EUER SERERE RR 25 DN Duplicate MacID Fault Count n susunu eects 25 DN FAB Master Receive 25 DN FAB Master Send Block 26 DN Host Mode Sie eSI HR HR te I dps 26 Tx 26 DN Master Receive Bitmap 27 DN Master Receive FAB Type en 27 ix DN Master Send Bitmap PERSEO et yaqalla 27 DN Master Send FAB s 28 DN Module Status i Auen ae tanken doe si 28 DN Network Status 4 yy uu eR ne 29 DN Receive Counter oou ee en a RE eR Een 29 DN Status Major Recoverable Fault 0 0 cece eee 29 DN Status Major Unrecoverable Fault 0 0 cece cece eee nee 29 DN Status Minor Recoverable Fault 30 DN Status Minor Unrecoverable Fault 30 DN Transmi
9. MasterMacld 1 Transmit Received Bus Off Count Information Counters Status Network Status Connected Module Status Standby Established Connections Espict Polled Update Disconnect Memorize Help Figure 6 DeviceNet Online Tab Information Master MacID The Master MacID is the MacID of the DeviceNet master to the Ei DN Counters Transmit Receive Counter The Transmit and Receive Counters note the successful data packet exchanges between the Ei DN and its DeviceNet master Bus Off Counter The Bus Off counter counts the number of bus failures in order to safeguard against a network that goes down A Buss Off may occur due to errors in wiring baud rate settings or MacID errors on the network Ten bus offs in a row initiate the bus off interrupt major fault This information is used for troubleshooting the Ei DN 19 Epsilon Ei DeviceNet Drive Reference Manual Status Network Status LED Network Status vitual LED indicates whether the Ei DN is communicating properly with the DeviceNet network The table below will describe the current condition of this parameter Drive State Indicates State Device is not online Off Not Powered Not online The device has not completed the Duplicate MacID test yet The Device may not be powered look at Module Status LED Flashing Green Online Not Connected Device is online but has no connections
10. Dn Comm Timeout Fault Count 25 Device Type 25 Duplicate MacID Fault Count 31 FAB Master Receive Block 25 FAB Master Send Block 26 Host Mode 26 MacID 26 Master Receive Bitmap 27 Master Receive FAB Type 27 Master Send Bitmap 27 Master Send FAB Type 28 Module Status 28 Network Status 29 Receive Counter 29 Status Major Recoverable Fault 29 Status Major Unrecoverable Fault 29 Status Minor Recoverable Fault 30 Status Minor Unrecoverable Fault 30 Transmit Counter 30 Vendor ID 30 Drive Parameters 61 24 2 2 Z Z Z Z Z ZZ Z Z Z Z ZZ 0600600060060000600600 ZZ E Epsilon Ei DeviceNet Drive Configuration Quick Start Process 35 Examples 56 Explicit Messaging 9 Explicit Messaging Examples 55 F Faults and Diagnostic Display 22 FM 2 Indexing Module Installation 5 Electrical Installation 6 Mechanical Installation 5 79 Epsilon Ei DeviceNet Drive Reference Manual Overview 5 H Host Remote Mode 18 How to Send Explicit Messages 53 Implicit Messaging 9 Index 79 Index Sel Predef 36 Index Sel Userdef 38 Index Select User Defined 11 Index Select Predefined 10 Index Type 12 42 Input and Output Tab 21 Input Word Select Data Pointer 14 Introduction 1 Reference Materials vi MacID 10 Master MacID 19 Master Receive Master Send Assembly Block Selection 10 Master Slave Relationship 3 Mechanical Installation 5 Module Stat
11. The AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed other than adjustments to the settings or parameters specified in the manual The drive contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed Allow at least 6 minutes for the Epsilon 205 3 minutes for Epsilon 202 203 and 30 seconds for E Series drives after removing the supply before carrying out any work which may involve contact with electrical connections to the drive Products connected by plug and socket A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket When unplugged the pins of the plug may be connected to the drive input which is only separated from the charge stored in the bus capacitor by semiconductor devices To avoid any possibility of electric shock from the pins if they are accessible a means must be provided for automatically disconnecting the plug from the drive e g a latching contactor Grounding Earthing equipotential bonding The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault The ground connections shown in the manual must be followed Fuses Fuses or over current protection must be provided at the input in accordance with the instructions in the manual Isolation of control circuits The
12. Setup EncoderOutput UINT 112 0x70 1 0x01 3 0x03 Setup EncoderOutputEnable WORD 112 0x70 1 0x01 4 0x04 Setup LowDCBusEnable WORD 112 0x70 1 0x01 5 0x05 Setup PositiveDirection WORD 112 0x70 1 0x01 6 0x06 Setup ExecuteReadFMNVMtoRAM BOOL 112 0x70 1 0x01 21 0x15 Status AbsoluteRotorPosition DINT 113 0x71 1 0x01 1 0x01 Status BusVoltage UINT 113 0x71 1 0x01 2 0x02 Status CommutationAngleCorrection INT 113 0x71 1 0x01 3 0x03 Status CommutationTrackAngle UINT 113 0x71 1 0x01 4 0x04 Status CommutationVoltage INT 113 0x71 1 0x01 5 0x05 Status EncoderCounts DINT 113 0x71 1 0x01 6 0x06 Status HeatsinkRMS UINT 113 0x71 1 0x01 7 0x07 Status MotionState WORD 113 0x71 1 0x01 8 0x08 Status PowerUpCount UINT 113 0x71 1 0x01 9 0x09 Status PowerUpTime UDINT 113 0x71 1 0x01 10 0x0A Status RotorVelocity DINT 113 0x71 1 0x01 11 0x0B Status SegmentDisplayCharacter UINT 113 0x71 1 0x01 12 0x0C Drive Parameters Name DN Data Type Class Instance Attribute Status OptionSerialNumber String 113 0x71 1 0x01 13 0x0D Status TorqueFeedback INT 113 0x71 1 0x01 14 0x0D Status TotalCommandChangeOut DINT 113 0x71 1 0x01 15 0xOE Status TotalPowerUpTime UDINT 113 0x71 1 0x01 16 0x10 Statu
13. 116 0x74 1 0x01 21 0x15 UserUnits UserDefinedBits BOOL 116 0x74 1 0x01 22 0x16 UserUnits UserDefinedRegisters UINT 116 0x74 1 0x01 23 0x17 Velocity InMotionVelocity UINT 117 0x75 1 0x01 1 0x01 Velocity OverspeedVelocity UINT 117 0x75 1 0x01 2 0x02 Velocity StopDeceleration UDINT 117 0x75 1 0x01 3 0x03 Velocity TravelLimitDeceleration UDINT 117 0x75 1 0x01 4 0x04 69 Epsilon Ei DeviceNet Drive Reference Manual 70 Appendix 8 ewa M8 SIN t WAST 07 1 utod VEA 399125 pron nduy dois o qeuq 4 BEC VAS p10A jesoy poarosoy poasosoy I SN sw sw sw sw 0 pug t ova v vg BE ed 30 Sop ngioos wos vaes ugras 0 Na Na x pur x pul ova exa 938 ua SLHg POM opad os xoo g A quiossy puog 1o1sej PION UH vie HSW 1951 t H ova rua cua PHA smes sums snis aus os nup 9981504 108095 2105095 110595 JOO VEA VAS p10A poarssoy I uono uono an Ud ainj
14. Class Instance Attribute Index IndexInstance Velocity UDINT 104 0x68 See Note 1 9 0x09 Index Instance RegistrationOffset DINT 104 0x68 See Note 1 10 0x0A Index CurrentIndexCount UINT 104 0x68 1 0x01 21 0x15 Index CurrentIndexNumber UINT 104 0x68 1 0x01 22 0x16 Index ChainingCount UINT 104 0x68 1 0x01 23 0x17 Index CurrentChainingCount UINT 104 0x68 1 0x01 24 0x18 Index InfiniteChaining WORD 104 0x68 1 0x01 25 0x19 InputFunction InputFunctionInstance ActiveOffArray BOOL 105 0x69 See Note 1 1 0x01 InputFunction InputFunctionInstance AlwaysActive Array BOOL 105 0x69 See Note 1 2 0x02 InputFunction InputFunctionInstancez Mapping WORD 105 0x69 See Note 1 3 0x03 InputFunction InputFunctionInstance StatusArray BOOL 105 0x69 See Note 1 4 0x04 InputFunction InputFunctionAlwaysActiveBitMap WORD 105 0x69 1 0x01 21 0x15 InputFunction InputFunctionPolarityBitMap WORD 105 0x69 1 0x01 22 0x16 InputFunction InputFunctionStatusBitMap WORD 105 0x69 1 0x01 23 0x17 InputLine InputLinelnstance RawStatusArray BOOL 106 0x6A See Note 1 0 0x00 InputLine InputLinelnstance StatusArray BOOL 106 0x6A See Note 1 0 0x00 InputLine InputLinelnstance DebouncedStatusArray BOOL 106 0x6A See Note 1 1 0x01 InputLine InputLinelnstance ForceOn OffCommandArray BOOL 106 0x6A See Note 1 2 0x02 InputLine InputLinelnstance ForceOn OffEnableArray BOOL 106 0x6A S
15. Epsilon drive AWARNING Warning indicates a potentially hazardous situation that if not avoided could result in death or serious injury A CAUTION Caution indicates a potentially hazardous situation that if not avoided may result in minor or moderate injury CAUTION Caution used without the safety alert symbol indicates a potentially hazardous situation that if not avoided may result in property damage Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury The voltages used in the product can cause severe electric shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the product The installation must comply with all relevant safety legislation in the country of use Qualified Person For the purpose of this manual and product a qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition this individual has the following qualifications 15 trained and authorized to energize de energize clear and ground and tag circuits and equipment in accordance with established safety practices Is trained in the proper care and use of protective equipment in accordance with established safety practices 15 trained in rendering first aid Reference Materials The following related refere
16. Status 1 No Power Operational Standby Minor Fault ul N Major Fault Configuring the DeviceNet Network DN Network Status Ei DN Modbus Address 34207 Range Units Default Type DN Type Group NVM Res Access 0 31 ENM Word No RO The DN Network status indicates the ODVA specific status of the DeviceNet network as follows Value Network Status 1 No Power 2 Not Connected 3 Connected 4 Time out 5 Link Failure DN Receive Counter Ei DN Modbus Address 34203 34204 Range Units Default Type DN Type Group NVM Res Access 0 231 1 Counts US32 UDINT No RO The DN Receive Counter keeps a running total of all DeviceNet packets successfully received from the Ei DN on the DeviceNet network DN Status Major Recoverable Fault Ei DN Modbus Address 14003 Range Units Default Type DN Type Group NVM Res Access True False BIT BOOL No RO A Major Recoverable Fault disables the bridge and then re enables the bridge when the fault has cleared At the present no Major Recoverable Faults are defined in the Ei DN DN Status Major Unrecoverable Fault Ei DN Modbus Address 14004 Range Units Default Type DN Type Group NVM Res Access True False BIT BOOL No RO A Major Unrecoverable Fault is implemented on the Ei DN when o
17. VAS p1oA poAIosay POLIISIA 1 UOHOJA uonow UODOJA Tau ano ww MAC ane anr UNS anz uns ANG UNIT anzi ansi T WANG vana PJOM PA SN PS xopur 3oo g 12158 peuyeq 1 sn 12ejes x pul 72 Appendix 8 ewa Md SIN t Mq ST 4 lojurogq LA VAS p104 Indu Sof 1se4 Sof IQUIOg BIL PAS 1ndino poArosoy 5 T 038 cud pt d L ada dos orqeug 2m i id ii A A E a 0 spar cl eso sour H INANG ENANA PHANG sugNa ug Na 018 bug cua erg rg Lid sig 618 or 18 cing L vy Ha d 1 x pul 42014 A quiessy puog 19158 8 ea M8 SIN t Hg 87 AO T c Ova iua CUE eser mg 2181S ojus 2181S S SAEI POAIOSOY poAJos
18. a low level network that provides connections between simple industrial devices sensors actuators and higher level devices industrial PLC s DeviceNet standards and specifications are managed by the Open DeviceNet Vendors Assoc ODVA which is an independent supplier organization that manages the DeviceNet specification and supports the worldwide growth of DeviceNet and Ethernet IP DeviceNet Communications Link DeviceNet has two primary purposes 1 Transport of control oriented information associated with low level devices 2 Transport of other information that is indirectly related to the system being controlled such as configuration parameters The list below presents a summary of the Physical Media specific characteristics of DeviceNet 1 Trunk line drop line configuration See Figure 2 Master Slave Relationship on page 4 2 Support for up to 64 nodes 3 Node removal without severing the network 4 Simultaneous support for both network powered sensors and self powered actuators devices 5 Use of sealed or open style connectors 6 Protection from wiring errors 7 Selectable data rates of 125k baud 250k baud and 500k baud 8 High current capability up to 16 amps per supply Introduction 9 Operation with off the shelf power supplies 10 Power taps that allow the connection of several power supplies from multiple vendors that comply with DeviceNet standards 11 Built in overload protection 12 Po
19. block will use the DN bits set up from Example 1 to initiate indexes and a home This procedure will also initiate Jog and Jog and select between Jog Fast Corresponding to these initiates DeviceNet will read back End of Index and End of Home bits indicate in Motion and in Motion Faults and Drive OK Using the Input and Output Word Select Data Pointer this procedure will send index velocities to the drive and receive position feedback from the drive 1 Start a new Ei DNconfiguration in PowerTools FM and configure the drive for the particular motor that will be used For more information consult the Epsilon Ei Drives Reference Manual P N 400507 01 2 Enter the DeviceNet setup and set the MacID to 1 and the Baud Rate to 125K Select the Index Sel Userdef in both Master Send Assembly Block and Master Receive Assembly Block setups Figure 11 3 Note AXIS 1 EiDn 202 NT 207 Disabled Setup User Units Inputs Outputs Jog Position Velocity DN Setup Torque Network Configuration Quick Start Indexes l Tuning l Analog DeviceNet Master Receive Assembly Block C Index Sel Predef Index Sel UserDef C Index C Position Control Master Send Assembly Block C Index Sel Predef 9 C Index Type C Position Control C No Operation T Host Mode Enable Madd Master Receive Assembly Block Userdef Mas
20. both incremental and absolute indexes The Input and Output Word Select Data Pointer will read velocity feedback from the drive and write Jog Acceleration to the drive 1 Start a new Ei DN configuration PowerTools FM and configure the drive for the particular motor that will be used For more information consult the Epsilon Ei Drives Reference Manual P N 400507 01 Enter the DN setup and set the MacID to and the Baud Rate to 125K Select Index Type for both Master Send Assembly Block and Master Receive Assembly Block Setups Network Configuration Quick Start AXIS 1 EiDn 202 NT 207 Disabled Setup User Units Inputs Outputs Jog Home Indexes 1 Tuning l Position Velocity Tore Analog DeviceNet DN Setup Macld fi Baud 125 Y Master Receive Assembly Block Index Type Word 0 Master Receive Assembly Block eel Has Word 2 Data Low Word ris es ef Word 3 Data High Word ae Master Send Assembly Block Index Type C Position Control Eh Word 0 Master Send Assembly Block Word 1 Index Sel Predef Word 2 Data Low Word C Index Sel UserDef Word 3 Data High Word C No peration Host Mode Enable Download Upload Memorize Help Figure 14 DN Setup Index Type 3 Click the Inputs tab to configure the DN bits that will be written from the PLC Master Send The f
21. easily be changed using PowerTools FM programming software or externally on the drive using a one touch setup with the Reset button The following is a full description of how to navigate through the DeviceNet edit mode externally on the Ei DN Viewing and Changing the Baud Rate and MacID 1 Double click the Reset Button to enter the DeviceNet edit mode The diagnostic display located on the front of drive will flash between high digit and the high tens digit of the MacID If the reset button is held in while the H is blinking on the diagnostic display H to Change the high digit of the MacID value will scroll Let the reset button go when the display shows the correct number for the high digit of the MacID The display will now flash between the letter H and the new tens digit for MacID bs Macl D H Flash High Digit 0 6 H to Change 2 Double click the Reset Button to view the low digit ofthe MacID The diagnostic display located on the front of the drive will flash between an L and the low ones digit of the Mac ID If the reset button is held in while the L is flashing on the diagnostic display H to Change the low digit of the MacID value will scroll Let the reset button go when 32 Configuring the DeviceNet Network the display shows the correct number for the low digit of the MacID The display will now flash between the letter L and the new ones digit for MacID ps Macl D
22. in the established state The device has passed the Duplicate MacID test and is online but has no established connections to a Master The device is online and has connections in the established state This means the Link OK Online Connected device is connected to a Master Flashing Red Connection Time Out One or more I O Connections are in the Timed Out state Red Critical Link Failure Failed communication device The device has detected an error that has rendered it incapable of communicating on the network Duplicate MacID or Bus Off Module Status LED Module Status virtual LED indicates whether the device is in standby or operational mode Coinciding text will describe the current condition of this parameter Mua LED Drive State Indicates State Off No Power There is no power applied to the device Green Device Operational The device is operating in a normal condition Flashing Green Device in Standby The Device Needs The device needs commissioning due to configuration missing SUBE Commissioning incomplete or incorrect The device may be in the standby state Flashing Red Minor Fault Recoverable Fault Red Unrecoverable Fault The device has an unrecoverable fault may need replacing Flashing Red Green Device Self Testing The device is in self test 20 Established Connections Polled Explicit Messaging Virtual LED s The virtual LED display for Polled and Ex
23. initiates this command automatically Explicit Messaging Quick Start PORT SIZE CLASS INSTANCE ATTRIBUTE Figure 20 Description of N10 Integer File Explicit Messaging Examples The following two examples of DeviceNet Explicit Messaging will be assuming a PLC configuration as follows RSLogix 500 Picdemo P gt Ele Edit View Search Comms Tools Window D S tS Gao c 0 Jasa vg aan No Forces Forces Disabled F GJ J Copy File Ex J Controler Source 100 Controller Properties Det Length 32 Processor Status MM io Configuration op Channel Configuration LOR Ed Mutipoint Monitor Somce 11224 E Eg Program Files Dest 110 syso Length 32 SYS1 2 4 MOV B J Data Files L OSR J Move Cross Reference 2 Somme FA Bl oo oureur D neut 2 lt D s2 status D 83 BINARY D 14 TMER El c5 counter 0 Bi CONTROL 102308 El 7 INTEGER F8 FLOAT END py e For Help press F1 20002 APP READ 4 Figure 21 Configuration for Explicit Messaging 55 Epsilon Ei DeviceNet Drive Reference Manual 56 Explanation of PLC Program The copy command in Rung 0 will activate when B3 0 0 is turned on This command will send out a request to the DeviceNet master by copying the N10 integer file into the MO file After this request
24. up this explicit message Interger File N10 High Byte Low Byte N10 0 TXID 0x01 COMMAND 0x01 N10 1 PORT 0x00 SIZE OF DATA FIELD 0x0A N10 2 SERVICE 0x10 SET MacID 0x04 N10 3 CLASS 0x68 N10 4 INSTANCE 0x02 N10 5 ATTRIBUTE 0x09 After the N10 file is set B3 0 0 can be set high to send the explicit message to the scanner card After bit I 3 15 is set by the PLC the message can be viewed by setting B3 0 2 high which copies the M1 file to the N11 file The response from the drive should resemble the following Data File B3 bin BINARY B3 0 1 Radix Binary h4 ng Symbol RESET REG Desc Reset Registers olm fs Mn pom AMI Data File N11 hex Dj xj 1004 9 2 0 0 0 0 0 0 oF 10 59 Bedx Heveco Sum 5 35 5 Columna gt Ei 23 Radix Hex BCD E Colmns 3 gt Desc Properties Uses Figure 24 Configuration Example 2 The following table reflects the results of the Index 1 Velocity example These results are verifiable via the keypad interface 58 Explicit Messaging Quick Start Integer File N11 High Byte Low Byte N11 0 TXID 0x01 COMMAND 0x01 PORT 0x00 SIZE OF DATA FIELD 0x04 NII 2 SERVICE 0x90 Successful Transmit MacID 0x04 N11 3 LOW DATA WORD 0x7D0 N11 4 HIGH DATA WORD 0x00 59 Epsilon Ei DeviceNet Drive Ref
25. when the user only needs to read back data This assembly block allows the user to put any data into the corresponding PLC address without affect from the drive This type of assembly block is used heavily in applications when the PLC is explicit messaging Master Send Assembly Block No Operation Word Bit 15 Bit 14 Bit 13 Bit 12 Bit11 Bit10 Bit9 Bits Bit6 Bit5 Bit4 Bit2 Bito 0 13 Epsilon Ei DeviceNet Drive Reference Manual Input Word Select Data Pointer The Input Word Select Data Pointer may be used when a polled connection is established between the Ei DN and the DeviceNet Master Using the Input Data Pointer Bits 32 bit parameters may be read from the Ei DN by the PLC Entering the code into the input select data pointer will place the corresponding parameter value within the two high words of the 4 word polled data packet The Input Word Data Select Data Pointer 15 set by the master in word 1 of the Master Send Data Code Description 0x00 No Operation 0x01 Position Feedback 0x02 Position Command 0x03 Velocity Feedback 0x04 Command Velocity 0x05 Reserved 0x06 Torque Command 0x07 Index Position 0x08 Index Velocity 0x09 Index Accel 0x0A Index Decel 0x0B 0x1D Reserved 0 1 Fault Status Bitmap 0 1 Reserved 14 Output Word Select Data Pointer Conf
26. zeros in for reserved bits Final Word 263 0x107 10 Using Output Word Select Data Pointer 0x02 to set the Index Velocity Register and Input Select Data Pointer 0x08 to read back this same parameter in order to verify the transfer Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Jog Jog Data Pointer See page 15 0x02 page 14 0x08 X x x 00010 x x x 01000 Final Word XXX00010XXX01000 With zeros in for reserved bits Final Word 520 0x208 11 Using Output Word Select Data Pointer 0x03 to set the Index Acceleration Register and Input Select Data Pointer 0x09 to read back this same parameter in order to verify the transfer Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Jog Jog Data Pointer See page 15 0x03 page 14 0x09 x x x 00011 x x X 01001 Final Word XXX00011XXX01001 With zeros in for reserved bits Final Word 777 0x309 44 Network Configuration Quick Start 12 Using Output Word Select Data Pointer 0x04 to set the Index Deceleration Register and Input Select Data Pointer to read back this same parameter in order to verify the transfer Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Jog Jog Data Pointer See page 15 0x04 page 14 0x0A x x x 00100 x x x 01010
27. 01 5 0x05 Tuning PositionErrorIntegral DINT 115 0x73 1 0x01 6 0x06 Tuning PositionErrorIntegralEnable WORD 115 0x73 1 0x01 7 0x07 Tuning PositionErrorIntegral TimeConstant UINT 115 0x73 1 0x01 8 0x08 Tuning ResponseLevel UINT 115 0x73 1 0x01 10 0x0A UserUnits AccelerationDecimalPoint UINT 115 0x73 1 0x01 1 0x01 UserUnits PositionDecimalPoint UINT 116 0x74 1 0x01 2 0x02 UserUnits TimeBasedIndication UINT 116 0x74 1 0x01 3 0x03 UserUnits UserDefinedBitmap UINT 116 0x74 1 0x01 21 0x15 UserUnits UserDefinedBits BOOL 116 0x74 1 0x01 22 0x16 UserUnits UserDefinedRegisters UINT 116 0x74 1 0x01 23 0x17 UserUnits UserUnitDefinition UINT 116 0x74 1 0x01 4 0x04 UserUnits UserUnitString String 116 0x74 1 0x01 5 0x05 UserUnits UsingUserUnits BOOL 116 0x74 1 0x01 6 0x06 UserUnits VelocityDecimalPoint UINT 116 0x74 1 0x01 7 0x07 Velocity InMotionVelocity UINT 117 0x75 1 0x01 1 0x01 Velocity OverspeedVelocity UINT 117 0x75 1 0x01 2 0x02 Velocity StopDeceleration UDINT 117 0x75 1 0x01 3 0x03 Velocity TravelLimitDeceleration UDINT 117 0x75 1 0x01 4 0x04 By DeviceNet Class NOTE 1 The instance number will be one more than the number of the index jog pls program input or output For example IndexO will have an instance of 1 0x01 and Index 14 will have an instance of 15 0xOF If the parameter is unnumbered th
28. 04 MR Fault DN Bit05 MR Drive OK 40 Network Configuration Quick Start AXIS 1 EiDn 202 NT 207 Disabled Position Velocity l Torque Analog DeviceNet Setup User Units Inputs Dutputs Jog Indexes Tuning Active Dutput Functions Dutput Lines State Functions Assigned Absolute Position Valid Line 6 Home Limit Distance Hit Line 7 At Velocity DN Bit00 End of Index In Motion DN Bit01 End of Home In Motion DN Bito2 In Motion DN Bit03 In Motion Fault DN Bito4 Fault Travel Limit DN Bit 5 Drive OK Travel Limit Foldback Active DN Bito Shunt Active zi DN Output Line Selection JUnmapped on Bit5 Active Off Download Upload Memorize Help Figure 13 Outputs Tab Note Index Sel userdef allows 16 DN bits to be configured Although these bits are optional to assign bandwidth used on the DeviceNet network remains the same 5 Once all parameters are configured download this file to the Ei DN 6 Proceed to Master Configuration on page 48 before going any farther with this example After configuring the master return to this point and continue CAUTION The following will initiate motion While online with the Ei DN via PowerTools FM and the PLC via RSLogix 500 7 Set Output Bit O 1 2 5 high to software enable the drive 8 Set Output Bit O 1 1 0 high to initiate Index 0 9 SetOutput Bit O 1 1
29. 1 1 0x01 Execute ExecuteClearFault BOOL 101 0x65 1 0x01 1 0x01 Execute ExecuteReadBaseDriveN VMtoRAM BOOL 101 0x65 1 0x01 2 0x02 61 Epsilon Ei DeviceNet Drive Reference Manual 62 Name DN Data Type Class Instance Attribute Execute ExecuteStopAllMotion BOOL 101 0x65 1 0x01 3 0x03 Execute ExecuteWriteBaseDriveRAMtoNVM BOOL 101 0x65 1 0x01 4 0x04 Fault FaultInstance Code WORD 102 0x66 See Note 1 1 0x01 Fault FaultInstance PowerUpCount UINT 102 0x66 See Note 1 2 0x02 Fault FaultInstance PowerUpTime UDINT 102 0x66 See Note 1 3 0x03 Fault FaultStatus DWORD 102 0x66 1 0x01 15 0xOF Home BackOffSensorBeforeHoming WORD 103 0x67 1 0x01 1 0x01 Home EndofHomePosition DINT 103 0x67 1 0x01 2 0x02 Home HomeAcceleration UDINT 103 0x67 1 0x01 3 0x03 Home HomeDeceleration UDINT 103 0x67 1 0x01 4 0x04 Home HomeLimitDistance UDINT 103 0x67 1 0x01 5 0x05 Home HomeLimitDistanceEnable WORD 103 0x67 1 0x01 6 0x06 Home HomeOffset DINT 103 0x67 1 0x01 7 0x07 Home HomeOffsetEnable WORD 103 0x67 1 0x01 8 0x08 Home HomeReference WORD 103 0x67 1 0x01 9 0x09 Home HomeVelocity DINT 103 0x67 1 0x01 10 0x0A Index ChainingCount UINT 104 0x68 1 0x01 23 0x17 Index CurrentChainingCount UINT 104 0x68 1 0
30. 1 23 0x17 Drive Parameters Name DN Data Type Class Instance Attribute InputLine DriveEnableInputDebouncedStatus BOOL 106 0 6 1 0x01 9 0x09 InputLine DriveEnableInputRawStatus BOOL 106 0x6A 1 0x01 10 0x0A InputLine DriveEnableInputStatus BOOL 106 0x6A 1 0x01 11 0x0B InputLine EnableDebounceTime UINT 106 0x6A 1 0x01 8 0x08 InputLine InputLinelnstance DebouncedStatusArray BOOL 106 0x6A See Note 1 1 0x01 InputLine InputLinelnstance DebounceTime UINT 106 0x6A See Notel 4 0x04 InputLine InputLinelnstance ForceOn OffCommandArray BOOL 106 0x6A See Note 1 2 0x02 InputLine InputLinelnstance ForceOn OffEnableArray BOOL 106 0x6A See Note 1 3 0x03 InputLine InputLinelnstance RawStatusArray BOOL 106 0x6A See Note 1 0 0x00 InputLine InputLinelnstance StatusArray BOOL 106 0x6A See Note 1 0 0x00 InputLine InputLinesDebouncedBitMap WORD 06 0x6A 1 0x01 21 0x15 InputLine InputLinesOverrideActive UINT 106 0x6A 1 0x01 22 0x16 InputLIne InputLinesOverrideStatus UINT 06 0x6A 1 0x01 23 0x17 InputLine InputLinesRawBitMap WORD 06 0x6A 1 0x01 24 0x18 InputLine InputLinesStatusBitMap WORD 106 0x6A 1 0x01 25 0x19 Jog JogAcceleration UDINT 07 0x6B 1 0x01 1 0x01 Jog JogDeceleration UDINT 07 0x6B 1 0
31. 1 Range Units Default Type DN Type Group NVM Res Access US16 UINT No RO DN Vendor ID indicates the ODVA Open DeviceNet Vendors Association vendor specific number The Motion Made Easy Vendor ID is 553 30 Configuring the DeviceNet Network Accessing the EDS File The EDS file is used for configuration of the DeviceNet master This file tells the Master software how much I O data 1s supported for a particular DeviceNet device as well as Control Techniques vendor code module revision etc The EDS file for the Ei DN also contains the Class Instance and Attribute ID s for all Ei drive parameters These class instance and attribute ID s are used for explicit messaging and can be found in the back of this manual in the Drive Parameters chapter The EDS file is installed with PowerTools FM and can be found in the PTOOLSFM folder An icon file is also located in this section for display on the master software configuration screen These two files may also be downloaded from our website at www emersonct com Hardware Interface Module Status LED The Module Status LED located on the front of the drive provides device status according to the following table LED State Drive State Indicates Off No Power There is no power applied to the device Green Device Operational The device is operating in a normal condition Flashing Green Device in Standby The Device Needs The device n
32. 1 high to initiate Home 10 Set Output O 1 1 2 high to Jog 41 Epsilon Ei DeviceNet Drive Reference Manual 42 11 Set Output Bit O 1 1 3 high to Jog 12 Set Output Bit O 1 1 4 high to enable Jog Fast 13 Set Output Bits O 1 1 12 O 1 1 15 to select the index to initiate or to select the index to read from or write to using the Input Output Word Select Data Pointer 14 Using Output Word Select Data Pointer 0x02 to set the Index Velocity and Input Select Data Pointer 0x01 to read back the position feedback use the following table to construct the proper words for the read and write Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Reserved Enable 1 Data Pointer See page 15 0x02 page 14 0x01 X X X 00010 x x 1 00001 Final Word XXX00010XX100001 With zeros in for reserved bits Final Word 545 0x221 15 16 Write to Words O 1 3 O 1 4 to write to the selected index velocity Data can be obtained from the online DN view described in the following step While online with PowerTools FM click on the DeviceNet tab and open up the Master Receive and Master Send Assembly Blocks Verify that the correct data is moving back and forth through the assembly block and that the data pointers are reading and writing the data as expected Example 3 Index Type This sample procedure for the Index Type Assembly Block will initiate
33. File N10 High Byte Low Byte N10 0 TXID 0x01 COMMAND 0x01 N10 1 PORT 0x00 SIZE OF DATA FIELD 0x06 N10 2 SERVICE 0x0E GET MacID 0x04 N10 3 CLASS 0x68 N10 4 INSTANCE 0x01 N10 5 ATTRIBUTE 0x09 After the N10 file is set B3 0 0 can be set high to send the explicit message to the scanner card After bit 1 3 15 is set by the PLC the message can be viewed by setting B3 0 2 high which copies the M1 file to the N11 file The response from the drive should resemble the following 5 Data File N11 hex olx N11 0 Radix Hex BCD Symbot sd Columns 3 H ie AS Properties Usage Help PLC Configuration Example 1 Figure 23 The following table reflects the results of the Index 0 Velocity example Note that the Low Data Word is 1000 0x3E8 the velocity requested Integer File N11 High Byte Low Byte N11 0 TXID 0x01 COMMAND 0x01 N11 1 PORT 0x00 SIZE OF DATA FIELD 0x04 N11 2 SERVICE 0x8E Successful Response MacID 0x04 N11 3 LOW DATA WORD 0x3E8 N11 4 HIGH DATA WORD 0x00 Example 2 Write Index 1 Velocity This example will show how to use explicit messaging to write the current index velocity to an Ei DN drive Assume the drive configuration for example 1 57 Epsilon Ei DeviceNet Drive Reference Manual Index 1 Velocity is mapped to class 0x68 instance 0x02 attribute 0x09 as shown in the table below The following parameters will be used to set
34. Flash Low Digit 0 9 AN H to Change 3 Double click the Reset Button to view the Baud Rate selected The display will flash between the letter B and the number of the baud rate that is currently configured Display Value Baud 1 125 2 250K 3 500K To change the baud rate hold the reset button down and scroll through these three options Let the Reset button go when the displayed value reflects the baud rate for the DeviceNet network Default Baud Rate is configured to 1 or 125 D C Baud Rate 71 Elach 1 125k 4 Flash 950k 5 500k 33 Epsilon Ei DeviceNet Drive Reference Manual 4 Double click the Reset button to reveal a flashing S on the diagnostic display If the parameters entered reflect the proper DeviceNet network settings the configuration can be saved by holding the Reset button while the S is flashing After the parameters are saved the display will flash and then and return the display back to either a disabled or enabled state If the user does not want to save the changes a 30 second time out will return the drive back to the enabled or disabled display on the drive D C Flashing S start t H to Save D C D C to start over Note If the user at any time wishes to discontinue the edit mode without saving changes this can be accomplished by either allowing the drive a 30 seco
35. HeatsinkRMS UINT 113 0x71 1 0x01 7 0x07 Status MotionState WORD 113 0x71 1 0x01 8 0x08 Status OptionSerialNumber String 113 0x71 1 0x01 13 0x0D Status PowerUpCount UINT 113 0x71 1 0x01 9 0x09 Status PowerUpTime UDINT 113 0x71 1 0x01 10 0x0A Status RotorVelocity DINT 113 0x71 1 0x01 11 0x0B Status SegmentDisplayCharacter UINT 113 0x71 1 0x01 12 0x0C Status TorqueFeedback INT 113 0x71 1 0x01 14 0x0D Status TotalCommandChangeOut DINT 113 0x71 1 0x01 15 0x0E Status TotalPowerUpTime UDINT 113 0x71 1 0x01 16 0x10 Status VelocityCommand DINT 113 0x71 1 0x01 17 0x11 Torque FoldbackRMSCurrentLevel UINT 114 0x72 1 0x01 1 0x01 Torque LimitedTorqueCommand INT 114 0x72 1 0x01 2 0x02 Torque TorqueCommand INT 114 0x72 1 0x01 3 0x03 Torque TorqueLevell UINT 114 0x72 1 0x01 4 0x04 Torque TorqueLevel2 UINT 114 0x72 1 0x01 5 0x05 Torque TorqueLimit UINT 114 0x72 1 0x01 6 0x06 64 Drive Parameters Name DN Data Type Class Instance Attribute Tuning EnableFeedforwards WORD 115 0x73 1 0x01 1 0x01 Tuning Friction UINT 115 0x73 1 0x01 2 0x02 Tuning LoadIntertia UINT 115 0x73 1 0x01 3 0x03 Tuning LowPassFilterEnable WORD 115 0x73 1 0x01 4 0x04 Tuning LowPassFilterFrequency UINT 115 0x73 1 0x
36. N 400507 01 Configure Index 0 as a Incremental Index Index Count of 1 Distance of 20 revs at a Velocity of 1000 RPM both Acceleration and Deceleration set to 1000 ms Krevs m and a Dwell Time of 0 Enter the DeviceNet setup and set the MacID to 1 and the Baud Rate to 125K Select the Index Sel Predef for both Master Send Assembly Block and Master Receive Assembly Block Network Configuration Quick Start Setup User Units Inputs Outputs Jog Home Indexes 1 Position Velocity Torque Analog Device DN Setup Macld 53 Baud fi2sk x E Master Receive Assembly Block Predef E Master Send Assembly Block Predef Master Receive Assembly Block s On RSEN OON LIF TRU Index Sel Predef C Index Sel UserDef C Index Type C Position Control Master Send Assembly Block Index Sel Predef C Index Sel UserDef C Index Type Position Control C Operation T Host Mode Enable Download Upload Memorize Help Figure 10 DN Setup Index Sel Predef 4 Download this file to the Ei DN 5 Proceed to Master Configuration on page 48 before going any farther with this example After configuring the master return to this point and continue CAUTION The following will initiate motion While Online with both the Ei DN via PowerTools FM and the PLC via RSLogix 500 6 Set Output Bit O 1 2 7 high to software enable the drive 7 Set Output Bi
37. Network Configuration Quick Start 1747 SDN Scanner Module 12 Upload fraemecanetes Device Downioau to Canter Revision Figure 17 Scanlist Tab Click the Input tab and map the 4 words of data from the Ei DN to I 1 1 L 1 4 These addresses are the addresses in the PLC where the Ei DN data will be mapped 49 Epsilon Ei DeviceNet Drive Reference Manual 1747 SDN Scanner Module 12 01 Epsilon 1 Polled 8 Figure 18 Input Tab Click the Output tab and map the 4 words of data from the Ei DN to O 1 1 O 1 4 as shown These addresses are the addresses in the PLC where the Ei DN will pull its data from 50 Network Configuration Quick Start 1747 SDN Scanner Module 12 BEI General Module Scaniist Input Output Summary Auto ep 0 1 1 0 01 Epsilon 1 Polled Unmap Advanced Memay Discrete D H 01 Epsilon A ato 0 0 0 0 0 0 0 f 0 1 8 Cancel Apply Help Figure 19 Output Tab After all of the data is mapped click OK go online and then download this RsNetworx file to the DeviceNet scanner Make sure processor is in program mode Note If after a download errors occur on the DeviceNet Master scanner card clear all mappings in the scanlist and download this empty file to the Master The network should display two green LED s if not check wiring etc After this has occurred re
38. O Q eq powers jndu 8 21835 xopu uonisoq POAIOSOY 0 K1ojoofe1 jo pug dois omjosqy I o qeuq PHEA 018 bua vua S 1g 91g 21a 83H Lg Zr eb va vy 9 19 uontsod xoo g A quiessy 9AISIIY INSELN 043005 uonisog Glossary Application Objects These implement the intended purpose of the product Attribute A sub classification for a parameter or bit The attribute is grouped directly under the more broad category of class Example Class Index Attribute Index Dwell Each Attribute accessible to the user is assigned a number See Drive Parameters on page 61 Baud Rate The number of times the communication signal changes per second In the case of a digital communication signal it is equal to the number of bits per second Class A top level DeviceNet classification for all parameters and bits Each class 1s given a unique number ID found in the chart Connection Class This allocates and manages internal resources associated with both I O and Explicit Messaging connections Connection Object This manages the communication specific aspects associated with both I O and Explicit Messaging connections Daisy Chain A slang term for a wiring process that goes from one device to the next connecting wire A to A B to B etc DeviceNet A commu
39. RS Networx will be used to install the Ei DN onto the DeviceNet network as a slave In order to have RS Networx recognize the Ei DN as a node on the network an eds file must be installed using the eds wizard found under the Tools menu The eds file is located in the Emerson directory under Emerson PtoolsFM Ei eds An icon file can also be found in this directory under Emerson PtoolsFM Ei ico This icon file will display the Ei DN graphically in RSnetworx Once the eds file is installed add a 1747 SDN DeviceNet master to the network set for MacID 0 and an Ei DN set for MacID 1 Be DEVICENET RSNet Worx for DeviceNet DI x Eie Edit View Device Tools Help 3 8 m Hardware P DeviceNet Category AC Drive Barcode Scanner Communication Adapter DeviceNet to SCANport Dodge EZLINK General Purpose Discrete 1 0 Generic Device Human Machine Interface Inductive Proximity Switch Limit Switch Motor Protector Photoelectric Sensor Rockwell Automation miscellaneous SCANport Adapter Vendor Control Techniques PLC F mergan Control 1747 SDN Epsilon Indexer TSCHRAUTH Scanner Module 2 4n IH 14 M Graph Spreadsheet Master Sk lt Figure 16 Networx Configuration Double click the 1747 SDN to bring up the Master Configuration 48
40. The following tables display the data mapping for the Position Control Assembly Blocks See Appendix on page 71 for expanded versions of these tables Master Receive Assembly Block Position Control Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit10 Bit9 Bits Bit6 Bit5 Bit4 Bit2 Bito Valid dd 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved e ps 1 Posies ae Fault pu Reserved Qo nd see Valid xj Motion SEF CCW Cw 1 Reserved Reserved Reserved Response Assembly Code See page 16 Command Reserved TPC Reserved Reserved Drive OK Error Start Echo Travel Travel Limit Limit 2 Data Low Word LS Bit 3 MS Bit Data High Word Master Send Assembly Block Position Control Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit10 Bit9 Bite Bits Bit2 Bito Valid 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Enable puc Reserved Stop Reserved Reserved Tide Data 0 1 Reserved Reserved Reserved Response Assembly Code See page 16 Reserved Reserved Reserved Command Assembly Code See page 16 2 Data Low Word LS Bit 3 MS Bit Data High Word No Operation The No Operation Assembly Block is used
41. Word LS Bit 3 MS Bit Data High Word Master Send Assembly Block Index Type Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 BitO mr Index Index Index Sun 0 DNBi7 DNBit6 DNBis DNBi4 DNBi2 1 DNBitO Enable Reset Stop Type Bit TypeBi Type Bit Lon Initiate 2 d Index 1 Reserved Reserved Reserved Output Word Select Data Pointer See page 15 Jog Fast Jog Jog Input Word Select Data Pointer See page 14 2 Data Low Word LS Bit 3 MS Bit Data High Word Index Type bit 1 2 and 3 in Master Send Block determine the functionality if the specified index As noted in the Drives Parameters Reference Manual 400504 01 the value ofthese bits reflect the following data 000 Incremental Index 001 Absolute Index 010 Registration Index 011 Rotary Plus and 100 Rotary Minus Position Control Position Control is the fixed assembly block designed using the Position Controller profile for DeviceNet as a guide Parameters are transferred over the polled I O connection Using 12 Configuring the DeviceNet Network the position controller profile positions velocities accels and decels can be written for a single index The index can then be initiated The Position Control object is used heavily when a central PLC is desired to control all of the Slaves This type of configuration allows for quick parameter changes
42. cID of the master used to control the Ei DN The DN Allocation Master MacID parameter defaults to 63 when no master is controlling it 23 Epsilon Ei DeviceNet Drive Reference Manual DN Baud Rate Ei DN Modbus Address 44002 Range Units Default Type DN Type Group NVM Res Access 0 2 Baud ENM WORD Yes RW Three standard baud rates can be configured for the DeviceNet network 125K 250K and 500K The baud rate is also read write accessible with the one touch configuration located directly on the drive Value Baud 0 125K 1 250K 2 500K DN Bus Off Counter Ei DN Modbus Address 34206 Range Units Default Type DN Type Group NVM Res Access 0 255 Counts US16 UINT No RO The Bus Off counter counts the number of bus failures in order to safeguard against a network that goes down This information is used for troubleshooting the Ei DN DN Bus Off Fault Count Ei DN Modbus Address 40719 Range Units Default Type DN Type Group NVM Res Access 0 231_1 Counts US16 UINT Yes RO This parameter indicates the total number of Bus Off Faults that have occurred on the DeviceNet network DN Bus Off Interrupt Ei DN Modbus Address 34205 Range Units Default Type DN Type Group NVM Res Access 0 1 Word No RO Ten Bus Off Faults in a row initiate the Bus Off Interrupt Major fault 24
43. components are necessary to design a DeviceNet cable system Cables Nodes Devices Connectors Power Supply Terminating Resistors Cables These cables can be obtained from the supplier of the DeviceNet Network Master For more details see the ODVA Specification Volumes I and II Release 2 0 Thick Cable The thick cable consists of two shielded pairs twisted on a common axis with a drain line in the center covered with an overall braid The shield is commonly used as a trunk line when length is important Thin Cable The thin cable is smaller and more flexible than the thick cable It is commonly used for drop lines but can be used for shorter distances as a trunk line Nodes Devices A DeviceNet slave is any device that is addressable through DeviceNet and contains DeviceNet communications circuitry DeviceNet Slaves must comply with the following A slave must be connected to the network by a tap and drop line Slaves must be DeviceNet compatible devices 63 Slaves can be supported on one network Each Slave must be assigned a media access control identification number MacID MacID s on a single network must be unique Epsilon Ei DeviceNet Drive Reference Manual Connectors DeviceNet connectors can be either open style wires exposed or sealed These connectors can be obtained from the supplier of the DeviceNet Network Master For more details see the ODVA Specification Volumes I and II Release 2 0 Po
44. d Message contains I O data that can be read by the PLC on every scan Polled messages are used for high priority data and are typically used to transmit parameters such as index initiates or position feedback Explicit Messaging Explicit Messages are initiated from a user created program inside a PLC or PC based software program In a PLC these messages are sent and received using the PLC specific explicit message setup Using Explicit Messaging all user parameters can be accessed in the Ei DN drive These messages allow parameters to be sent in messages that may take multiple scans of the PLC Explicit Messages are lower priority than Polled I O messaging connections and work well for transferring recipes or any 32 bit parameters to the drive Software Interface This section discusses how to configure a DeviceNet Network with PowerTools FM software and discusses the parameters that appear on the tabs related to DeviceNet configuration Other tabs are described in the Epsilon Ei Indexing Drive and FM 2 Indexing Module Reference Manual P N 400507 01 DeviceNet Tab The DeviceNet tab allows the user to configure DeviceNet parameters and watch the DeviceNet Parameters while online with the drive through PowerTools FM The DeviceNet tab has two sub tabs DN Setup and Online The DN Setup tab allows the user to set up MacID Baud Rate choice of predefined assembly blocks and host mode enable as well as display the fixed assembly block word
45. d in other Microsoft Windows compatible software documentation Menu names and options are printed in bold type the File menu Dialog box names begin with uppercase letters the Axis Limits dialog box Dialog box field names are in quotes Field Name Button names are in italic OK button Source code is printed in Courier font Case ERMS In addition you will find the following typographic conventions throughout this manual This Represents bold Characters that you must type exactly as they appear For example if you are directed to type a setup you should type all the bold characters exactly as they are printed italic Placeholders for information you must provide For example if you are directed to type filename you should type the actual name for a file instead of the word shown in italic type ALL CAPITALS Directory names file names key names and acronyms SMALL CAPS Non printable ASCII control characters KEYI KEY2 example Alt F A plus sign between key names means to press and hold down the first key while you press the second key KEY1 KEY2 example Alt F A comma between key names means to press and release the keys one after the other Note For the purpose of this manual and product Note indicates essential information about the product or the respective part of the manual Throughout this manual the word drive refers to an
46. e Note 1 2 0x02 Fault FaultInstance PowerUpTime UDINT 102 0x66 See Note 1 3 0x03 Fault FaultStatus DWORD 102 0x66 1 0x01 15 0xOF Home BackOffSensorBeforeHoming WORD 103 0x67 1 0x01 1 0x01 Home EndofHomePosition DINT 103 0x67 1 0x01 2 0x02 Home HomeAcceleration UDINT 103 0x67 1 0x01 3 0x03 Home HomeDeceleration UDINT 103 0x67 1 0x01 4 0x04 Home HomeLimitDistance UDINT 103 0x67 1 0x01 5 0x05 Home HomeLimitDistanceEnable WORD 103 0x67 1 0x01 6 0x06 Home HomeOffset DINT 103 0x67 1 0x01 7 0x07 Home HomeOffsetEnable WORD 103 0x67 1 0x01 8 0x08 Home HomeReference WORD 103 0x67 1 0x01 9 0x09 Home HomeVelocity DINT 103 0x67 1 0x01 10 0x0A Index IndexInstance ChainNext UINT 104 0x68 See Note 1 1 0x01 Index IndexInstance Acceleration UDINT 104 0x68 See Note 1 2 0x02 Index IndexInstance ControlRegister UINT 104 0x68 See Note 1 3 0x03 Index IndexInstance Count UINT 104 0x68 See Note 1 4 0x04 Index IndexInstance Deceleration UDINT 104 0x68 See Note 1 5 0x05 Index IndexInstance Distance DINT 104 0x68 See Note 1 6 0x06 Index IndexInstance Dwell UINT 104 0x68 See Note 1 7 0x07 Index IndexInstance Type WORD 104 0x68 See Note 1 8 0x08 Drive Parameters Name DN Data Type
47. e instance will be one see the tables in this chapter 65 Epsilon Ei DeviceNet Drive Reference Manual 66 Name DN Data Type Class Instance Attribute DeviceNet DeviceNetIdentityObject VendorID UINT 1 0x01 1 0x01 1 0x01 DeviceNet DeviceNetldentityObject DeviceType UINT 1 0x01 1 0x01 2 0x02 ProductSubGroup UINTI6 1 0x01 1 0x01 3 0x03 ModuleFirmwareRevision String 4 1 0x01 1 0x01 4 0x04 DeviceNet DeviceNetldentityObject DeviceStatus UINT 1 0x01 1 0x01 5 0x05 ModuleSerialNumber String 16 1 0x01 1 0x01 6 0x06 DeviceNet DeviceNetIdentityObject HeartbeatInterval DINT 1 0x01 1 0x01 10 0x0A AnalogOutput AnalogOutputInstance Channel INT 100 0x64 See Note 1 1 0x01 AnalogOutput AnalogOutputInstance Offset DINT 100 0x64 See Note 1 2 0x02 AnalogOutput AnalogOutputInstance Scale DINT 100 0x64 See Note 1 3 0x03 AnalogOutput AnalogOutputInstance Select INT 100 0x64 See Note 1 4 0x04 Execute ExecuteClearFault BOOL 101 0x65 1 0x01 1 0x01 Execute ExecuteReadBaseDriveN VMtoRAM BOOL 101 0x65 1 0x01 2 0x02 Execute ExecuteStopAllMotion BOOL 101 0x65 1 0x01 3 0x03 Execute ExecuteWriteBaseDriveRAMtoNVM BOOL 101 0x65 1 0x01 4 0x04 Fault FaultInstance Code WORD 102 0x66 See Note 1 1 0x01 Fault FaultInstance PowerUpCount UINT 102 0x66 Se
48. ed Assembly Block for the transmission of polled I O The tree to the right will display all parameters within the selected assembly block 3 Make assignments under the Inputs and Outputs tab for any DN bits that may be configured in each assembly block 4 Download the configuration to the Ei DN 35 Epsilon Ei DeviceNet Drive Reference Manual Polled 36 7 Install the eds file in the Master Configuration software RsNetworx Wonderware etc Download a configuration for 8 polled input bytes and 8 polled output bytes to be transferred to from the Ei DN Use ladder logic commands to initiate explicit messaging commands over DeviceNet IO Setup The following examples assume that the user is familiar with and can set up the Ei using the Epsilon Ei Reference Manual P N 400507 01 This application example will focus on the DeviceNet setup for the Ei DN The setups will demonstrate the Index Sel Predefined Index Sel User Defined and Index Type Position Control assembly blocks to transfer DeviceNet bits and initiate indexes Example 1 Index Sel Predef This sample procedure for the Index Sel Predef assembly block will run preconfigured Index 1 and 2 and Jog while reading back Torque Command and Command Velocity respectively l Start a new Ei DNconfiguration in PowerTools FM and configure the drive for the particular motor that will be used For more information consult the Epsilon Ei Drives Reference Manual P
49. ee Note 1 3 0x03 InputLine InputLinelnstance DebounceTime UINT 106 0x6A See Notel 4 0x04 InputLine EnableDebounceTime UINT 106 0x6A 1 0x01 8 0x08 InputLine DriveEnableInputDebouncedStatus BOOL 106 0 6 1 0x01 9 0x09 InputLine DriveEnableInputRawStatus BOOL 106 0 6 1 0x01 10 0x0A InputLine DriveEnableInputStatus BOOL 106 0x6A 1 0x01 11 0x0B InputLine InputLinesDebouncedBitMap WORD 06 0x6A 1 0x01 21 0x15 InputLine InputLinesOverrideActive UINT 106 0 6 1 0x01 22 0x16 InputLIne InputLinesOverrideStatus UINT 06 0x6A 1 0x01 23 0x17 InputLine InputLinesRawBitMap WORD 06 0x6A 1 0x01 24 0x18 InputLine InputLinesStatusBitMap WORD 106 0x6A 1 0x01 25 0x19 Jog JogAcceleration UDINT 07 0x6B 1 0x01 1 0x01 Jog JogDeceleration UDINT 07 0x6B 1 0x01 2 0x02 Jog JogFastVelocity UDINT 107 0x6B 1 0x01 3 0x03 Jog JogVelocity UDINT 107 0x6B 1 0x01 4 0x04 OutputFunction OutputFunctionInstance Mapping32 UINT 108 0x6C See Note 1 1 0x01 OutputFunction OutputFunctionStatusBitMap WORD 108 0x6C 1 0x01 21 0x15 OutputLine OutputLinesOverrideActive UINT 109 0x6D 1 0x01 1 0x01 OutputLine OutputLinesOverrideStatus UINT 109 0x6D 1 0x01 2 0x02 OutputLine OutputLinesPolarity BitMap WORD 109 0x6D 1 0x01 3 0x03 67 Epsilon Ei DeviceNet Drive Reference Manual 68
50. eed commissioning due to configuration missing Commissioning incomplete or incorrect The Device may be in the standby state Flashing Red Minor Fault Recoverable Fault Red Unrecoverable Fault The device has an unrecoverable fault may need replacing Flashing Red Device Self Testing The device is in self test Green 31 Epsilon Ei DeviceNet Drive Reference Manual Network Status LED The Network Status LED located on the front of the drive provides network status according to the following table LED State Drive State Indicates Device is not online Off Not Powered Not online The device has not completed the Dup MacID test yet The device may not be powered look at Module Status LED Device is online but has no connections in the established state Flashing Green Online Not Connected The device has passed the Dup MacID test is online but has no established connections to a Master The device is online and has connections in the established state This means the m Link OK Online Connected device is connected to a Master Flashing Red Connection Time Out One or more I O Connections are in the Timed Out state Red Critical Link Failure Failed communication device The device has detected an error that has rendered it incapable of communicating on the network Duplicate MacID or Bus Off Setting the Baud Rate and MacID Externally One Touch The Baud Rate and MacID of the Ei DN may
51. erence Manual 60 Drive Parameters This section lists all parameters available for Epsilon Ei DeviceNet drive The tables provide the following information about each parameter Name The parameter s name DeviceNet Data Type INT UINT 16 bit value DINT UDINT 32 bit value BOOL Bit Word Bitmap 16 DWord Bitmap 32 String XXX ASCII characters of XXX length padded with white space Class Instance Attribute The path necessary to access the parameter By Name Note 1 The instance number will be one more than the number of the index jog input or output For example Index0 will have an instance of 1 0x01 and Index 14 will have an instance of 15 OxOF If the parameter is unnumbered the instance will be one Name DN Data Type Class Instance Attribute AnalogOutput AnalogOutputInstance Channel INT 100 0x64 See Note 1 1 0x01 AnalogOutput AnalogOutputInstance Offset DINT 100 0x64 See Note 1 2 0x02 AnalogOutput AnalogOutputInstance Scale DINT 100 0x64 See Note 1 3 0x03 AnalogOutput AnalogOutputInstance Select INT 100 0x64 See Note 1 4 0x04 DeviceNet DeviceNetldentityObject DeviceStatus UINT 1 0x01 1 0x01 5 0x05 DeviceNet DeviceNetldentityObject DeviceType UINT 1 0x01 1 0x01 2 0x02 DeviceNet DeviceNetldentityObject Heartbeatlnterval DINT 1 0x01 1 0x01 10 0x0A DeviceNet DeviceNetldentityObject VendorID UINT 1 0x01 1 0x0
52. essed first to last sent from the Master Stop Bit Held until clear Home Bits Initiate a home Index Bits Initiate an Index Jog Bits Held until clear f individual bits are changed simultaneously within each of the above group the order of processing shall follow 1 Home Bits Home Initiate Define Home 2 Index Bits Index Select Index Initiate 3 Jog Bits Jogt e Jog Jog Fast Note An Implicit Poll initiates motion and an immediate response is sent This response does not wait for motion to complete i e an Index Initiate Command sent before the drive completes an index will not be acknowledged by the drive 17 Epsilon Ei DeviceNet Drive Reference Manual Host Mode Enable Host Mode Enable allows the user to decide where the control will occur from the DeviceNet network Host Mode Enable allows the user to ignore hardwire inputs Conversely non host mode logically OR s the Inputs with the DeviceNet function Enabling the Host Mode gives the host DeviceNet Master exclusive control of the following parameters Index Select and Index Initiate Jog Jog Jog Fast Home Initiate Define Home Brake Control and Release other functions will be logically OR ed with hardwire and Modbus inputs when in Host mode Host mode is useful when access to the hardwire needs to be switched from DeviceNet only to DeviceNet I O or Hardware Ei DN I
53. gets sent out the PLC indicates when it has all data returned by setting bit 1 3 15 high Once this occurs bit B3 0 1 can be set high to view the results via a copy command from the scanner card M1 to integer file N11 Once the data is received the response buffer must be cleared before the next explicit message can be sent This is accomplished by setting bit B3 0 2 high When this is implemented the 1 3 15 bit will be cleared by the scanner card and the explicit messaging system is free to use again Note After each send a clear response buffer message must be sent in order to continue communication Examples Example 1 Read Index 0 Velocity This example will show how to use explicit messaging to capture the current index velocity in an Ei DN drive Create a PowerTools Pro configuration file ensuring that both the MacID 04 and the network BaudRate 125 KB are configured For this example set the Index 0 Velocity is to 1000 units Download this to the drive Index 0 Velocity is mapped to class 0x68 instance 0x01 attribute 0x09 as shown in the table below The following parameters will be used to set up this explicit message Data File N10 hex L Of x 10 63 101 6 E04 n 10 66 68 1 9 10 69 o MEN E HE Radie Heweco F Symbol Columns 3 E Desc ees N10 Properties Usage Figure 22 Integer Data File N10 Explicit Messaging Quick Start Integer
54. hanged The following tables display the data mapping for the Index Sel UserDef Assembly Blocks See Appendix on page 71 for expanded versions of these tables Master Receive Assembly Block Index Sel Userdef Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bit6 Bit5 Bit2 Bit1 Bit 0 0 DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit 15 MR 14 MR 13MR 12MR MR 10MR 9MR 8 MR 7MR 6MR SMR 4MR 3MR 2MR IMR OMR Index Index Index Index Enable Motion Motion Motion 1 Reserved Input Word Select Data Pointer See page 14 Select Select Select Select State State Bit State Bit State Bit Bit3 Bit2 Bit Bit 0 2 1 0 2 Data Low Word LS Bit 3 MS Bit Data High Word 11 Epsilon Ei DeviceNet Drive Reference Manual Master Send Assembly Block Index Sel Userdef Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bits Bit7 Bit6 Bit5 Bit4 Bit2 Bit 1 Bit 0 Index Index Index Index es Sis den ded DN Bit DN Bit DN Bit DN Bit DN Bit DN Bit DNBit DNBit DNBit DNBit DN Bit DN Bit I 5 gt 11 MS 10 MS 9MS 8MS 7MS 6 MS SMS 4 MS 3MS 2 MS 1MS 0MS Bit3 Bit2 Bit Bit 0 1 Reserved Reserved Reserved Output Word Select Data Pointer See page 15 Reserved Reserved Enable Input Word Selec
55. hniques EMERSON Motion Control EMERSON Motion Control PowerTools AXIMA Motion Made Easy Control Techniques is a division of EMERSON Co Control Techniques Drives Inc is not affiliated with Microsoft Corporation owner of the Microsoft Windows and Windows NT trademarks This product contains DeviceNet software that is licensed from SST a Division of Woodhead Limited 50 Northland Road Waterloo Ontario Canada N2V 1N3 DeviceNet is a trademark of Open DeviceNet Vendor Association RS Networx and SLC 500 PLC are trademarks of Allen Bradley Control Techniques Drives Inc is not affiliated with Allen Bradley This document has been prepared to conform to the current released version of the product Because of our extensive development efforts and our desire to further improve and enhance the product inconsistencies may exist between the product and documentation in some instances Call your customer support representative if you encounter an inconsistency Customer Support Control Techniques 12005 Technology Drive Eden Prairie Minnesota 55344 3620 U S A Telephone 952 995 8000 or 800 397 3786 Itis Control Techniques goal to ensure your greatest possible satisfaction with the operation of our products We are dedicated to providing fast friendly and accurate assistance That 15 why we offer you so many ways to get the support you need Whether it s by phone fax or modem you can access Control Techniques
56. iguring the DeviceNet Network The Output Word Select Data Pointer may be used when a polled connection is established between the Ei DN and the DeviceNet master Using the Output Word Select Data Pointer bits 32 bit parameters may be read from the Ei DN by the PLC Entering the code into the Output Select Data Pointer will place the corresponding parameter value within the two high words of the 4 word polled data Code Description 0x00 No Operation 0x01 Index Position Registers 0x02 Index Velocity Register 0x03 Index Acceleration Register 0x04 Index Deceleration Register 0x05 Index Dwell Time 0x06 Reserved 0x07 Torque Limit 0x08 Rotary Rollover Value 0x09 Following Error Limit 0x0A Jog Velocity 0x0B Jog Fast Velocity 0x0C Jog Acceleration 0x0D Jog Deceleration OxOE Home Velocity 0x0F Home Acceleration 0x10 Home Deceleration 0 11 Home Specified Offset 0x12 End of Home Position 0x13 Home Limit Distance 0x14 Chaining Count 0x15 Index Count 0x16 Next Index 0x17 RAM to NVM 0x18 Ox1F Reserved 15 Epsilon Ei DeviceNet Drive Reference Manual Command Assembly Code The Command Assembly Code is used only when the position controller object is in use and the Ei DN is online and connected The Command Assembly Code gives the drive a 32 bit parameter based on the code it is set for The parameter is placed in words 2 and 3 of the
57. ing of any messages that appear on your screen What you were doing when the problem occurred How you tried to solve the problem Need on site help Control Techniques provides service in most cases the next day Just call Control Techniques technical support center when on site service or maintenance 15 required Training Services 952 995 8000 or 800 397 3786 Email training emersonct com Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques Motion Made Easy products and their applications A number of courses are offered many of which can be taught in your plant upon request Application Engineering 952 995 8000 or 800 397 3786 Email applengr emersonct com An experienced staff of factory application engineers provides complete customer support for tough or complex applications Our engineers offer you a broad base of experience and knowledge of electronic motion control applications Customer Service Sales 952 995 8000 or 800 397 3786 Email customer service emersonct com Authorized Control Techniques distributors may place orders directly with our Customer Service department Contact the Customer Service department at this number for the distributor nearest you Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily As much as possible these conventions correspond to those foun
58. installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage Table of Contents Safety Considerations vii Introduction 1 Purpose 2 eee oves et LM do Ra 1 DeviceNet Overview icc ien le es MES Eee SER 2 DeviceNet Communications Link 2 DeviceNet Messaging and Communications 3 Master Slave Relationship 3 Installation 5 Mechanical Installation 0 lesse IRI f eben eens 5 DeviceNet Hardware Components 5 Electrical Installation epulae eco ed eR RESTORE S CA esr 6 Physical Connections to the DeviceNet Network 6 Configuring the DeviceNet Network 9 Connection Types 2 pussy p RS T ESSE 9 Software Interface S u en ee een eH eder Uem e cette eue deis 9 DeviceNet Lab use en ee E Cui eR C D abs AE s 9 Data Processing Order of Operations for Fixed Assembly Blocks 17 DeviceNet Online Taba gt tn muy RARE 19 Input and Output Tab upas 21 DN Allocation Choice Connections 23 DN Allocation Master MacID
59. it4 Bit2 Bit1 BitO Endat endet el P rake nable n t ind orque rive mas Che ander dm Doa Dame Reese sae weas mms rex Fat Registration Registration Home Absolute Home Motion Motion Motion 1 Reserved Reserved Reserved Input Word Select Data Pointer See page 14 Sensor 1 Sensor 2 Sensor Position Limit State Bit State Bit State Bit Status Status Status Valid Dist Hit 2 1 0 2 Data Low Word LS Bit 3 MS Bit Data High Word Master Send Assembly Block Index Sel Predef Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit 0 o sea sea se deg agi Mote Sw DNni7 DNma mens punas nwm 2 pune 1 Reserved Reserved Reset Output Word Select Data Pointer See page 15 Enable Stop pia Input Word Select Data Pointer See page 14 2 Data Low Word LS Bit 3 MS Bit Data High Word Index Select User Defined Index Sel UserDef Index Sel UserDef is the fixed assembly block used when intiating multiples indexes as with a standard Ei drive Assignments are made on the same screen as with the Index Sel Predef Index Sel UserDef is used for more advanced Ei applications By allowing the user to set up his own DN bits more advanced operations can be controlled right over the DeviceNet network In addition to Home and Jog any ofthe 16 indexes may be Initiated or c
60. ity of the Epsilon Ei drive The Ei DN drive is capable of all functions of the Epsilon Ei as described in the Epsilon Ei Reference Manual P N 400507 01 The Quick Start chapters of this manual offer specific examples of various messaging types as well as a programming reference that lists functional requirements for the Epsilon Ei DN drive For a list of definitions consult the Glossary on page 75 O O Diagnostic Display N Reset Button 8 Network Status LED See page 32 Module Status LED See page 31 DeviceNet Connections See page 6 5 f fA Figure 1 Epsilon Ei DeviceNet Drive Ei DN 205 Shown Epsilon Ei DeviceNet Drive Reference Manual The Epsilon Ei DN configuration 15 easily set within PowerTools FM software In PowerTools FM software the user has the option to select between 8 predefined assembly blocks to be transferred using polled data 8 bytes input 8 bytes output polled data length per drive The Ei DN additionally allows the master to set up an explicit messaging connection to access all user accessible parameters within the Epsilon drive through PLC logic The Epsilon Ei DN drive has passed internal tests for conformance as a group 2 DeviceNet slave DeviceNet Overview DeviceNet is
61. k Ei DN Modbus Address 34007 34010 Range Units Default Type DN Type Group NVM Res Access 0816 UINT No RO The DN FAB Master Send Block displays the polled data being transferred from the master to the drive via the Master Send fixed assembly block FAB Word Modbus Address 0 34007 1 34008 2 34009 3 34010 DN Host Mode Ei DN Modbus Address 44003 Range Units Default Type DN Type Group NVM Res Access 0 1 ENM Word Yes RW Enabling the Host Mode gives the host DeviceNet Master exclusive control of the following Input functions Index Select and Index Initiate Jog t Jog Jog Fast Home Initiate Define Home Brake Control and Release other functions will be logically OR ed with inputs and Modbus 3 when in Host mode Host mode is useful when access to the hardwire I O needs to be switched from DeviceNet only to DeviceNet I O or Hardware I O DN Ei DN Modbus Address 44001 Range Units Default Type DN Type Group NVM Res Access 0 63 US16 UINT Yes RW The DN MacID is the node address of the Ei DN on the DeviceNet network The range of this number is 0 63 26 Configuring the DeviceNet Network DN Master Receive Bitmap Ei DN Modbus Address 34006 Range Units Default Type DN Type Group NVM Res Access 0816 UINT No RO
62. mapping Epsilon Ei DeviceNet Drive Reference Manual PowerT ools FM File Device Options Tools View Window Help tajta e le AXIS 1 EiDn 202 NT 207 Disabled Setup User Units Inputs Outputs Jog Pasition Velocity Torque DN Setup Indexes Tuning Analog END 3 Macld 53 Baud 125k z E Master Receive Assembly Block Predef ne BELE Master Send Assembly Block Predef Index Sel Predef Index Sel Index Type C Position Control m Master Send Assembly Block Index Sel Predef Index Sel UserDef C Index C Position Control No Operation Host Mode Enable Download Upload Memorize Help Figure 4 The DeviceNet Setup Tab MacID The MacID is the number assigned to a particular node Every node on a DeviceNet network must have a unique MacID The range is 0 63 The MacID is also read write accessible with the one touch configuration described in Setting the Baud Rate and MacID Externally One Touch on page 32 Baud Rate Three standard baud rates can be configured for the DeviceNet network 125K 250K and 500K The baud rate is also read write accessible with the one touch configuration described in Setting the Baud Rate and MacID Externally One Touch on page 32 Master Receive and Master Send Assembly Block Selections In PowerTools FM the user is given the option to select f
63. n conducting contamination 1s acceptable Setup Commissioning and Maintenance It is essential that you give careful consideration to changes to drive settings Depending on the application a change could have an impact on safety You must take appropriate precautions against inadvertent changes or tampering Restoring default parameters in certain applications may cause unpredictable or hazardous operation vii viii Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89 392 EEC Safety of Machinery The product has been designed and tested to a high standard However the level of integrity offered by the product s control function for example stop start forward reverse and maximum speed is not sufficient for use in safety critical applications without additional independent channels of protection All applications where malfunction could cause injury or loss of life must be subject to a risk assessment and further protection must be provided where needed A WARNING General warning Failure to follow safe installation guidelines can cause death or serious injury The voltages used in this unit can cause severe electric shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to this equipment The installation must comply with all relevant safety legislation in the country of use AC supply isolation device
64. nce Manual 46 2 Enter the DN setup and set the MacID to 1 and the Baud Rate to 125K Select PositionControl for both Master Send Assembly Block and Master Receive Assembly Block setups AXIS 1 EiDn 202 NT 207 Disabled mE Ea Setup User Units Inputs Outputs Jog Home Indexes Tuning l Analog Position Velocity Torque DN Setup Macld 63 Baud 125K Master Receive Assembly Block Position Control E Word 0 E word 1 Word 2 Data Low Word Word 3 Data High Word Master Send Assembly Block Position Control E Word 0 H Word 1 Word 2 Data Low Word Word 3 Data High Word Master Receive Assembly Block C Index Sel Predef C Index Sel UserDef C Index Type Position Control Master Send Assembly Block C Index Sel Predef C Index Sel UserDef C Index Type Position Control C Operation Host Mode Enable Download Upload Memorize Help Figure 15 Setup Position Control 3 4 Download this file to the Ei DN Proceed to Master Configuration on page 48 before going any farther with this example After configuring the master return to this point and continue Set the Command Assembly code to send a value of 50 revs to the Index Position O 1 2 0x01 parameter and O 1 3 0x32 value After these values are in place toggle the Valid Data Bit O 1 1 6 Set the Command Assembly code to send a
65. nce and installation manuals may be useful with your particular system Epsilon Ei Drive Installation Manual P N 400501 06 Epsilon Ei and FM 2 Module Indexing Reference Manual P N 400507 01 FM 3 amp FM 4 DeviceNet Module Reference Manual P N 400508 03 Epsilon and E Series Drive Parameters Reference Manual P N 400504 01 ODVA Specification Volumes I and II Release 2 0 vi Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system If you install the product incorrectly it may present a safety hazard The product and system may use high voltages and currents carry a high level of stored electrical energy or are used to control mechanical equipment that can cause injury You should give close attention to the electrical installation and system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience Read and follow this safety information instruction manual carefully Enclosure This product is intended to be mounted in an enclosure that prevents access except by trained and authorized personnel and prevents the ingress of contamination This product is designed for use in an environment classified as pollution degree 2 in accordance with IEC664 1 This means that only dry no
66. nd time out period without touching the Reset button or by cycling power to the drive Note If the Baud Rate or MacID of the device is changed externally power to the drive and the DeviceNet network must be cycled Changes to the baud rate and Mac ID will not be reflected until a full power reset has been completed 34 Network Configuration Quick Start This chapter presents sample startups with a Epsilon Ei DN drive using a 1747 SDN scanner card as the DeviceNet master in a SLC 500 PLC The examples presented are intended as a tutorial For greater information about the steps in this chapter please refer to the Configuring the DeviceNet Network chapter Equipment Epsilon Ei DN Digital Drive NT 207 Motor PowerTools FM Software Allen Bradley SLC 500 PLC 1747 L542 4 Slot Chassis P1 Power Supply 1747 SDN Scanner Card inserted in slot 3 1770 KFD RS 232 to DeviceNet to RS232 Interface module with 96881501 RS232 cable included DeviceNet thin cable and terminating resistors RS Logix 500 Industrial Programming Software PLC Epsilon Ei DN Parameter Tables from the Drive Parameters chapter of this manual Epsilon Ei DeviceNet Drive Configuration Quick Start Process 1 In PowerTools FM configure the software for the particular drive and motor NT 207 that will be used 2 Open the DeviceNet tab and configure the DeviceNet Setup Set the MacID and Baud Rate Select the appropriate Predefin
67. ne of the following faults occur Power Stage Module Invalid Configuration Power Up Self Test NVM Invalid Motor Overtemp Drive Overtemp Duplicate MacID and Bus Off Major Unrecoverable Faults disable the bridge and require a cycle of power to reset 29 Epsilon Ei DeviceNet Drive Reference Manual DN Status Minor Recoverable Fault Ei DN Modbus Address 14001 Range Units Default Type DN Type Group NVM Res Access True False BIT BOOL No RO A Minor Recoverable Fault occurs when the drive experiences a connection time out This fault will not disable the bridge and will clear after the fault clears DN Status Minor Unrecoverable Fault Ei DN Modbus Address 14002 Range Units Default Type DN Type Group NVM Res Access True False BIT BOOL No RO A Minor Unrecoverable Fault will initiate when any of the following faults occur Encoder State Encoder Hardware Low DC Bus High DC Bus Overspeed Following Error Shunt Power RMS Minor Unrecoverable Faults can only be reset with a cycle of power to the drive DN Transmit Counter Ei DN Modbus Address 34201 34202 Range Units Default Type DN Type Group NVM Res Access 0 231_1 Counts US32 UDINT No RO The DN Transmit Counter keeps a running total of all DeviceNet packets successfully transmitted to the Master on the DeviceNet network DN Vendor ID Ei DN Modbus Address 3400
68. nications link to connect industrial devices limit switches photoelectric switches motor drives and position controllers as well as control devices programmable controllers and computers to a network All references to DeviceNet in this document refer to ODVA DeviceNet Specifications Volumes 1 and 2 release 2 0 DeviceNet Object This provides the configuration and status of a physical DeviceNet network connection 75 Epsilon Ei DeviceNet Drive Reference Manual 76 Drop Line A DeviceNet cable that runs from the trunk of a system to a device EDS Electronic Data Sheet file is a formatted ASCII file that contains configuration information of the device Epsilon Drive The Epsilon drive is a digital positioning drive In addition to the basic single axis motion control features it provides advanced diagnostics and high speed communication capabilities Explicit Message A message constructed within the master to poll a device for a single parameter Explicit Messages occur in the background of implicit messaging Explicit Messaging Connections Provide generic multi purpose communication paths between two devices Explicit Messages provide the typical request response oriented network communications Implicit Message A message sent from the master to the slave as a way of passing data Implicit messages transfer a predefined amount of data to and from the Master at a constant rate Index An index is a set of
69. nput Processing Logic Host Mode Host Mode Modbus Index Select es Modbus Home Initiate Hardwire Index Select Index Select Hardwire Home Initiate Home Initiate DeviceNet Index Select DeviceNet Home Initiate Host Mode Host Mode Modbus Index Initiate Modbus Define Home EN Hardwire Index Initiate Index Initiate Hardwire Define Home Define Home DeviceNet Index Initiate DeviceNet Define Home Host Mode Host Mode Modbus Jog Modbus Brake Control Hardwire Jog Index Jog Hardwire Brake Control Brake Control DeviceNet Jog DeviceNet Brake Control Host Mode Host Mode Modbus Jog Modbus Brake Release EN Hardwire Brake Release DeviceNet Jog DeviceNet Brake Release Host Mode Modbus Jog Fast Non Host Mode Modbus Input Hardwire Jog Fast Jog Fast Non Host Mode Hardwire Input N Non Host Mode Output DeviceNet Jog Fast Non Host Mode DeviceNet Input Figure 5 Ei DN Input Processing Logic Diagram 18 Configuring the DeviceNet Network DeviceNet Online Tab The DeviceNet Online Tab is available to the user when PowerTools FM is online with the Ei DN This tab displays DeviceNet specific diagnostics and allows the user to view the status of the DeviceNet network AXIS 1 Bee Setup User Units Inputs Outputs _ Home Indexes Tuning Position Velocity Torque Analog 1 0 Status Status History DN Setup Online
70. ollowing assignments will be used for this application example DN Bit00 MS Reset DN B1t01 MS Home Initiate DN Bit02 MS Jog Note Index type allows 8 DN bits to be configured Although these bits are optional to assign bandwidth used on the DeviceNet network remains the same 4 Click the Outputs tab to configure the DN bits that will be written from the PLC Master Receive DN Bit00 MR End of Index DN Bit01 MR End of Home DN Bit02 MR In Motion DN Bit03 MR In Motion DN Bit04 MR Fault DN Bit05 MR Drive OK 43 Epsilon Ei DeviceNet Drive Reference Manual 5 Download this file to the Ei DN 6 Proceed to Master Configuration on page 48 before going any farther with this example After configuring the master return to this point and continue While online with the Ei DN via PowerTools FM and with the PLC via RSLogix 500 7 Set Output Bit O 1 1 7 high to software enable the drive 8 Set Output Bit O 1 1 1 high to indicate an incremental index 9 UsingOutput Word Select Data Pointer 0x01 to set the Index Distance Position Register and Input Select Data Pointer 0x07 to read back this same parameter in order to verify the transfer Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Jog Jog Data Pointer See page 15 0x01 page 14 0x07 X x x 00001 x x x 00111 Final Word XXX00001XXX00111 With
71. oq lojuroq BIG PIAS 1ndul POAIOSOY poAJosow I UODoJA UODOJA UODOJA PAM Paral H AN AN AN AN AN oumsiq oumsq SS dans a liene YN YN YA D SAL onbio i i uq onjosqy ME Na SHANG NI SuoH 018 bug eng eg va 918 Zug OLHA ELNE vl Ug d I YOoT_ oA19293 IMSEN ed x pul 73 Epsilon Ei DeviceNet Drive Reference Manual USTH eyed M8 SIN Mg ST MOT uleq quiossy poA1osow opo A quiossy osuodsoy POAIOSOY I 0 Aroyoo fer nos 1189909193 ponoso do ATSI 1008 o qeu OAIOSO ug P A o m osqy P A IS A d Iqeug P A 0 018 bua erg pug 5 94g 838 638 OLHA ELHA 19050900 uonisoq 129 K quiossy puss 1 5 usrg eeq 38 SIN t Hg ST eq T parT PARIL ogoq dod youq tur jur poArsoy 3103 posos ERE opo K quiossy suods q poAmwsoy I Kxojoofe1 P 2 AO MO
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73. parameters that defines position based motion including target position and velocity and other parameters The different types of indexes specify basic operation Indexes are associated with digital input and outputs for the purposes of providing control and indication of the Index status Indexer Another term for the Epsilon Ei drive which is intended for indexing Instance A sub classification for a parameter or bit The instance 15 grouped directly under the more broad category of attribute and allows for multiple occurrences of a parameter Example Class Index Attribute Index Dwell Instancel Index 0 Dwell Instance2 Index 1 Dwell Each instance is assigned a unique number under its respective attribute Glossary Connections These provide dedicated special purpose communication paths between a producing application and one or more consuming applications Application specific I O data moves through these ports Link Consumer Object This object is used by a Connection Object to receive data from DeviceNet Link Producer Object This object is used by a Connection Object to transmit data onto DeviceNet MacID DeviceNet specific term for a node address Message Router This distributes Explicit Request Messages to the appropriate handler object Nodes Each Device on a DeviceNet network is called a node ODVA The Open DeviceNet Vendor Association is an organization that manages the DeviceNet specification and su
74. peat the above procedure to configure the Ei DN onto the DeviceNet network 51 Epsilon Ei DeviceNet Drive Reference Manual 52 Explicit Messaging Quick Start To send explicit messages the Epsilon Ei DN drive should be configured and successfully connected to the DeviceNet system as a unique node This chapter will present examples that should be used as a tutorial Equipment Ei DN DeviceNet Digital Drive NT 207 Motor Allen Bradley SLC 500 PLC 1747 L542 4 Slot Chassis P1 Power Supply 1747 SDN Scanner Card slot three 1770 KFD RS 232 to DeviceNet Interface module with 96881501 RS232 cable DeviceNet thin cable RS Logix 500 Industrial Programming Software PLC Ei DeviceNet Drive Parameter Tables from the Drive Parameters chapter of this manual How to Send Explicit Messages An Explicit Message is compiled using an integer file for example N10 Format the message using the following table Integer File N10 High Byte Low Byte N10 0 TXID COMMAND Message Header N10 1 PORT SIZE OF FIELD 10 2 SERVICE MacID N10 3 CLASS N10 4 INSTANCE Message Data N10 5 ATTRIBUTE 10 6 VALUE LOW WORD 10 7 VALUE HIGH WORD Once formatted use the copy command to transfer it to the MO file The copy initiates the explicit message transfer from the scanner to the Ei DeviceNet drive The Ei drive response will be placed into the 1 file by the scanner Using the scanner message received
75. plicit Messaging represents the status of these connections on the DeviceNet Network Virtual LED State Indicates Green Connected state Gray Unconnected state Configuring the DeviceNet Network Input and Output Tab DeviceNet Bits DeviceNet bits are user defined bits that are assigned within the inputs and outputs tabs These bits are used with specific assembly blocks to transfer data via the polled connection DeviceNet bit numbering is the same for all assembly blocks selected therefore DN bit 0 MR Master Receive under Index Sel User Def is the same as DN bit 0 MR Master Receive for Index Type Position Velocity Torque Analog DeviceNet Setup User Units Inputs Outputs Jog Home Indexes Tuning Active Always Input Functions State Active InputLines Debounce Functions Assigned Stop Input Line 10 0 0 ms Input Line 11 0 0 ms Input Line 12 0 0 ms Jog On Jog n Jog Fast n Home Initiate n Home Sensor n Define Home Index Initiate Index Select 0 Index Select 1 Input Line Selection Debounce 0 milliseconds 2720 Always Active Figure 7 Inputs Tab Multiple assignments may be made to the same DN bit and the same I O function may be mapped to a DN bit as well as to an I O assignment This allows the user to indicate drive status simultaneously to multiple de
76. pports the worldwide growth of DeviceNet One touch Configuration Process for changing the baud rate and MacID on the Ei DN using the reset button on the front of the Ei DN PLC Programmable Logic Controller Used to control Inputs and Outputs in a systematic fashion on a device Trunk Line The main branch of a DeviceNet network This branch generally attaches to the main power supply and is capable of carrying more current than the drop lines hanging off of it Terminating Resistors Resistors used to decrease reflection and noise in a serial communications network Generally terminating resistors are placed at the ends of the network on the lines that transmit messages 77 Epsilon Ei DeviceNet Drive Reference Manual UCMM The Unconnected Message Manager processes DeviceNet Unconnected Explicit messages 78 Accessing the EDS File 31 B Baud Rate 10 Bus Off Counter 19 By DeviceNet Class 65 By Name 61 C Command Assembly Code 16 Connection Types 9 Customer Support iii D Data Processing Order of Operations for Fixed Assembly Blocks 17 DeviceNet Bits 21 DeviceNet Hardware Components 5 DeviceNet Messaging and Communications 3 DeviceNet Online Tab 19 DeviceNet Overview 2 DeviceNet Tab 9 DN Allocation Choice Connections Established 23 DN Allocation Master MacID 23 DN Baud Rate 24 DN Bus Off Counter 24 DN Bus Off Fault Count 25 DN Bus Off Interrupt 24 Index
77. rence Manual Name DN Data Type Class Instance Attribute ProductID OptionlIDFunctionModule UINT 111 Ox6F 1 0x01 5 0x05 ProductID Option2IDAnybus 1 UINT 111 Ox6F 1 0x01 6 0x06 ProductID Option3IDAnybus2 UINT 111 Ox6F 1 0x01 7 0x07 ProductID ProductGroup UINT 111 Ox6F 1 0x01 8 0x08 ProductID ProductID UINT 111 Ox6F 1 0x01 9 0x09 ProductID ProductSerialNumber String 111 Ox6F 1 0x01 10 0x0A ProductID ProductSubGroup UINT 111 Ox6F 1 0x01 11 0x0B ProductSubGroup UINTI6 1 0x01 1 0x01 3 0x03 Setup DriveAmbientTemperature UINT 112 0x70 1 0x01 1 0x01 Setup DriveAxisName String 112 0x70 1 0x01 2 0x02 Setup EncoderOutput UINT 112 0x70 1 0x01 3 0x03 Setup EncoderOutputEnable WORD 112 0x70 1 0x01 4 0x04 Setup ExecuteReadFMNVMtoRAM BOOL 112 0x70 1 0x01 21 0x15 Setup LowDCBusEnable WORD 112 0x70 1 0x01 5 0x05 Setup PositiveDirection WORD 112 0x70 1 0x01 6 0x06 Status AbsoluteRotorPosition DINT 113 0x71 1 0x01 1 0x01 Status BusVoltage UINT 113 0x71 1 0x01 2 0x02 Status CommutationAngleCorrection INT 113 0x71 1 0x01 3 0x03 Status CommutationTrackAngle UINT 113 0x71 1 0x01 4 0x04 Status CommutationVoltage INT 113 0x71 1 0x01 5 0x05 Status EncoderCounts DINT 113 0x71 1 0x01 6 0x06 Status
78. rom 9 predefined assembly blocks Master Receive Assembly Block data translates to 8 bytes of Polled I O data that will be transferred from the Ei DN to the Master via DeviceNet and Master Receive Assembly Block data translates to 8 bytes of polled I O data that will be transferred from the Master to the Ei DN Index Select Predefined Index Sel Predef Index Sel Predef is a fixed assembly block used for reading and writing basic functions to and from the Ei DN This fixed assembly block is the default selection in PowerTools FM 10 Configuring the DeviceNet Network and has many parameters premapped for quick setup and replacement Index Sel Predef was created to keep everything simple and standard for the user Bits that are generally used have been included in the assembly block for no work access to DeviceNet The Index Sel Predef is set as default so the user can set Baud Rate MacID drive type and then start communication The following tables display the data mapping for the Index Sel PreDef Assembly Blocks See Appendix on page 71 for expanded versions of these tables Master ReceiveAssembly Block Index Sel Predef Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bit8 Bit 7 Bit 6 Bit5 B
79. s VelocityCommand DINT 113 0x71 1 0x01 17 0x11 Torque FoldbackRMSCurrentLevel UINT 114 0x72 1 0x01 1 0x01 Torque LimitedTorqueCommand INT 114 0x72 1 0x01 2 0x02 Torque TorqueCommand INT 114 0x72 1 0x01 3 0x03 Torque TorqueLevell UINT 114 0x72 1 0x01 4 0 04 Torque TorqueLevel2 UINT 114 0x72 1 0x01 5 0x05 Torque TorqueLimit UINT 114 0x72 1 0x01 6 0x06 Tuning EnableFeedforwards WORD 115 0x73 1 0x01 1 0x01 Tuning Friction UINT 115 0x73 1 0x01 2 0x02 Tuning LoadIntertia UINT 115 0x73 1 0x01 3 0x03 Tuning LowPassFilterEnable WORD 115 0x73 1 0x01 4 0x04 Tuning LowPassFilterFrequency UINT 115 0x73 1 0x01 5 0x05 Tuning PositionErrorIntegral DINT 115 0x73 1 0x01 6 0x06 Tuning PositionErrorIntegralEnable WORD 115 0x73 1 0x01 7 0x07 Tuning PositionErrorIntegral TimeConstant UINT 115 0x73 1 0x01 8 0x08 Tuning ResponseLevel UINT 115 0x73 1 0x01 10 0 0 UserUnits AccelerationDecimalPoint UINT 116 0x74 1 0x01 1 0x01 UserUnits PositionDecimalPoint UINT 116 0x74 1 0x01 2 0x02 UserUnits TimeBasedIndication UINT 116 0x74 1 0x01 3 0x03 UserUnits UserUnitDefinition UINT 116 0x74 1 0x01 4 0x04 UserUnits UserUnitString String 116 0x74 1 0x01 5 0x05 UserUnits UsingUserUnits BOOL 116 0x74 1 0x01 6 0x06 UserUnits VelocityDecimalPoint UINT 116 0x74 1 0x01 7 0x07 UserUnits UserDefinedBitmap UINT
80. ser through PowerTools FM or using Explicit Messages on the DeviceNet network Figure 9 Axis Name Axis Address DN Allocation Choice DN Allocation Master MacID DN Baud Rate DN Bus off Counter DN Bus Off Fault Count DN Bus off Interrupt DN Comm Timeout Fault Count DN Device Type DN Duplicate MAC Id Fault Count DN Host Mode DN MaclD DN Master Receive Bitmap DN Master Receive FAB Type DN Master Send Bitmap DN Master Send FAB Type DN Module Status DN Network Status DN Receive Counter DN Status Major Recoverable Fault DN Status Major Unrecoverable Fault DN Status Minor Recoverable Fault DN Status Minor Unrecoverable Fault DN Transmit Counter DN Vendor ID Watch Window Configuring the DeviceNet Network 250K 0 65535 Off 65535 0 65535 n 4 0 Index Sel Predef 0 Index Sel Predef perational Connected 1445932 FALSE FALSE FALSE FALSE 263716868 553 DN Allocation Choice Connections Established Ei DN Modbus Address 34003 Range Units Default Type DN Type Group NVM Res Access BMI6 WORD No RO This parameter monitors the status ofthe established connections and displays the corresponding bitmap Bit 0 Explicit Message Bit Polled DN Allocation Master MacID Ei DN Modbus Address 34004 Range Units Default Type DN Type Group NVM Res Access 0 63 63 US16 UINT No RO This parameter displays the Ma
81. status flag in the example of this chapter the location would be I 3 15 copy the 1 file to an integer file N11 Once the message has been copied the results may be examined from the N11 file TXID is set at 0x01 for all of the following examples PORT will be set to 0x00 indicating a 1 port network 53 Epsilon Ei DeviceNet Drive Reference Manual 54 COMMAND 0x01 EXECUTE 0x04 CLEAR RESPONSE BUFFER Size of field is the size of the message data section and does not contain the message header For GET Service command size should be 6 bytes for SET Service command size should be 10 0x0A bytes SIZE OF DATA FIELD Get Fields 0x06 bytes Set Fields Ox0A bytes The service parameter determines whether the data will be sent to or received from the slave SERVICE 0 0 GET DATA Ox10 SET DATA The MacID indicates the node number of the device to be read written to MacID 0x00 0x3F The class instance and attribute IDs for each parameter in the Ei DeviceNet drive can be found in the back of this manual CLASS INSTANCE ATTRIBUTE Note In order to transmit a new explicit message the response buffer must be cleared by setting TXID Command portion of the message header to 104 hex in the integer file and initiating a file copy This copy must be completed every time an explicit message is sent or received The Ladder Logic given
82. support information 24 hours a day seven days a week Our wide range of services include FAX 952 995 8099 Youcan FAX questions and comments to Control Techniques Just send a FAX to the number listed above Website and Email www emersonct com Website www emersonct com Email info emersonct com If you have Internet capabilities you also have access to technical support using our website The website includes technical notes frequently asked questions release notes and other technical documentation This direct technical support connection lets you request assistance and exchange software files electronically Technical Support 952 995 8033 or 800 397 3786 Email service emersonct com Control Techniques Motion Made Easy products are backed by a team of professionals who will service your installation Our technical support center in Eden Prairie Minnesota is ready to help you solve those occasional problems over the telephone Our technical support center is available 24 hours a day for emergency service to help speed any problem solving Also all hardware replacement parts if needed are available through our customer service organization When you call please be at your computer with your documentation easily available and be prepared to provide the following information Product version number found by choosing About from the Help menu The type of controller or product you are using Exact word
83. t Counter edocet na en en en 30 DN Vender Dan ua am an 30 Accessing the EDS File ced ERR kr RO dae ete Ske eens REN ods 31 Hardware interface y oso ver tae ga shaq alee ede ho 20 31 Module Status LED 300 243 2 22 22 es FEES eR ae nee 31 Network Status GED u St ok 32 AERA GRY EE Oe ha 32 Setting the Baud Rate and MacID Externally One Touch 32 Network Configuration Quick Start 35 Equipment davon ci deserto seite n BE Ro NUS 35 Epsilon Ei DeviceNet Drive Configuration Quick Start Process 35 Polled I O Setup veu HIERRO T TE 36 Master Configuration een ia iS Due RES dre 48 Explicit Messaging Quick Start 53 Equipment eir Len eh ah ete CER e HC Ia en eed teen ee 53 How to Send Explicit Messages 53 Explicit Messaging Examples teen ence eee 55 Drive Parameters 61 en ae 61 By DeviceNet Class 2 2 22 ee remis 65 Appendix 71 Glossary 75 Index 79 Introduction Purpose This manual describes the Epsilon Ei DeviceNet Ei DN Servo Drive and gives examples for connecting DeviceNet with Epsilon Indexing drives The reader should have knowledge of basic DeviceNet concepts In addition the user should be familiar with the functional
84. t Data Pointer See page 14 2 Data Low Word LS Bit 3 MS Bit Data High Word Index Type is the fixed assembly block used for reading and writing parameters when one index is running different index types incremental absolute etc The Index Type Assembly Block is used to set up and initiate one index as a position controller but also provides the user with the additional functionality of the Epsilon Ei drive i e home jog or most other I O parameters The Index Type Assembly Block gives the user the flexibility of being able to control the drive position by position but also gives Home and Jog functionality right within the DeviceNet I O See Appendix on page 71for expanded versions of these tables Master Receive Assembly Block Index Type Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 BitO Absolute Home ee 5 DNBit DNBi DNBi DNBit DNB DNBi Enable moni Limit Limit Endof Torque ull Drive 7MR 6MR 5MR 4MR 3MR 2MR 1 MR 0MR State Distance Distance Home Limit b 1 Hit Hit EX Motion Motion Motion 1 Reserved Reserved Reserved Input Word Select Data Pointer See page 14 Reserved Reserved Reserved an ne State Bit State Bit State Bit 2 1 0 2 Data Low
85. t O 1 1 0 high to initiate Index 0 8 SetOutput Bit O 1 1 1 high to initiate Home 9 Set Output Bit O 1 1 2 high to Jog 10 Set Output Bit O 1 1 3 high to Jog 11 Set Output Bit O 1 1 4 high to enable Jog Fast 12 Set Output Bits O 1 1 12 O 1 1 15 to select the index to initiate or to select the index to read from or write to using the Input Output Word Select Data Pointer 37 Epsilon Ei DeviceNet Drive Reference Manual 38 13 Using Output Word Select Data Pointer 0 0 to set Jog Velocity and Input Select Data Pointer 0x06 to read back the torque command use the following table to construct the proper words for the read and write Output Word Select Input Word Select Reserved Reserved Reserved Data Pointer See Reserved Jog Jog Data Pointer See 15 0x0A page 14 0x06 X X X 01010 X X X 00110 Final Word XXX01010XXX00110 With zeros in for X s 2566 0xA06 Write to Words O 1 3 O 1 4 to write to the selected jog velocity Data can be obtained from the online DN view described in the following step 14 While online with PowerTools FM click the DeviceNet tab and open up the Master Receive and Master Send Assembly Blocks Verify that the correct data is moving back and forth through the assembly blocks and that the data pointers are reading and writing the data as expected Example 2 Index Sel Userdef This sample procedure for the Index Sel Userdef assembly
86. ter Send Assembly Block Userdef Download Upload Memorize Help DN Setup Index Sel Userdef DN Bit00 MS Index Initiate N Bit01 MS Home Initiate N Bit02 MS Jog N Bit03 MS Jog N Bit04 MS Jog Fast Click the Inputs tab to configure the DN bits that will be written from the PLC Master Send The following assignments will be used for this application example Index Sel Userdef allows 16 DN bits to be configured Although these bits are optional to assign bandwidth used on the DeviceNet network remains the same 39 Epsilon Ei DeviceNet Drive Reference Manual AXIS 1 EiDn 202 NT 207 Disabled BBE Position Velocity Tore Analog DeviceNet Setup UserUnits Inputs Outputs Jog Home Indexes Tuning Input Functions Active Input Lines Debounce Functions Assigned Define Home Input Line 12 0 0 ms Index Initiate Index Select 0 Index Select 1 Index Select 2 Index Initiate Home Initiate Jog Jog Fast Reset Travel Limit Travel Limit Torque Limit Enable Unmapped Bit8 Active Off Always Active Input Line Selection Download Upload Memorize Help Figure 12 Inputs Tab 4 Click the Outputs tab to configure the DN bits that will be written to from the PLC Master Receive DN Bit00 MR End of Index DN Bit01 MR End of Home DN Bit02 MR In Motion DN Bit03 MR In Motion DN Bit
87. us LED 31 Module Status Virtual LED 20 N Network Status LED 32 Network Status Virtual LED 20 No Data Sent 13 80 Output Word Select Data Pointer 15 P PLC Program 56 Polled I O Setup 36 Polled Explicit Messaging Virtual LED s 20 Position Control 12 45 R Read Index 0 Velocity 56 Response Assembly Codes 16 S Safety Considerations vii Safety of Machinery viii Safety Precautions vii Setting Up Parameters Setup Tab 9 Software Interface 9 Status LED s 31 I Transmit Receive Conuter 19 V Viewing and Changing the Baud Rate and MacID 32 Index Write Index 1 Velocity 57 81 Epsilon Ei DeviceNet Drive Reference Manual 82 Since 1979 the Motion Made Easy products designed and manufactured in Minnesota U S A are renowned in the motion control industry for their ease of use reliability and high performance For more information about Control Techniques Motion Made Easy products and services call 800 397 3786 or contact our website at www emersonct com Control Techniques Drives Inc Division of EMERSON Co 12005 Technology Drive Eden Prairie Minnesota 55344 U S A Customer Service Phone 952 995 8000 or 800 397 3786 Fax 952 995 8129 Technical Support Phone 952 995 8033 or 800 397 3786 Fax 952 9995 8020
88. value of 1000 Revs minute to the Index Velocity O 1 2 0x02 parameter and O 1 3 0x3E8 value After these values are in place toggle the Valid Data Bit O 1 1 6 Set the Command Assembly code to send a value of 500 revs min to the Index Accel O 1 2 0x03 parameter and 0 1 3 0x1F4 value After these values are in place toggle the Valid Data Bit O 1 1 6 Set the Command Assembly code to send a value of 500 revs min to the Index Decel O 1 2 0x04 parameter and O 1 3 0x1F4 value After these values are in place toggle the Valid Data Bit O 1 1 6 Network Configuration Quick Start 9 Setthe Receive Assembly code to read the Actual Position O 1 2 0x02 parameter This response will be read back from I 1 3 and I 1 4 low high word response 10 Set O 1 1 7 1 to Enable the Drive Set O 1 1 2 0 indicating an Absolute Move Set O 1 1 0 1 indicating start of the Move After these values are in place toggle the Valid Data Bit O 1 1 6 Using the parameter set previously a second motion can be initiated with one Valid Data Bit toggle This move will also read back the actual Velocity from I 1 3 and I 1 4 11 Set O 1 2 0x03 this will set the Response Assembly code to read back Velocity feedback and the Command Assembly code to write to the Index Position Set O 1 3 0 0 value and then toggle the Valid Data Bit O 1 1 6 47 Epsilon Ei DeviceNet Drive Reference Manual Master Configuration
89. vices via hardwire and DeviceNet When multiple assignments are made the DN bit is the logical OR condition at he assigned input function 21 Epsilon Ei DeviceNet Drive Reference Manual 22 AXIS 1 EiDn 202 NT 207 Disabled Position Velocity Torque Setup User Units Inputs Dutputs Jog Output Functions Dutput Lines End of Index Motion Line End of Index End of Index Count End of Chaining Count DN Bit00 DN Bit01 DN Bit02 Registration Limit Distance Hit DN Bit03 End of Home Absolute Position Valid Home Limit Distance Hit At Velocity In Motion In Motion Unmapped on Bit3 Output Line Selection DN 8104 DN 8105 DN 8106 DN Bit07 DN 8108 DN Biog Figure 8 Outputs Tab Analog Home Indexes Tuning Active State Active Functions Assigned In Motion In Motion End of Home End of Index Download Upload Memorize When an unsupported DN bit assignment is made a warning message will pop up telling the user that the selected assembly block does not support that bit When acknowledged the assignment will be mapped to that bit anyway and will not be transferred via DeviceNet Faults and Diagnostic Display PowerTools FM has implemented an extended set of fault and diagnostic parameters to aid in setup and monitoring of the DeviceNet Network Figure 9 shows the faults and diagnostic parameters available to the u
90. wer Supply Requirements A separate 24 VDC power supply is needed for the DeviceNet network The Ei DN slave interface is powered using this network power Devices may take all oftheir required power off of the network per ODVA specifications The Ei DN draws 25 mAmps from the DeviceNet power supply The power supply must have its own current limit protection Fuse protection must be provided for each segment of the cable system The power supply must be correctly sized to provide each device with its required power Power supplies should be distributed throughout the DeviceNet network to maintain a maximum of 4 Amps per trunk branch For more details refer to the ODVA Specification Volumes I and II Release 2 0 Terminating Resistors Terminating resistors are used to reduce the reflection of signals over the network Each terminator must be 121 ohms and installed on both ends ofthe network between CAN L pin 2 and CAN H pin 3 Electrical Installation Physical Connections to the DeviceNet Network A standard five wire configuration 1s used to connect the Ei DN to the DeviceNet Network A 24 Volt power supply should be connected between and V When multiple Ei DN devices are present on the network connection with all devices can be accomplished by either daisy chaining or by using a multiple tap box Pin Number Name Insulation Color 1 V Black 2 CAN_L Blue 3 Drain None 4 CAN White 5 V Red
91. wer available along the bus both signal and power lines contained in the trunk line DeviceNet Messaging and Communications Master Slave Relationship ODVA defines a DeviceNet Master as The device that gathers and distributes I O data for the process controller A Master contains a scan list it uses to poll slave devices ODVA defines a DeviceNet Slave as The slave returns I O data to its Master when it is polled With respect to the network the Slave is a Group 2 Server or a Group 2 Only Server Epsilon Ei DeviceNet Drive Reference Manual iverson Seamer Module Configure Master DeviceNe RSNetworx 4 RsLinx Configure PLC Configure Ei DN Slaves Nodes Drop Line Trunk Line DeviceNet Master Scanner Card Explicit Message Setup Powertools FM RSLogix RsLinx 24vDC Power Supply Choose the Four Word Parameters to Transfer Master Send Master Receive Index Sel Predef Index Sel Predef Index Sel Userdef Index Sel Userdef Index Type Index Type Position Control Position Control No Operation Figure 2 Master Slave Relationship Installation Mechanical Installation Follow the instructions for mechanical installation of an Epsilon Ei Drive as outlined in the Epsilon Ei Installation Manual P N 400501 06 DeviceNet Hardware Components The following
92. x01 2 0x02 Jog JogFastVelocity UDINT 107 0x6B 1 0x01 3 0x03 Jog JogVelocity UDINT 107 0x6B 1 0x01 4 0x04 ModuleFirmwareRevision String 4 1 0x01 1 0x01 4 0x04 ModuleSerialNumber String 16 1 0x01 1 0x01 6 0x06 OutputFunction OutputFunctionInstance Mapping32 UINT 108 0x6C See Note 1 1 0x01 OutputFunction OutputFunctionStatusBitMap WORD 108 0x6C 1 0x01 21 0x15 OutputLine OutputLinesStatusBitMap WORD 109 0x6D 1 0x01 4 0x04 OutputLine OutputLinesOverrideActive UINT 109 0x6D 1 0x01 1 0x01 OutputLine OutputLinesOverrideStatus UINT 109 0x6D 1 0x01 2 0x02 OutputLine OutputLinesPolarity BitMap WORD 109 0x6D 1 0x01 3 0x03 Position FollowingError DINT 110 0x6E 1 0x01 1 0x01 Position FollowingErrorEnable WORD 110 0x6E 1 0x01 2 0x02 Position FollowingErrorLimit DINT 110 0x6E 1 0x01 3 0x03 Position InPositionTime UINT 110 0x6E 1 0x01 7 0x07 Position InPositionWindow UDINT 110 0x6E 1 0x01 6 0x06 Position RolloverPosition UDINT 110 0x6E 1 0x01 4 0x04 Position RolloverPositionEnable WORD 110 0x6E 1 0x01 5 0 05 ProductID FirmwareRevisionBase String 111 Ox6F 1 0x01 1 0x01 ProductID FirmwareRevisionOption String 111 Ox6F 1 0x01 2 0x02 ProductID InterfaceRevisionBase UINT 111 Ox6F 1 0x01 3 0x03 ProductID InterfaceRevisionOption UINT 111 Ox6F 1 0x01 4 0x04 63 Epsilon Ei DeviceNet Drive Refe
93. x01 24 0x18 Index CurrentIndexCount UINT 104 0x68 1 0x01 21 0x15 Index CurrentIndexNumber UINT 104 0x68 1 0x01 22 0x16 Index IndexInstance Acceleration UDINT 104 0x68 See Note 1 2 0x02 Index IndexInstance ChainNext UINT 104 0x68 See Note 1 1 0x01 Index IndexInstance ControlRegister UINT 104 0x68 See Note 1 3 0x03 Index IndexInstance Count UINT 104 0x68 See Note 1 4 0x04 Index IndexInstance Deceleration UDINT 104 0x68 See Note 1 5 0x05 Index IndexInstance Distance DINT 104 0x68 See Note 1 6 0x06 Index IndexInstance Dwell UINT 104 0x68 See Note 1 7 0x07 Index IndexInstance Type WORD 104 0x68 See Note 1 8 0x08 Index IndexInstance Velocity UDINT 104 0x68 See Note 1 9 0x09 Index InfiniteChaining WORD 104 0x68 1 0x01 25 0x19 Index Instance RegistrationOffset DINT 104 0x68 See Note 1 10 0x0A InputFunction InputFunctionAlwaysActiveBitMap WORD 105 0x69 1 0x01 21 0x15 InputFunction InputFunctionInstance ActiveO ffArray BOOL 105 0x69 See Note 1 1 0x01 InputFunction InputFunctionInstance AlwaysActive Array BOOL 105 0x69 See Note 1 2 0x02 InputFunction InputFunctionInstance Mapping WORD 105 0x69 See Note 1 3 0x03 InputFunction InputFunctionInstance StatusArray BOOL 105 0x69 See Note 1 4 0x04 InputFunction InputFunctionPolarityBitMap WORD 105 0x69 1 0x01 22 0x16 InputFunction InputFunctionStatusBitMap WORD 105 0x69 1 0x0

Emerson Epsilon EiDeviceNet Drive User's Manual

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