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: (952) 995-8000 or (800) 397-3786
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 (952) 995-8099
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: info@emersonct.com
If you have Internet capabilities, you also have access to technical support using our website.
The website includes technical notes, frequently asked questions, release notes and other
technical documentation. This direct technical support connection lets you request assistance
and exchange software files electronically.
Technical Support (952) 995-8033 or (800) 397-3786
Email: service@emersonct.com
Control Techniques’ “Motion Made Easy” products are backed by a team of professionals
who will service your installation. Our technical support center in Eden Prairie, Minnesota is
ready to help you solve those occasional problems over the telephone. Our technical support
center is available 24 hours a day for emergency service to help speed any problem solving.
Also, all hardware replacement parts, if needed, are available through our customer service
organization.
When you call, please be at your computer, with your documentation easily available, and be
prepared to provide the following information:
• Product version number, found by choosing About from the Help menu
• The type of controller or product you are using
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 (952) 995-8000 or (800) 397-3786
Email: training@emersonct.com
Control Techniques maintains a highly trained staff of instructors to familiarize customers
with Control Techniques’ “Motion Made Easy” products and their applications. A number of
courses are offered, many of which can be taught in your plant upon request.
Application Engineering (952) 995-8000 or (800) 397-3786
Email: applengr@emersonct.com
An experienced staff of factory application engineers provides complete customer support for
tough or complex applications. Our engineers offer you a broad base of experience and
knowledge of electronic motion control applications.
Customer Service (Sales) (952) 995-8000 or (800) 397-3786
Email: customer.service@emersonct.com
Authorized Control Techniques distributors may place orders directly with our Customer
Service department. Contact the Customer Service department at this number for the
distributor nearest you.
Document Conventions
Manual conventions have been established to help you learn to use this manual quickly and
easily. As much as possible, these conventions correspond to those 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
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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
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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
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