Emerson 400501-08 User Manual

Epsilon Ei DeviceNet Drive

Reference Manual

P/N 400501-08

Revision A2

Date: March 20,2002

© 2001, 2002 Control Techniques Drives, Inc.

Epsilon Ei

DeviceNet Drive

Reference Manual

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 Techniques: 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.

ii

Customer Support

Control Techniques
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.

Telephone: [phone] or [phone]

It is 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 is
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 support information 24 hours a day, seven days
a week. Our wide range of services include:

FAX [phone]

You can 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: [e-mail]

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 [phone] or [phone]

Email: [e-mail]

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

iii

• Exact wording 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 is
required.

Training Services [phone] or [phone]

Email: [e-mail]

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 [phone] or [phone]

Email: [e-mail]

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) [phone] or [phone]

Email: [e-mail]

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 found 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.

iv

In addition, you will find the following typographic conventions throughout this manual.

This Represents

bold

italic

ALL CAPITALS Directory names, file names, key names, and acronyms.

SMALL CAPS Non-printable ASCII control characters.

KEY1+KEY2
example: (Alt+F)

KEY1,KEY2
example: (Alt,F)

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.

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.

A plus sign (+) between key names means to press and hold down the first key while you press
the second key.

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 Epsilon drive.

“Warning” indicates a potentially hazardous situation that, if not avoided, could result in
death or serious injury.

“Caution” indicates a potentially hazardous situation that, if not avoided, may result in
minor or moderate injury.

“Caution” used without the safety alert symbol indicates a potentially hazardous situation
that, if not avoided, may result in property damage.

v

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:

• Is 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.

• Is trained in rendering first aid.

Reference Materials

The following related reference 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 & 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 and 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, non-conducting contamination is 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

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.

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

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).

viii

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 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

DeviceNet Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

DeviceNet Communications Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

DeviceNet Messaging and Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Master/Slave Relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Installation 5

Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

DeviceNet Hardware Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Physical Connections to the DeviceNet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Configuring the DeviceNet Network 9

Connection Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

DeviceNet Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Data Processing/Order of Operations for Fixed Assembly Blocks . . . . . . . . . . . . . . . . . . . 17

DeviceNet Online Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Input and Output Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

DN Bus Off Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

DN Comm Time-out Fault Count. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DN Device Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DN Duplicate MacID Fault Count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DN FAB Master Receive Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DN FAB Master Send Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

DN Host Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

DN MacID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

DN Master Receive Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

DN Master Receive FAB Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

ix

DN Master Send Bitmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

DN Master Send FAB Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

DN Module Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

DN Network Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

DN Receive Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

DN Status Major Recoverable Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

DN Status Major Unrecoverable Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

DN Status Minor Recoverable Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

DN Status Minor Unrecoverable Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

DN Transmit Counter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

DN Vendor ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Accessing the EDS File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Hardware Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Module Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Network Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Setting the Baud Rate and MacID Externally (One Touch) . . . . . . . . . . . . . . . . . . . . . . . . 32

Network Configuration
Quick Start 35

Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Epsilon Ei DeviceNet Drive Configuration Quick Start Process . . . . . . . . . . . . . . . . . . . . . . . . 35

Polled I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Explicit Messaging Quick Start 53

Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

How to Send Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Explicit Messaging Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Drive Parameters 61

By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

By DeviceNet Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Appendix 71

Glossary 75

Index 79

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Epsilon Ei DeviceNet Drive Reference Manual

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 functionality 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.

Diagnostic Display

Reset Button

Network Status LED - See page 32

Module Status LED - See page 31

Figure 1: Epsilon Ei DeviceNet Drive - Ei-DN-205 Shown

DeviceNet Connections ­See page 6

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Epsilon Ei DeviceNet Drive Reference Manual

The Epsilon Ei-DN configuration is 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 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)

2

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. Power 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.

Introduction

3

Epsilon Ei DeviceNet Drive Reference Manual

Configure Master

DeviceNet

RSNetworx
RsLinx

Configure PLC

DeviceNet Master
Scanner Card

Explicit Message Setup

RSLogix
RsLinx

DeviceNet

Trunk Line

Figure 2: Master/Slave Relationship

Drop Line

24VDC

Power Supply

Slaves (Nodes)

Configure Ei-DN

4

Epsilon Ei DeviceNet Drive Reference Manual

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 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.

5

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.)

Power 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 of their 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 of the network between CAN_L (pin

2) and CAN_H (pin 3).

Electrical Installation

Physical Connections to the DeviceNet Network

A standard five wire configuration is used to connect the Ei-DN to the DeviceNet Network.
A 24 Volt power supply should be connected between V+ 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

3DrainNone

4 CAN_H White

5V+Red

6

Installation

The connector provided for the DeviceNet connection is keyed: VT (pin 5) and should be
wired to the keyed slot.

Terminating

Resistor

Figure 3: DeviceNet Wiring

7

Epsilon Ei DeviceNet Drive Reference Manual

8

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 Polled 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 mapping.

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Epsilon Ei DeviceNet Drive Reference Manual

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 from 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 I/O. 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 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

End of

End of

0

Index

1 Reserved Reserved Reserved Input Word Select Data Pointer (See page 14)

2 Data Low Word LS Bit

3MS Bit Data High Word

Chaining

Count

Index

Count

Index

Motion

Travel
Limit -

End of

End of

Travel

Limit +

Reg

Limit

Distance

Hit

Brake

Release

Enable

State

Registration

Sensor 1

Status

In - Motion

Registration

Sensor 2

Status

In +

Motion

Home

Sensor

Status

At

Velocity

Absolute
Position

Val i d

End of
Home

Home

Limit

Dist Hit

Torque

Limit

Motion
State Bit

2

Fault

Motion

State Bit

1

Drive

OK

Motion

State Bit

Master Send Assembly Block - Index Sel (Predef)

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Index

Index

Index

Index

Select Bit

3

Select Bit

2

0

1 Reserved Reserved Reset Output Word Select Data Pointer (See page 15) Enable Stop

2 Data Low Word LS Bit

3MS Bit Data High Word

Select Bit 0Jog - Jog +

Select Bit

1

Home
Initiate

Start

DN Bit 7 MSDN Bit 6 MSDN Bit 5 MSDN Bit 4 MSDN Bit 3 MSDN Bit 2 MSDN Bit 1 MSDN Bit 0

Index

Define
Home

Input Word Select Data P ointer (See page 14)

MS

0

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 of the 16 indexes may be Initiated or changed. 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 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 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

0

15 MR

14 MR

13 MR

12 MR

11 MR

10 MR

9 MR

8 MR

7MR

6MR

5 MR

4 MR

3 MR

2 MR

Index

Index

Index

1 Reserved Reserved Reserved Input Word Select Data Pointer (See page 14)

2 Data Low Word LS Bit

3MS Bit Data High Word

Select

Bit 3

Select

Bit 2

Select

Bit 1

Index
Select

Bit 0

Enable

State

Motion

State Bit

2

1 MR

Motion

State Bit

1

DN Bit

0 MR

Motion

State Bit

0

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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 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Index

Index

Index

Index

0

Select

Bit 3

1 Reserved Reserved Reserved Output Word Select Data Pointer (See page15) Reserved Reserved Enable Input Word Select Data Pointer (See page14)

2 Data Low Word LS Bit

3MS Bit Data High Word

Select

Bit 2

Select

Bit 1

Select

Bit 0

DN Bit
11 MS

DN Bit
10 MS

DN Bit

9 MS

DN Bit

8 MS

DN Bit

7 MS

DN Bit

6 MS

DN Bit

5 MS

DN Bit

4 MS

DN Bit

3 MS

DN Bit

2 MS

DN Bit

Index Type

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 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Reg

Home

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

DN Bit

0

7 MR

6 MR

5 MR

4 MR

3 MR

2 MR

1 Reserved Reserved Reserved Input Word Select Data Pointer (See page14) Reserved Reserved Reserved

2 Data Low Word LS Bit

3MS Bit Data High Word

1 MR

DN Bit

0 MR

Enable

State

Absolute
Position

Valid

Limit

Distance

Hit

Limit

Distance

Hit

Travel

Limit -

End of
Home

Travel

Limit +

Torq ue

Limit

Motion

State Bit

2

State Bit

1 MS

Fault

Motion

1

DN Bit

0 MS

Drive

OK

Motion

State Bit

0

Master Send Assembly Block - Index Type

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Index

Type Bit

2

Index

Type Bit

0 DN Bit 7 DN Bit 6 DN Bit 5 DN Bit 4 DN Bit 3 DN Bit 2 DN Bit 1 DN Bit 0 Enable Reset Stop

1 Reserved Reserved Reserved Output Word Select Data Pointer (See page 15) Jog Fast Jog - Jog + Input Word Select Data Pointer (See page14)

2 Data Low Word LS Bit

3MS Bit Data High Word

Home

Initiate

Note

“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 of these 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

Index

Start

Type Bit

1

Index

0

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. 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 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Valid

Absolute

Enable

0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

1 Reserved Reserved Reserved Response Assembly Code (See page16)

2 Data Low Word LS Bit

3MS Bit Data High Word

State

Command

Error

Data = 1

Ignore

Data = 0

Reserved

Position

Val id

Trajectory
Start Echo

Stop
Input

Reserved Reserved

Fault

End of

Index

Motion

CCW

Hardware

Limit
(Travel
Limit -)

Reserved

CW

Hardware

Limit
(Travel
Limit +)

Trajectory

Started

Drive OK

Master Send Assembly Block - Position Control

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Val i d

Data = 1

0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Enable

1 Reserved Reserved Reserved Response Assembly Code (See page16) Reserved Reserved Reserved Command Assembly Code (See page16)

2 Data Low Word LS Bit

3MS Bit Data High Word

Reserved Stop Reserved

Ignore

Data = 0

Absolute=0

Incremental=1

Reserved

Start

Trajectory

No Operation

The No Operation Assembly Block is used 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 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0

1

2

3

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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 is 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

0x1E Fault Status Bitmap

0x1F Reserved

14

Configuring the DeviceNet Network

Output Word Select Data Pointer

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

0x0E Home Velocity

0x0F Home Acceleration

0x10 Home Deceleration

0x11 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 - 0x1F Reserved

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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
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

0x11 Reserved

0x12 Reserved

0x13 to 0x1D Reserved

0x1E Reset “Set Bit 0 to 1”

0x1F Reserved

Response Assembly Codes

16

The Response Assembly Code is used only when the position controller object is in use and
the Ei-DN is 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 0x1D Reserved

0x1E Fault Status Bitmap

0x1F Reserved

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 processed (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)

** If 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

•Jog +

•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

All 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 I/O needs to be switched from “DeviceNet
only” to “DeviceNet I/O or Hardware I/O.”

Ei-DN Input Processing Logic

Host Mode

Host Mode

Modbus Index Select

Hardwire Index Select

DeviceNet Index Select

Modbus Index Initia te

Modbus Index Initia te

Hardwire Index Initiate

Hardwire Index Initiate

DeviceNet Index Initiate

DeviceNet Index Initiate

Modbus Jog+

DeviceNet Jog+

Modbus Jog-

Hardwire Jog-

DeviceNet Jog-

Modbus Jog Fast

Hardwire Jog Fast

DeviceN et Jog F ast

EN

Host Mode

Host Mode

EN

EN

Host Mode

EN

Host Mode

Host Mode

EN

Host Mode

Host Mode

EN

Index Select

Index Initiate

Index Initiate

Index Jog+

Jog-

Jog Fast

DeviceNet Brake Control

DeviceNet Brake Release

Non-Host Mode Modbus In put

Non-Host Mode Hardwire Input

Non-Host Mode DeviceNet Input

Figure 5: Ei-DN Input Processing Logic Diagram

Modbus Home Init iate

Hardwire Home Initiate

DeviceNet Home Initiate

Modbus Define Home

Hardwire Define Home

DeviceNet Define Home

Modbus Brake Control

Hardwire Brake Control

Modbus Brake R elease

Hardwire Brake Release

EN

Host Mode

EN

Host Mode

EN

Host Mode

EN

Home Initiate

Define Home

Brake Control

Brake Release

Non-Host Mode O utput

18

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.

Configuring the DeviceNet Network

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.

Virtual LED

State

Off Not Powered/Not online

Flashing Green Online, Not Connected

Green Link OK Online, Connected

Flashing Red Connection Time-Out One or more I/O Connections are in the Timed-Out state.

Red Critical Link Failure

Drive State Indicates

The device has not completed the Duplicate 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. The device has

passed the Duplicate MacID test and is online but has no established connections

The device is online and has connections in the established state. This means the

Failed communication device. The device has detected an error that has rendered it

incapable of communicating on the network (Duplicate MacID or Bus Off).

Device is not online:

to a Master.

device is connected to a Master.

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.

Virtual L ED

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

Flashing Red Minor Fault Recoverable Fault

Red Unrecoverable Fault The device has an unrecoverable fault, may need replacing

Flashing Red-

Green

Device in Standby (The Device Needs

Drive State Indicates

Commissioning)

Device Self-Testing The device is in self-test.

The device needs commissioning due to configuration missing,

incomplete, or incorrect. The device may be in the standby state.

Established Connections

Polled/Explicit Messaging Virtual LED’s

The virtual LED display for Polled and Explicit Messaging represents the status of these
connections on the DeviceNet Network.

20

Virtual LED State Indicates

Green Connected state

Gray Unconnected state

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.”

Configuring the DeviceNet Network

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 devices 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

Figure 8: Outputs Tab

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 user through PowerTools FM or using Explicit Messages on the
DeviceNet network.

22

Figure 9: Watch Window

Configuring the DeviceNet Network

DN Allocation Choice (Connections Established)

Ei-DN Modbus Address: 34003

Range Units Default Typ e DN Type Group NVM Res. Access

BM16 WORD No RO

This parameter monitors the status of the established connections and displays the corresponding
bitmap. Bit 0 Explicit Message, Bit1 Polled.

DN Allocation Master MacID

Ei-DN Modbus Address: 34004

Range Units Default Typ e DN Type Group NVM Res. Access

0-63 63 US16 UINT No RO

This parameter displays the MacID 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 Typ e 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 Typ e 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 Typ e DN Type Group NVM Res. Access

31

-1 Counts US16 UINT Yes RO

0-2

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 Typ e DN Type Group NVM Res. Access

0, 1 ENM Word No RO

Ten Bus-Off Faults in a row initiate the Bus-Off Interrupt (Major fault).

24

Configuring the DeviceNet Network

DN Comm Time-out Fault Count

Ei-DN Modbus Address: 40717

Range Units Default Typ e DN Type Group NVM Res. Access

15

-1 Counts US16 UINT Yes RO

0-2

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 Typ e DN Type Group NVM Res. Access

US16 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 MacID Fault Count

Ei-DN Modbus Address: 40718

Range Units Default Typ e DN Type Group NVM Res. Access

15

0-2

-1 Counts US16 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 Typ e 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

034011

1 34012

2 34013

3 34014

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Epsilon Ei DeviceNet Drive Reference Manual

DN FAB Master Send Block

Ei-DN Modbus Address: 34007-34010

Range Units Default Typ e DN Type Group NVM Res. Access

US16 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 Typ e 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 +, Jog -, Jog Fast

• Home Initiate

• Define Home

• Brake Control and Release

All 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 MacID

Ei-DN Modbus Address: 44001

Range Units Default Typ e 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 Typ e DN Type Group NVM Res. Access

US16 UINT No RO

This parameter returns the values for the selected master receive bits.

DN Master Receive FAB Type

Ei-DN Modbus Address: 44005

Range Units Default Typ e 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.

Valu e 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 Typ e DN Type Group NVM Res. Access

US16 UINT No RO

This parameter returns the values for the selected master send bits.

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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.

Val ue 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 Typ e DN Type Group NVM Res. Access

0-31 ENM Word N o RO

The DN Module status indicates the ODVA specific status of the DN device as follows:

Val ue Module Status

1No Power

2 Operational

3 Standby

4 Minor Fault

5 Major Fault

28

Configuring the DeviceNet Network

DN Network Status

Ei-DN Modbus Address: 34207

Range Units Default Typ e DN Type Group NVM Res. Access

0-31 ENM Word N o RO

The DN Network status indicates the ODVA specific status of the DeviceNet network as follows:

Val ue Network Status

1No Power

2 Not Connected

3 Connected

4 Time-out

5 Link Failure

DN Receive Counter

Ei-DN Modbus Address: 34203-34204

Range Units Default Typ e DN Type Group NVM Res. Access

31

0-2

-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 Typ e 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 Typ e DN Type Group NVM Res. Access

True/False BIT BOOL No RO

A Major Unrecoverable Fault is implemented on the Ei-DN
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.

when one of the following faults

29

Epsilon Ei DeviceNet Drive Reference Manual

DN Status Minor Recoverable Fault

Ei-DN Modbus Address: 14001

Range Units Default Typ e 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 Typ e 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 Typ e DN Type Group NVM Res. Access

31

-1 Counts US32 UDINT No RO

0-2

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: 34001

Range Units Default Typ e 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 is 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

Flashing Red Minor Fault Recoverable Fault

Red Unrecoverable Fault The device has an unrecoverable fault; may need replacing

Flashing Red-

Green

Device in Standby (The Device Needs

Commissioning)

Device Self Testing The device is in self-test.

The device need commissioning due to configuration missing,

incomplete, or incorrect. The Device may be in the standby state.

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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

Off Not Powered/Not online

Flashing Green Online, Not Connected

Green Link OK Online, Connected

Flashing Red Connection Time-Out One or more I/O Connections are in the Timed-Out state.

Red Critical Link Failure

The device is online and has connections in the established state. This means the

Failed communication device. The device has detected an error that has rendered it

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.

The device has passed the Dup MacID test, is online, but has no established

incapable of communicating on the network (Duplicate MacID or Bus Off).

Device is not online:

connections to a Master.

device is connected to a Master.

Setting the Baud Rate and MacID Externally (One Touch)

The Baud Rate and MacID of the Ei-DN may 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 “H” (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.)

2. Double-click the Reset Button to view the low digit of the 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.)

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

1125K

2250K

3500K

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 “125K”)

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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 “O” and then “K” 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 time­out will return the drive back to the enabled or disabled display on the drive.

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 second time-out period without
touching the “Reset” button, or by cycling power to the drive.

34

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.

Epsilon Ei DeviceNet Drive Reference Manual

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 Predefined 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.

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Epsilon Ei DeviceNet Drive Reference Manual

5. Install the .eds file in the Master Configuration software (RsNetworx, Wonderware, etc.).

6. Download a configuration for 8 polled input bytes and 8 polled output bytes to be
transferred to/from the Ei-DN.

7. Use ladder logic commands to initiate explicit messaging commands over DeviceNet.

Polled I/O 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.

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. 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.

36

3. 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

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.

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 Bit O:1.1/0 high to initiate Index 0.

8. Set Output 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.

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Epsilon Ei DeviceNet Drive Reference Manual

13. Using Output Word Select Data Pointer 0x0A 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:

Reserved Reserved Reserved

X X X 01010 X X X 00110

Output Word Select

Data Pointer (See

page 15) = 0x0A

Reserved Jog - Jog +

Input Word Select

Data Pointer (See

page 14) = 0x06

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 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.

38

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.

Network Configuration Quick Start

Figure 11: DN Setup / Index Sel (Userdef)

3. 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:

DN Bit00 (MS) = Index Initiate

DN Bit01 (MS) = Home Initiate

DN Bit02 (MS) = Jog +

DN Bit03 (MS) = Jog -

DN Bit04 (MS) = Jog Fast

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.

39

Epsilon Ei DeviceNet Drive Reference Manual

Figure 12: Inputs Tab

4. Click the Outputs tab to configure the DN bits that will be written to from the PLC
(Master Receive).

40

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

Network Configuration Quick Start

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.

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. Set Output Bit O:1.1/1 high to initiate Home.

10. Set Output Bit O:1.1/2 high to Jog +.

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Epsilon Ei DeviceNet Drive Reference Manual

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

Reserved Reserved Reserved

X X X 00010 X X 1 00001

Data Pointer (See

page 15) = 0x02

Final Word = XXX00010XX100001

With zeros in for reserved bits Final Word = 545 (0x221)

15. 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.

16. 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.

Reserved Reserved Enable = 1

Input Word Select

Data Pointer (See

page 14) = 0x01

Example #3: Index Type

This sample procedure for the Index Type Assembly Block will initiate 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 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 DN setup and set the MacID to 1 and the Baud Rate to 125K. Select Index Type
for both Master Send Assembly Block and Master Receive Assembly Block Setups.

42

Network Configuration Quick Start

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 following assignments will be used for this application example:

DN Bit00 (MS) = Reset

DN Bit01 (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

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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. 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

Reserved Reserved Reserved

XXX 00001 XXX 00111

Data Pointer (See

page 15) = 0x01

Reserved Jog - Jog +

Input Word Select

Data Pointer (See

page 14) = 0x07

Final Word = XXX00001XXX00111

With 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.

Reserved Reserved Reserved

XXX 00010 XXX 01000

Output Word Select

Data Pointer (See

page 15) = 0x02

Reserved Jog - Jog +

Input Word Select

Data Pointer (See

page 14) = 0x08

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

Reserved Reserved Reserved

XXX 00011 XXX 01001

Data Pointer (See

page 15) = 0x03

Reserved Jog - Jog +

Input Word Select

Data Pointer (See

page 14) = 0x09

44

Final Word = XXX00011XXX01001

With zeros in for reserved bits Final Word = 777 (0x309)

Network Configuration Quick Start

12. Using Output Word Select Data Pointer 0x04 to set the Index Deceleration Register and
Input Select Data Pointer 0x0A to read back this same parameter in order to verify the
transfer.

Reserved Reserved Reserved

XXX 00100 XXX 01010

Output Word Select

Data Pointer (See

page 15) = 0x04

Reserved Jog - Jog +

Input Word Select

Data Pointer (See

page 14) = 0x0A

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.

Reserved Reserved Reserved

XXX 00001 XXX 00111

Output Word Select

Data Pointer (See

page 15) = 0x01

Reserved Jog - Jog +

Input Word Select

Data Pointer (See

page 14) = 0x07

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
particular motor that will be used. For more information consult the Epsilon Ei Drives
Reference Manual (P/N 400507-01.)

configuration in PowerTools FM and configure the drive for the

45

Epsilon Ei DeviceNet Drive Reference Manual

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.

Figure 15: Dn Setup / Position Control

46

3. Download this file to the Ei-DN.

4. Proceed to “Master Configuration” on page 48 before going any farther with this
example. After configuring the master return to this point and continue.

5. 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).

6. Set the Command Assembly code to send a 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).

7. Set the Command Assembly code to send a value of 500 revs/min

2

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).

8. Set the Command Assembly code to send a value of 500 revs/min

2

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. Set the 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 =
0x0 (value) and then toggle the Valid Data Bit (O:1.1/6).

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Epsilon Ei DeviceNet Drive Reference Manual

Master Configuration

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
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.

graphically

48

Figure 16: RS Networx Configuration

Double-click the 1747.SDN to bring up the Master Configuration.

Network Configuration Quick Start

Figure 17: Scanlist Tab

Click the Input tab and map the 4 words of data from the Ei-DN to I:1.1 - I:1.4. These
addresses are the addresses in the PLC where the Ei-DN

data will be mapped.

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Epsilon Ei DeviceNet Drive Reference Manual

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

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 repeat
the above procedure to configure the Ei-DN onto the DeviceNet network.

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Epsilon Ei DeviceNet Drive Reference Manual

52

Epsilon Ei DeviceNet Drive Reference Manual

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

Message Data

Once formatted, use the copy command to transfer it to the M0 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 M1 file by the scanner. Using the scanner message received status flag
(in the example of this chapter the location would be I:3/15), copy the M1 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.

N10:1 PORT SIZE OF FIELD

N10:2 SERVICE MacID

N10:3 CLASS

N10:4 INSTANCE

N10:5 ATTRIBUTE

N10:6 VALUE LOW WORD

N10:7 VALUE HIGH WORD

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Epsilon Ei DeviceNet Drive Reference Manual

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 0x0A bytes

The service parameter determines whether the data will be sent to or received from the slave.

SERVICE

0x0E GET DATA

0x10 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.

54

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 initiates this command automatically.

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:

Explicit Messaging Quick Start

Figure 21: PLC Configuration for Explicit Messaging

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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 M0: file.

After this request gets sent out, the PLC indicates when it has all data returned by setting bit
I: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 I: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.

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The following parameters will be used to set up this explicit message.

Figure 22: Integer Data File N10

Explicit Messaging Quick Start

Integer 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 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.

Figure 23: PLC Configuration Example 1

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.

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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 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.

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Figure 24: PLC Configuration Example 2

The following table reflects the results of the Index 1 Velocity example. These results are
verifiable via the keypad interface.

Explicit Messaging Quick Start

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=0x90 (Successful Transmit) MacID=0x04

N11:3 LOW DATA WORD = 0x7D0

N11:4 HIGH DATA WORD = 0x00

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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
(0x0F). 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.DeviceNetIdentityObject.DeviceStatus UINT 1 (0x01) 1 (0x01) 5 (0x05)

DeviceNet.DeviceNetIdentityObject.DeviceType UINT 1 (0x01) 1 (0x01) 2 (0x02)

DeviceNet.DeviceNetIdentityObject.HeartbeatInterval DINT 1 (0x01) 1 (0x01) 10 (0x0A)

DeviceNet.DeviceNetIdentityObject.VendorID UINT 1 (0x01) 1 (0x01) 1 (0x01)

Execute.ExecuteClearFault BOOL 101 (0x65) 1 (0x01) 1 (0x01)

Execute.ExecuteReadBaseDriveNVMtoRAM BOOL 101 (0x65) 1 (0x01) 2 (0x02)

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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 (0x0F)

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 (0x01) 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#.ActiveOffArray 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 (0x01) 23 (0x17)

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Drive Parameters

Name DN Data Type Class Instance Attribute

InputLine.DriveEnableInputDebouncedStatus BOOL 106 (0x6A) 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.InputLineInstance#.DebouncedStatusArray BOOL 106 (0x6A) See Note 1 1 (0x01)

InputLine.InputLineInstance#.DebounceTime UINT 106 (0x6A) See Note1 4 (0x04)

InputLine.InputLineInstance#.ForceOn/OffCommandArray BOOL 106 (0x6A) See Note 1 2 (0x02)

InputLine.InputLineInstance#.ForceOn/OffEnableArray BOOL 106 (0x6A) See Note 1 3 (0x03)

InputLine.InputLineInstance#.RawStatusArray BOOL 106 (0x6A) See Note 1 0 (0x00)

InputLine.InputLineInstance#.StatusArray BOOL 106 (0x6A) See Note 1 0 (0x00)

InputLine.InputLinesDebouncedBitMap WORD 106 (0x6A) 1 (0x01) 21 (0x15)

InputLine.InputLinesOverrideActive UINT 106 (0x6A) 1 (0x01) 22 (0x16)

InputLIne.InputLinesOverrideStatus UINT 106 (0x6A) 1 (0x01) 23 (0x17)

InputLine.InputLinesRawBitMap WORD 106 (0x6A) 1 (0x01) 24 (0x18)

InputLine.InputLinesStatusBitMap WORD 106 (0x6A) 1 (0x01) 25 (0x19)

Jog.JogAcceleration UDINT 107 (0x6B) 1 (0x01) 1 (0x01)

Jog.JogDeceleration UDINT 107 (0x6B) 1 (0x01) 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.OutputLinesPolarityBitMap 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 (0x05)

ProductID.FirmwareRevisionBase String 111 (0x6F) 1 (0x01) 1 (0x01)

ProductID.FirmwareRevisionOption String 111 (0x6F) 1 (0x01) 2 (0x02)

ProductID.InterfaceRevisionBase UINT 111 (0x6F) 1 (0x01) 3 (0x03)

ProductID.InterfaceRevisionOption UINT 111 (0x6F) 1 (0x01) 4 (0x04)

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Name DN Data Type Class Instance Attribute

ProductID.Option1IDFunctionModule UINT 111 (0x6F) 1 (0x01) 5 (0x05)

ProductID.Option2IDAnybus1 UINT 111 (0x6F) 1 (0x01) 6 (0x06)

ProductID.Option3IDAnybus2 UINT 111 (0x6F) 1 (0x01) 7 (0x07)

ProductID.ProductGroup UINT 111 (0x6F) 1 (0x01) 8 (0x08)

ProductID.ProductID UINT 111 (0x6F) 1 (0x01) 9 (0x09)

ProductID.ProductSerialNumber String 111 (0x6F) 1 (0x01) 10 (0x0A)

ProductID.ProductSubGroup UINT 111 (0x6F) 1 (0x01) 11 (0x0B)

ProductSubGroup UINT16 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.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.TorqueLevel1 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)

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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 (0x01) 5 (0x05)

Tuning.PositionErrorIntegral DINT 115 (0x73) 1 (0x01) 6 (0x06)

Tuning.PositionErrorIntegralEnable WORD 115 (0x73) 1 (0x01) 7 (0x07)

Tuning.PositionErrorIntegralTimeConstant 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, Index0 will have an instance of 1 (0x01) and Index 14 will have an
instance of 15 (0x0F). If the parameter is unnumbered, the instance will be one (see the tables
in this chapter).

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Name DN Data Type Class Instance Attribute

DeviceNet.DeviceNetIdentityObject.VendorID UINT 1 (0x01) 1 (0x01) 1 (0x01)

DeviceNet.DeviceNetIdentityObject.DeviceType UINT 1 (0x01) 1 (0x01) 2 (0x02)

ProductSubGroup UINT16 1 (0x01) 1 (0x01) 3 (0x03)

ModuleFirmwareRevision String:4 1 (0x01) 1 (0x01) 4 (0x04)

DeviceNet.DeviceNetIdentityObject.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.ExecuteReadBaseDriveNVMtoRAM 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) See Note 1 2 (0x02)

Fault.FaultInstance#.PowerUpTime UDINT 102 (0x66) See Note 1 3 (0x03)

Fault.FaultStatus DWORD 102 (0x66) 1 (0x01) 15 (0x0F)

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)

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Drive Parameters

Name DN Data Type 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.InputFunctionInstance#.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.InputLineInstance#.RawStatusArray BOOL 106 (0x6A) See Note 1 0 (0x00)

InputLine.InputLineInstance#.StatusArray BOOL 106 (0x6A) See Note 1 0 (0x00)

InputLine.InputLineInstance#.DebouncedStatusArray BOOL 106 (0x6A) See Note 1 1 (0x01)

InputLine.InputLineInstance#.ForceOn/OffCommandArray BOOL 106 (0x6A) See Note 1 2 (0x02)

InputLine.InputLineInstance#.ForceOn/OffEnableArray BOOL 106 (0x6A) See Note 1 3 (0x03)

InputLine.InputLineInstance#.DebounceTime UINT 106 (0x6A) See Note1 4 (0x04)

InputLine.EnableDebounceTime UINT 106 (0x6A) 1 (0x01) 8 (0x08)

InputLine.DriveEnableInputDebouncedStatus BOOL 106 (0x6A) 1 (0x01) 9 (0x09)

InputLine.DriveEnableInputRawStatus BOOL 106 (0x6A) 1 (0x01) 10 (0x0A)

InputLine.DriveEnableInputStatus BOOL 106 (0x6A) 1 (0x01) 11 (0x0B)

InputLine.InputLinesDebouncedBitMap WORD 106 (0x6A) 1 (0x01) 21 (0x15)

InputLine.InputLinesOverrideActive UINT 106 (0x6A) 1 (0x01) 22 (0x16)

InputLIne.InputLinesOverrideStatus UINT 106 (0x6A) 1 (0x01) 23 (0x17)

InputLine.InputLinesRawBitMap WORD 106 (0x6A) 1 (0x01) 24 (0x18)

InputLine.InputLinesStatusBitMap WORD 106 (0x6A) 1 (0x01) 25 (0x19)

Jog.JogAcceleration UDINT 107 (0x6B) 1 (0x01) 1 (0x01)

Jog.JogDeceleration UDINT 107 (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.OutputLinesPolarityBitMap WORD 109 (0x6D) 1 (0x01) 3 (0x03)

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Epsilon Ei DeviceNet Drive Reference Manual

Name DN Data Type Class Instance Attribute

OutputLine.OutputLinesStatusBitMap WORD 109 (0x6D) 1 (0x01) 4 (0x04)

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.RolloverPosition UDINT 110 (0x6E) 1 (0x01) 4 (0x04)

Position.RolloverPositionEnable WORD 110 (0x6E) 1 (0x01) 5 (0x05)

Position.InPositionWindow UDINT 110 (0x6E) 1 (0x01) 6 (0x06)

Position.InPositionTime UINT 110 (0x6E) 1 (0x01) 7 (0x07)

ProductID.FirmwareRevisionBase String 111 (0x6F) 1 (0x01) 1 (0x01)

ProductID.FirmwareRevisionOption String 111 (0x6F) 1 (0x01) 2 (0x02)

ProductID.InterfaceRevisionBase UINT 111 (0x6F) 1 (0x01) 3 (0x03)

ProductID.InterfaceRevisionOption UINT 111 (0x6F) 1 (0x01) 4 (0x04)

ProductID.Option1IDFunctionModule UINT 111 (0x6F) 1 (0x01) 5 (0x05)

ProductID.Option2IDAnybus1 UINT 111 (0x6F) 1 (0x01) 6 (0x06)

ProductID.Option3IDAnybus2 UINT 111 (0x6F) 1 (0x01) 7 (0x07)

ProductID.ProductGroup UINT 111 (0x6F) 1 (0x01) 8 (0x08)

ProductID.ProductID UINT 111 (0x6F) 1 (0x01) 9 (0x09)

ProductID.ProductSerialNumber String 111 (0x6F) 1 (0x01) 10 (0x0A)

ProductID.ProductSubGroup UINT 111 (0x6F) 1 (0x01) 11 (0x0B)

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.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)

68

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 (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.TorqueLevel1 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)

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.PositionErrorIntegralTimeConstant UINT 115 (0x73) 1 (0x01) 8 (0x08)

Tuning.ResponseLevel UINT 115 (0x73) 1 (0x01) 10 (0x0A)

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 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

Epsilon Ei DeviceNet Drive Reference Manual

Appendix

DN

DN

DN

MS

Bit 0

MS

Bit 1

MS

Bit 2

Drive

Fault

Torque

OK

Limit

Motion

Motion

Motion

State

Bit 0

State

Bit 1

State

Bit 2

Appendix

DN

DN

MS

Bit 3

Input Word Select Data Pointer

MS

Bit 4

5 MS

Home

Define

DN Bit

6 MS

DN Bit

7 MS

DN Bit

Start

Index

of

End

Home

At

Ve l o ci t y

In +

Motion

In - Motion

State

Enable

Home

Absolute

Home

Registration

Registration

Limit

Dist

Position

Sensor

Sensor 2

Sensor 1

Hit

Valid

Status

Status

Status

Brake

Release

Hit

Reg

Limit

Distance

+

Limit

Travel

-

Limit

Travel

Index

End of

Motion

Index

Count

End of

Count

End of

Chaining

Master Receive Assembly Block - Index Sel (Predef)

Index

Index Select Predefined

End of

2 Data Low Word LS Bit

0

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Reserved Reserved Reserved Input Word Select Data Pointer

3 MS Bit Data High Word

Master Send Assembly Block - Index Sel (Predef)

Home

Initiate

Jog - Jog +

0

Index

Select Bit

Bit 1

Index

Select

2

Index

Select Bit

3

Index

Select Bit

0

1 Reserved Reserved Reset Output Word Select Data Pointer Enable Stop

2 Data Low Word LS Bit

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

3 MS Bit Data High Word

71

Epsilon Ei DeviceNet Drive Reference Manual

State

Bit 0

0 MR

DN Bit

Motion

0 MS

DN Bit

1 MR

DN Bit

2 MR

DN Bit

3 MR

DN Bit

4 MR

DN Bit

5 MR

DN Bit

6 MR

DN Bit

7 MR

DN Bit

8 MR

DN Bit

9 MR

DN Bit

10 MR

DN Bit

Motion

Motion

Enable

Index

Index

Index

Index

State

Bit 1

State

Bit 2

State

Bit 0

Select

Bit 1

Select

Bit 2

Select

Bit 3

Select

1 MS

DN Bit

2 MS

DN Bit

3 MS

DN Bit

4 MS

DN Bit

5 MS

DN Bit

6 MS

DN Bit

7 MS

DN Bit

8 MS

DN Bit

9 MS

DN Bit

10 MS

DN Bit

72

Index Select (User Defined)

11 MR

DN Bit

12 MR

DN Bit

13 MR

DN Bit

14 MR

DN Bit

15 MR

Master Receive Assembly Block - Index Sel (User Def)

DN Bit

Master Send Assembly Block - Index Sel (User Def)

0

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

2 Data Low Word LS Bit

1 Reserved Reserved Reserved Input Word Select Data Pointer

3 MS Bit Data High Word

11 MS

DN Bit

Bit 0

Index

Select

Bit 1

Index

Select

Bit 2

Index

Select

Bit 3

Index

Select

1 Reserved Reserved Reserved Output Word Select Data Pointer Reserved Reserved Enable Input Word Select Data Pointer

2 Data Low Word LS Bit

0

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

3 MS Bit Data High Word

Appendix

OK

State

Drive

Fault

Limit

Torque

Home

End of

Reg

Limit

Distance

Limit

Home

Distance

Valid

Position

Absolute

State

Enable

DN

MR

Bit 0

DN

MR

Bit 1

DN

MR

Bit 2

Bit 0

LS Bit

Motion

State

Bit 1

Motion

State

Bit 2

Motion

Travel

Limit +

Hit

Travel

Limit -

Hit

Data Low Word

Start

Index

Index

Index

Home

DN Bit 0

DN Bit 1

DN Bit 2

Typ e

Typ e

Typ e

Enable Reset Stop

Index

Bit 0

Bit 1

Bit 2

Initiate

MS

MS

MS

Index Type

MS

DN

MR

Bit 3

DN

MR

Bit 4

MR

DN Bit 5

MR

DN Bit 6

Master Receive Assembly Block - Index Type

MR

DN Bit 7

0

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Reserved Reserved Reserved Input Word Select Data Pointer Reserved Reserved Reserved

2

3 MS Bit Data High Word

Master Send Assembly Block - Index Type

DN Bit 3

MS

DN Bit 4

MS

DN Bit 5

MS

DN Bit 6

MS

DN Bit 7

1 Reserved Reserved Reserved Output Word Select Data Pointer Jog Fast Jog - Jog + Input Word Select Data Pointer

2 Data Low Word LS Bit

0

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

3 MS Bit Data High Word

73

Epsilon Ei DeviceNet Drive Reference Manual

Valid

Started

Trajectory

Reserved

Index

End of

Motion

Fault

Stop

Input

Valid

Position

Absolute

Ignore

Data = 1

State

Enable

Drive OK

CW

Limit

(Travel

Limit +)

Hardware

Limit

CCW

(Travel

Limit -)

Hardware

Reserved Reserved

Start

Echo

Trajectory

Data = 0

Reserved

Error

Command

Start

Trajectory

Reserved

Absolute=0

Incremental=1

Reserved Stop Reserved

Valid

Ignore

Data = 1

Data = 0

Position Control

74

Master Receive Assembly Block - Position Control

0 Reserved

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Reserved Reserved Reserved Response Assembly Code

2 Data Low Word LS Bit

3 MS Bit Data High Word

Master Send Assembly Block -Position Control

1 Reserved Response Assembly Code Reserved Command Assembly Code

2 Data Low Word LS Bit

0 Reserved Enable

Word Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

3 MS Bit Data High Word

Epsilon Ei DeviceNet Drive Reference Manual

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 is 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 communications 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

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

76

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 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 is grouped directly under the more
broad category of attribute and allows for multiple occurrences of a parameter. Example:
Class = Index, Attribute = Index Dwell, Instance1 = Index 0 Dwell, Instance2 = Index 1
Dwell. Each instance is assigned a unique number under its respective attribute.

I/O 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

Glossary

The Open DeviceNet Vendor Association is an organization that manages the DeviceNet
specification and supports 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

Epsilon Ei DeviceNet Drive Reference Manual

Index

A

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

Dn Comm Timeout Fault Count, 25
DN Device Type, 25
DN Duplicate MacID Fault Count, 31
DN FAB Master Receive Block, 25
DN FAB Master Send Block, 26
DN Host Mode, 26
DN MacID, 26
DN Master Receive Bitmap, 27
DN Master Receive FAB Type, 27
DN Master Send Bitmap, 27
DN Master Send FAB Type, 28
DN Module Status, 28
DN Network Status, 29
DN Receive Counter, 29
DN Status Major Recoverable Fault, 29
DN Status Major Unrecoverable Fault, 29
DN Status Minor Recoverable Fault, 30
DN Status Minor Unrecoverable Fault, 30
DN Transmit Counter, 30
DN Vendor ID, 30
Drive Parameters, 61

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

I

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

M

MacID, 10
Master MacID, 19
Master Receive/Master Send Assembly Block

Selection, 10
Master/Slave Relationship, 3
Mechanical Installation, 5
Module Status LED, 31
Module Status Virtual LED, 20

O

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

T

Transmit/Receive Conuter, 19

N

Network Status LED, 32
Network Status Virtual LED, 20
No Data Sent, 13

80

V

Viewing and Changing the Baud Rate and

MacID, 32

W

Write Index 1 Velocity, 57

Index

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 [phone] 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: [phone] or [phone]

Fax: [phone]
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