Emerson SI-DeviceNet User Manual

User Guide

SI-DeviceNet

Part Number: 0478-0032-02 Issue Number: 2

General Information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the variable speed drive with the motor. The contents of this guide are believed to be correct at the time of printing. In the interests of commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the content of the guide without notice. All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including, photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Environmental Statement

Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environment Policy and other relevant information is available on request, or can be found at www.greendrives.com. The electronic variable speed drives manufactured by Control Techniques have the potential to save energy and (through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal. Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for recycling. Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come in strong cardboard cartons which themselves have a highrecycled fibre content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags from wrapping product, can be recycled in the same way. Control Techniques' packaging strategy prefers easily recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

Software Statement

This Option module is supplied with the latest software version. When retro-fitting to an existing system, all software versions should be verified to confirm the same functionality as Option modules of the same type already present. This also applies to products returned from a Control Techniques Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product. The software version of the Option module can be identified by looking at Pr MM.002 where MM is the relevant menu number for the Option module slot being used. See Pr MM.002 description later in this manual for more information. The software version takes the form of ww.xx.yy.zz seen in

MM.002.

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation. For current information on how this requirement applies in relation to specific Control Techniques products, please approach your usual contact in the first instance. Control Techniques position statement can be viewed at: http://www.controltechniques.com/REACH

For patent and intellectual property related information please go to www.ctpatents.info

Contents

1 Safety information ..........................................................5

1.1 Warnings, Cautions and Notes ................................................................5

1.2 Electrical safety - general warning ..........................................................5

1.3 System design and safety of personnel ..................................................5

1.4 Environmental limits ................................................................................6

1.5 Compliance with regulations ...................................................................6

1.6 Adjusting parameters ..............................................................................6

2 Introduction ....................................................................7

2.1 What Is DeviceNet? .................................................................................7

2.2 What is SI-DeviceNet? ............................................................................9

2.3 General specification ...............................................................................9

2.4 Back-up power supply ............................................................................. 9

2.5 Option Module identification .................................................................. 10

2.6 Product Conformance Certificate ..........................................................10

2.7 Conventions used in this guide .............................................................10

3 Mechanical installation ................................................11

3.1 General installation ................................................................................11

4 Electrical installation ...................................................12

4.1 SI-DeviceNet terminal descriptions .......................................................12

4.2 SI-DeviceNet connections ..................................................................... 13

4.3 DeviceNet cable ....................................................................................13

4.4 DeviceNet network termination .............................................................14

4.5 SI-DeviceNet cable shield connections ................................................. 14

4.6 DeviceNet ground point ......................................................................... 15

4.7 Maximum network length ......................................................................15

4.8 Spurs .....................................................................................................15

4.9 Minimum node to node cable length .....................................................15

5 Getting started ..............................................................16

5.1 Quick start chart SI-DeviceNet .............................................................. 17

5.2 Parameter save and restore ..................................................................18

5.3 Module reset ..........................................................................................18

5.4 Restoring module parameter default values ..........................................18

5.5 Single Line Parameters ......................................................................... 18

6 Parameters .................................................................... 25

6.1 Menus ....................................................................................................25

6.2 Module menu 0 - Module Information ....................................................25

6.3 Module menu 1 - DeviceNet Setup .......................................................28

6.4 Module menu 2 - Input Mappings .......................................................... 40

6.5 Module menu 3 - Output Mappings ....................................................... 41

6.6 Module menu 4 - Fault Values ..............................................................42

7 Non cyclic data .............................................................44

7.1 Introduction ............................................................................................44

7.2 Explicit parameter access .....................................................................44

SI-DeviceNet User Guide 3 Issue Number: 2

8 Control / status word ...................................................45

8.1 What are control and status words? ......................................................45

8.2 Control word .......................................................................................... 45

8.3 Status word ...........................................................................................47

9 EDS Files .......................................................................49

9.1 What are EDS files? .............................................................................. 49

9.2 Generic EDS files .................................................................................. 49

10 Advanced Features ......................................................50

10.1 Supported Drive assembly objects ........................................................50

11 DeviceNet Objects ........................................................ 54

11.1 Identity Object .......................................................................................54

11.2 SI-DeviceNet Object ..............................................................................57

11.3 Motor Data Object .................................................................................59

11.4 Control Supervisor .................................................................................62

11.5 AC/DC Drive Object ..............................................................................65

11.6 Control Techniques Object ....................................................................68

12 Diagnostics ...................................................................69

12.1 Overview ...............................................................................................69

13 Glossary Of Terms .......................................................73

4 SI-DeviceNet User Guide

Issue Number: 2

1 Safety information

WARNING

CAUT ION

NOTE

information

Safety

1.1 Warnings, Cautions and Notes

A Warning contains information, which is essential for avoiding a safety hazard.

A Caution contains information, which is necessary for avoiding a risk of damage to the product or other equipment.

A Note contains information which helps to ensure correct operation of the product.

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive.

Specific warnings are given at the relevant places in this User Guide.

1.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive may present a safety hazard. The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury. Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, Commissioning/start-up and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this User Guide carefully.

The STOP and SAFE TORQUE Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

With the sole exception of the SAFE TORQUE Off function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safety-related functions.

Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behavior or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

Introduction

Mechanical

installation

Electrical

Getting

started

Parameters

Non cyclic

data

status word

Control /

EDS Files

Advanced

Features

DeviceNet

Objects

Diagnostics

Glossary Of

Ter m s

Index

SI-DeviceNet User Guide 5 Issue Number: 2

1.4 Environmental limits

Instructions in the Unidrive M User Guide regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

1.5 Access

Drive access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

1.6 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective earth (ground) connections.

The Unidrive M User Guide contains instructions for achieving compliance with specific EMC standards.

Within the European Union, all machinery in which this product is used must comply with the following directives:

• 2006/42/EC: Safety of machinery.

• 2004/108/EC: Electromagnetic Compatibility.

1.7 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

1.7.1 Stored charge

The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated at least ten minutes before work may continue.

6 SI-DeviceNet User Guide

Issue Number: 2

2 Introduction

Hardwired controller

Digital 1ADigital 1B

Digital 2A Digital 2B

Digital 1A Digital 1B Digital 2A Digital 2B

Analog 1 Analog 2

Analog 1

Analog 2

information

Safety

2.1 What Is DeviceNet?

DeviceNet is a networking system that falls into the generic category of Fieldbus. Fieldbuses are generally defined as industrial networking systems that are intended to replace traditional wiring systems. Figure 2-1 shows the traditional cabling requirements to transfer signals between a controller and two nodes.

Figure 2-1 SI-DeviceNet Traditional cable layout

Introduction

installation

started

Parameters

data

status word

EDS Files

Mechanical

Electrical

Getting

Non cyclic

Control /

Table 2.1 details how the wiring is used to communicate data between the controller and the nodes. Each signal that is communicated requires one signal wire giving a total of 66 signal wires plus a 0V return.

Table 2.1 Traditional wiring details

Number of

signals

SI-DeviceNet User Guide 7 Issue Number: 2

Type Source / Destination Description

digital inputs node 1 to master status signals

digital outputs controller to slave 1 control signals

analog output controller to slave 1 control signal

digital inputs node 2 to master status signals

digital outputs controller to slave 2 control signals

analog output controller to slave 2 control signal

Features

Objects

Te rm s

Advanced

DeviceNet

Diagnostics

Glossary Of

Index

A fieldbus topology such as DeviceNet allows the same configuration to be realised

DeviceNet master

Digital 1A Digital 1B Digital 2A Digital 2B

Analog 1

Digital 2A Digital 2B

Digital 1ADigital 1B

Node 1

Node 2

Analog 2

Analog 1

Analog 2

using only 2 signal wires plus a shield and power. This method of communication saves significantly on the amount of cabling required and can improve overall system reliability, as the number of inter-connections is greatly reduced.

Figure 2-2 shows a typical DeviceNet system transferring the same signals as given in the traditionally wired example. The signals are now transmitted by converting them into a serial data stream which is received by the master as if they were connected using traditional wiring. The data stream on DeviceNet allows up to 56 (28 input and 28 output) independent values to be sent or received by the master, there are also methods available (non-cyclic data) to allow random access to drive parameters.

Figure 2-2 DeviceNet overview

Table 2.2 Data mappings for SI-DeviceNet

Number of

network words

8 SI-DeviceNet User Guide

Type Source / Destination Description

digital inputs slave 1 to master status signals

digital outputs master to slave 1 control signals

analog output master to slave 1 control signal

digital inputs slave 2 to master status signals

digital outputs master to slave 2 control signals

analog output master to slave 2 control signal

Issue Number: 2

Table 2.2 details the number of data words used to communicate the signals using the

NOTE

DeviceNet network. It can be seen that the resulting reduction in cabling is significant. DeviceNet can transfer data using two distinct modes. The first of these modes is cyclic where signals are sent in predefined blocks at regular intervals. This is the equivalent of the hard-wired example above in Figure 2-1.

The second method of transfer is called non-cyclic data and is used for sending values that only need to be changed occasionally or where the source or destination of the signal changes; this is the equivalent of a temporary patch lead that is removed after use.

information

Introduction

installation

Safety

Mechanical

2.2 What is SI-DeviceNet?

SI-DeviceNet is a fieldbus Option Module which can be installed to the expansion slot(s) in Unidrive M to provide DeviceNet slave connectivity.

It is possible to use more than one SI-DeviceNet or a combination of SI-DeviceNet and other Option Modules to provide additional functionality such as extended I/O, gateway functionality, or additional PLC features.

Figure 2-3 SI-DeviceNet Option Module

2.3 General specification

• Supported data rates (bits per s): 500 k, 250 k, 125 k.

• 1 to 28 input/output polled data words supported.

• Explicit communications (non-cyclic) provides access to all drive parameters.

• 8 pre-defined DeviceNet profiles supported.

2.4 Back-up power supply

The required drive can be connected to a back-up power supply. This keeps the control electronics and Option Module powered up, allowing the SI-DeviceNet to continue communicating with the DeviceNet master controller when the line power to the drive is switched off.

The back-up supply is provided through the drive and not the connections on SIDeviceNet, which have an alternative use.

installation

started

Parameters

data

status word

EDS Files

Features

Objects

Diagnostics

Te rm s

Electrical

Getting

Non cyclic

Control /

Advanced

DeviceNet

Glossary Of

Index

SI-DeviceNet User Guide 9 Issue Number: 2

2.5 Option Module identification

SI-DeviceNet

SI-DeviceNet can be identified by:

1. The label located on the top of the Option Module.

2. The color coding across the front of the SI-DeviceNet (dark grey).

Figure 2-4 SI-DeviceNet labels

1 Topside module label

2 Underside module label

2.5.1 Date code format

The date code is split into two sections: a letter followed by a number. The letter indicates the year, and the number indicates the week number (within the year) in which the Option Module was built.The letters go in alphabetical order, starting with A in 1990 (B in 1991, C in 1992 etc).

Example:

A date code of V35 would correspond to week 35 of year 2012.

2.6 Product Conformance Certificate

2.7 Conventions used in this guide

10 SI-DeviceNet User Guide

SI-DeviceNet has been awarded full DeviceNet Conformance Certification by the Open DeviceNet Vendors Association (ODVA). A copy of the certificate is available on request from your supplier or local Control Techniques Drive Centre.

The configuration of the host drive and Option Module is done using menus and parameters. A menu is a logical collection of parameters that have similar functionality. In the case of an Options Module, the parameters will appear in menu 15, 16 or 17 depending on which slot the module is installed to. The menu is determined by the number before the decimal point.

The method used to determine the menu or parameter is as follows:

•Pr S.mm.ppp - Where S signifies the Option module slot number and mm.ppp signifies the menu and parameter number of the Option module's internal menus and parameters.

•Pr MM.ppp - Where MM signifies the menu allocated to the Option module set-up menu and ppp signifies the parameter number.

•Pr mm.000 - Signifies parameter number 000 in any drive menu.

Issue Number: 2

3 Mechanical installation

WARNING

information

Safety

Before installing or removing an Option module from any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to section 1 Safety information on page 5. If using a DC bus supply ensure this is fully discharged before working on any drive or Option module.

3.1 General installation

The installation of an Option module is illustrated in Figure 3-1.

Figure 3-1 Installing an Option module

3.1.1 Installing the first Option module

• Option module slots must be used in the following order: slot 3, slot 2 and slot 1. Orientate the Option module above the drive as shown in (1).

• Align and insert the Option module tab into the slot (2). Press down on the Option module until it clicks into place.

Introduction

Mechanical

installation

Electrical

Getting

started

Parameters

Non cyclic

data

status word

Control /

EDS Files

Advanced

Features

SI-DeviceNet User Guide 11 Issue Number: 2

DeviceNet

Objects

Diagnostics

Glossary Of

Ter m s

Index

4 Electrical installation

NOTE

CAUT ION

4.1 SI-DeviceNet terminal descriptions

SI-DeviceNet has a standard 5-way screw terminal block connector (shown on the right) for the DeviceNet network.

Figure 4-1 SI-DeviceNet - connector view

Table 4.1 SI-DeviceNet terminal descriptions

5-way

terminal

1 0 V 0 V DeviceNet external supply

2 CAN-L Negative data line

3 Shield Cable braided shield connection

4 CAN-H Positive data line

5 +24 V +24 V DeviceNet external supply

The external supply terminals provide power for the DeviceNet transceiver circuitry, but do NOT provide power to keep the SI-DeviceNet operating in the event of the mains power supply loss to the drive. An external supply will keep the DeviceNet transceivers powered up and the network load characteristics constant in the event of loss of power to the drive.

Any external supply must be suitably installed to prevent noise on the network. Connecting pins 1 and 5 to an external supply allows the line driver circuitry to remain powered when the drive and the SI-DeviceNet module are turned off. This 24 V input does not allow SI-DeviceNet to continue communicating.

Function Description

12 SI-DeviceNet User Guide

Issue Number: 2

4.2 SI-DeviceNet connections

Cable

1 2 3 4 5

SI-DeviceNet

2125576532

NOTE

To connect SI-DeviceNet to the DeviceNet network, make the connections as shown in the diagram below. The length of the "pigtail" shield connection must be kept as short as possible.

Figure 4-2 SI-DeviceNet connections

information

installation

started

data

Safety

Introduction

Mechanical

Electrical

Getting

Parameters

Non cyclic

4.3 DeviceNet cable

DeviceNet cable has 2 twisted pairs plus an overall shielding. DeviceNet has a specified color code, and it is important that this code is maintained. The data wires are white and blue, and the network power supply wires are red and black.

Table 4.2 DeviceNet cable color codes

Terminal Cable Data signal

1 Black 0V 0 V external power supply

2 Blue CAN-L Negative data line

3 Braided Shield Shield Cable shield

4 White CAN-H Positive data line

5 Red +24 V +24 V external power supply

DeviceNet networks run at high data rates and require cable specifically designed to carry high frequency signals. Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network. Cable specifications and a list of approved manufacturers of cable for use on DeviceNet networks is available on the Open DeviceNet Vendors Association web site at www.odva.org.

Control Techniques can only guarantee correct and reliable operation of SI-DeviceNet if all other equipment installed on the DeviceNet network (including the network cable) has been approved by the ODVA.

SI-DeviceNet User Guide 13 Issue Number: 2

Description

status word

Control /

EDS Files

Advanced

Features

DeviceNet

Objects

Diagnostics

Glossary Of

Te rm s

Index

4.4 DeviceNet network termination

Cable

SI-DeviceNet

2125576532

1 2 3 4 5

120

0.25 W

NOTE

It is very important in high-speed communications networks that the network communications cable is installed with the specified termination resistor network at each end of the cable segment. This prevents signals from being reflected back down the cable and causing interference.

During installation of a DeviceNet network, 120 Ω 0.25 W termination resistors should be installed across the CAN-H and CAN-L lines at both ends of the network segment, as shown in Figure 4-3 below.

Figure 4-3 DeviceNet network termination

Failure to terminate a network correctly can seriously affect the operation of the network. If the correct termination resistors are not installed, the noise immunity of the network is greatly reduced.

If too many termination resistors are installed on a DeviceNet network, the network will be over-loaded, resulting in reduced signal levels. This may cause nodes to miss some bits of information, resulting in potential transmission errors.

4.5 SI-DeviceNet cable shield connections

The SI-DeviceNet should be wired with the cable shields isolated from ground at each drive. The cable shields should be linked together at the point where they emerge from the cable, and formed into a short pigtail to be connected to pin 3 on the DeviceNet connector.

The DeviceNet cable can be tie-wrapped to the grounding bar or local convenient mounting that is not live to provide strain relief, but the DeviceNet cable shield must be kept isolated from ground at each node. The only exception to this is the DeviceNet ground point. Refer to section 4.6 DeviceNet ground point on page 15.

14 SI-DeviceNet User Guide

Issue Number: 2

4.6 DeviceNet ground point

The DeviceNet cable shield must be grounded AT ONE POINT only, usually near the centre point of the cable run. This is to prevent the cable shield from becoming live in the event of catastrophic failure of another device on the DeviceNet network.

4.7 Maximum network length

The maximum number of nodes that can be connected to a single DeviceNet network segment is 64. The maximum length of network cable for a DeviceNet network is specified by the Open DeviceNet Vendors Association and depends on the data rate to be used.

Table 4.3 DeviceNet maximum segment lengths

Data rate (bits/sec) Maximum network length (m)

1 M 30

800 k 50

500 k 100

250 k 250

125 k 500

100 k 700

50 k 1000

20 k 2500

10 k 5000

4.8 Spurs

Control Techniques do not recommend the use of spurs on a DeviceNet network.

information

installation

started

data

status word

Safety

Introduction

Mechanical

Electrical

Getting

Parameters

Non cyclic

Control /

EDS Files

4.9 Minimum node to node cable length

The DeviceNet specification does not specify a minimum node to node distance, however, Control Techniques advises a minimum distance of 1 m between nodes to prevent excessive bend radii and to reduce network reflections.

SI-DeviceNet User Guide 15 Issue Number: 2

Advanced

Features

DeviceNet

Objects

Diagnostics

Glossary Of

Te rm s

Index

5 Getting started

NOTE

This section is intended to provide a generic guide for setting up SI-DeviceNet and a master controller/PLC. Figure 5.1 Quick start chart SI-DeviceNet on page 17 is intended as the starting point for a new installation. The following pages detail the various methods available to configure SI-DeviceNet. It is recommended that all of this section is read, before attempting to configure a system.

It is recommended that the latest firmware is used where possible to ensure all features are supported.

Due to the large number of different PLCs/masters that support DeviceNet, details cannot be provided for any specific master or PLC. Generic support is available through your supplier or local drive centre. Before contacting your supplier or local drive centre for support ensure you have read Chapter 12 Diagnostics on page 69 of this manual and check you have configured all parameters correctly.

Ensure the following information is available before calling:

• A list of all parameters in SI-DeviceNet

• The drive firmware version (see the drive documentation)

• The SI-DeviceNet firmware version

16 SI-DeviceNet User Guide

Issue Number: 2

5.1 Quick start chart SI-DeviceNet

Set node address (Pr ) to a

unique address

(not 63)

S.01.004

Set DeviceNet

data rate

(Pr )

S.01.005

Start

END

Configure mappings

(Pr -

and Pr

- )

S.02.001 S.02.028

S.03.001

S.03.028

Perform a drive

save (Pr

= save parameters

or 1000) and

press reset

mm.000

Reset Option

module

(Pr =On)

MM.007

Configure PLC to

expect drive at address set in

(Pr )

S.01.004

Configure PLC

network data rate

to match drive

Map the data from

the network into

the PLC program

Place the PLC in

“Run Mode”

Communications

functional, write

PLC code

Ensure PLC

correctly

configured

Is Pr =“Init Failed”?

S.01.006

Remove power

then re-install

Option module

Is a SlotX Error

present?

Check the sub-string

then find error

code in manual

For drives on 24 V only use 1001

no yes

yes

Is Pr >0 ?

S.01.007

information

Safety

Introduction

Mechanical

installation

Electrical

Getting

started

Parameters

Non cyclic

data

status word

Control /

EDS Files

Advanced

Features

DeviceNet

Objects

Diagnostics

Glossary Of

Te rm s

Index

SI-DeviceNet User Guide 17 Issue Number: 2

5.2 Parameter save and restore

Parameters in the module are saved when a normal drive parameter save is initiated by selecting "Save Parameters" or setting a value of 1000 in Pr mm.000 and performing a drive reset. (If the drive is in the under voltage state or is supplied from a low voltage power supply then a value of 1001 must be set in Pr mm.000 and a drive reset performed).

Any user-saved parameters in the option module's internal menus are stored in nonvolatile memory on the module and not in the drive. Therefore, if the module is moved to a different slot or to a different drive, then any saved parameter values will follow the module. If a module is to be replaced, ensure that the parameter values for the module have been backed up before replacing it.

5.3 Module reset

A reset of the SI-DeviceNet module can be performed by the methods detailed below.

•Set Pr S.00.007 (or Pr MM.007) to On (1). This will only reset the module in slot S.

• Select "Reset modules" or set a value of 1070 in Pr mm.000, and performing a drive reset. This will perform a reset of all option modules installed in the drive.

5.4 Restoring module parameter default values

Setting Pr S.00.008 (or Pr MM.008) to On (1) and performing a module reset will return all parameters in the SI-DeviceNet module to their default values.

Parameters in the SI-DeviceNet module will also be set to their default values when drive parameters are returned to their default values.

5.5 Single Line Parameters

Table 5.1 Menu 0 Setup

Parameter Range(Ú) Default(Ö)Type

MM.001 Module ID 0 to 999 447 RO Num ND NC PT

MM.002 Software Version

MM.003 Hardware Version 00.00 to 99.99

MM.004 Serial Number LS 0 to 99999999

MM.005 Serial Number MS 0 to 99999999 RO Num ND NC PT

MM.006 Module status

MM.007 Module reset Off (0) or On (1) Off (0) RW Bit NC

MM.008 Module default Off (0) or On (1) Off (0) RW Bit NC

00.00.00.00 to

99.99.99.99

Initialising (0), OK (1),

Config (2), Error (3)

RO Num ND NC PT

18 SI-DeviceNet User Guide

Issue Number: 2

Table 5.2 Menu 1 DeviceNet setup

Parameter Range(Ú)Default(Ö)Type

S.01.001

S.01.002

S.01.003

S.01.004

S.01.005 Baud rate

S.01.006

S.01.007

S.01.010 Timeout delay 0 to 9999 ms 200 ms RW Num US

S.01.011 Timeout action

S.01.012

S.01.013 Timeout event

S.01.014 Data alignment 32 (0) or 16 (1) bits 32 (0) bits RW Txt US

S.01.018

S.01.019

S.01.020

S.01.021

S.01.022

S.01.023

S.01.024

S.01.025

S.01.026

S.01.027

Enable DeviceNet Interface

Reset DeviceNet Interface

Default DeviceNet Interface

DeviceNet node address

DeviceNet Network Diagnostic

Cyclic data transfers per second

Timeout event destination

Input Cyclic Assembly Object ID

Output Cyclic Assembly Object ID

Input cyclic mapping length

Output cyclic mapping length

Input mapping status

Output mapping status

Input processing time

Output processing time

Input consistency enable

Input consistency trigger parameter

Off (0) or On (1) On (1) RO Bit NC

Off (0) or On (1) Off (0) RW Bit NC

0 to 63 63 RW Num US

Auto Detect (-1), 125 kbps (0), 250

kbps (1), 500 kbps (2)

Network OK (0), Init OK (1), No Cyclic (2), Init Failed (3), Comm

Fault (4), No 24 V (5), Baud

detecting (6), Initialising (7)

0 to 9999 messages/s

125 kbps

(0)

RW Txt US

RO Txt ND NC PT

RO Num ND NC PT

Trip (0), Send flt values (1), Clear

output (2), Hold last (3), No action

(4)

This slot (0), Slot 1 (1), Slot 2 (2),

Slot 3 (3), Slot 4 (4)

No event (0), Event 0 (1), Event 1

(2), Event 2 (3), Event 3 (4), Event

4 (5)

Trip (0) RW Txt US

This slot

No event

RW Txt US

(0)

RW Txt US

(0)

70-73, 106-160 (even) 112 RW Num US

20-23, 107-161 (odd) 113 RW Num US

1 to 28 4 RO Num

No error (0), Par Impossible (1),

Hole in mapping (2), Dup mapping

(3), Length exceed (4), Obj not support (5), Pre & uncompress (6), Type Unmatched (7), Memory fault

No error

(0)

RO Txt NC PT

(8), No mapping (9)

No error (0), Par Impossible (1),

Hole in mapping (2), Dup mapping

(3), Length exceed (4), Obj not support (5), Pre & uncompress (6), Type Unmatched (7), Memory fault

(8), No mapping (9)

0 to 65535 ms

No error

(0)

RO Txt NC PT

RO Num ND

Disable (0) or Enable (1) Disable (0) RW Bit US

0 to 4.99.999 0.00.000 RW DE PT US

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SI-DeviceNet User Guide 19 Issue Number: 2

S.01.028

S.01.029

S.01.031

S.01.032

S.01.034 Bus Off trip Enable (0) or Disable (1) Enable (0) RW Txt US

S.01.040 Motor 1 Type

S.01.041 Motor 2 Type

Output consistency enable

Output consistency trigger parameter

Custom product type

Custom product version

Disable (0) or Enable (1) Disable (0) RW Bit US

0 to 4.99.999 0.00.000 RW DE PT US

Unidrive M (0) or Unidrive SP (1)

0 to 9999 0 RW Num US

FC DC Motor (2), WRI motor (6),

SCI motor (7), Sin PM BL motor (9),

Trap PM BL motor (10)

FC DC Motor (2), WRI motor (6),

SCI motor (7), Sin PM BL motor (9),

Trap PM BL motor (10)

Unidrive M

SCI motor

RW Txt US

(0)

RO Txt PT US

(7)

RO Txt PT US

(7)

20 SI-DeviceNet User Guide

Issue Number: 2

Table 5.3 Menu 2 Input mapping

Parameter Range(Ú)Default(Ö)Type

S.02.001 Input mapping parameter 1 0 to 499999 10040 RW Num DE PT US

S.02.002 Input mapping parameter 2 0 to 499999 2001 RW Num DE PT US

S.02.003 Input mapping parameter 3 0 to 499999 0 RW Num DE PT US

S.02.004 Input mapping parameter 4 0 to 499999 0 RW Num DE PT US

S.02.005 Input mapping parameter 5 0 to 499999 0 RW Num DE PT US

S.02.006 Input mapping parameter 6 0 to 499999 0 RW Num DE PT US

S.02.007 Input mapping parameter 7 0 to 499999 0 RW Num DE PT US

S.02.008 Input mapping parameter 8 0 to 499999 0 RW Num DE PT US

S.02.009 Input mapping parameter 9 0 to 499999 0 RW Num DE PT US

S.02.010 Input mapping parameter 10 0 to 499999 0 RW Num DE PT US

S.02.011 Input mapping parameter 11 0 to 499999 0 RW Num DE PT US

S.02.012 Input mapping parameter 12 0 to 499999 0 RW Num DE PT US

S.02.013 Input mapping parameter 13 0 to 499999 0 RW Num DE PT US

S.02.014 Input mapping parameter 14 0 to 499999 0 RW Num DE PT US

S.02.015 Input mapping parameter 15 0 to 499999 0 RW Num DE PT US

S.02.016 Input mapping parameter 16 0 to 499999 0 RW Num DE PT US

S.02.017 Input mapping parameter 17 0 to 499999 0 RW Num DE PT US

S.02.018 Input mapping parameter 18 0 to 499999 0 RW Num DE PT US

S.02.019 Input mapping parameter 19 0 to 499999 0 RW Num DE PT US

S.02.020 Input mapping parameter 20 0 to 499999 0 RW Num DE PT US

S.02.021 Input mapping parameter 21 0 to 499999 0 RW Num DE PT US

S.02.022 Input mapping parameter 22 0 to 499999 0 RW Num DE PT US

S.02.023 Input mapping parameter 23 0 to 499999 0 RW Num DE PT US

S.02.024 Input mapping parameter 24 0 to 499999 0 RW Num DE PT US

S.02.025 Input mapping parameter 25 0 to 499999 0 RW Num DE PT US

S.02.026 Input mapping parameter 26 0 to 499999 0 RW Num DE PT US

S.02.027 Input mapping parameter 27 0 to 499999 0 RW Num DE PT US

S.02.028 Input mapping parameter 28 0 to 499999 0 RW Num DE PT US

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Table 5.4 Menu 3 Output mapping

Parameter Range(Ú) Default(Ö)Type

S.03.001 Output mapping parameter 1 0 to 499999 6042 RW Num DE PT US

S.03.002 Output mapping parameter 2 0 to 499999 1021 RW Num DE PT US

S.03.003 Output mapping parameter 3 0 to 499999 0 RW Num DE PT US

S.03.004 Output mapping parameter 4 0 to 499999 0 RW Num DE PT US

S.03.005 Output mapping parameter 5 0 to 499999 0 RW Num DE PT US

S.03.006 Output mapping parameter 6 0 to 499999 0 RW Num DE PT US

S.03.007 Output mapping parameter 7 0 to 499999 0 RW Num DE PT US

S.03.008 Output mapping parameter 8 0 to 499999 0 RW Num DE PT US

S.03.009 Output mapping parameter 9 0 to 499999 0 RW Num DE PT US

S.03.010 Output mapping parameter 10 0 to 499999 0 RW Num DE PT US

S.03.011 Output mapping parameter 11 0 to 499999 0 RW Num DE PT US

S.03.012 Output mapping parameter 12 0 to 499999 0 RW Num DE PT US

S.03.013 Output mapping parameter 13 0 to 499999 0 RW Num DE PT US

S.03.014 Output mapping parameter 14 0 to 499999 0 RW Num DE PT US

S.03.015 Output mapping parameter 15 0 to 499999 0 RW Num DE PT US

S.03.016 Output mapping parameter 16 0 to 499999 0 RW Num DE PT US

S.03.017 Output mapping parameter 17 0 to 499999 0 RW Num DE PT US

S.03.018 Output mapping parameter 18 0 to 499999 0 RW Num DE PT US

S.03.019 Output mapping parameter 19 0 to 499999 0 RW Num DE PT US

S.03.020 Output mapping parameter 20 0 to 499999 0 RW Num DE PT US

S.03.021 Output mapping parameter 21 0 to 499999 0 RW Num DE PT US

S.03.022 Output mapping parameter 22 0 to 499999 0 RW Num DE PT US

S.03.023 Output mapping parameter 23 0 to 499999 0 RW Num DE PT US

S.03.024 Output mapping parameter 24 0 to 499999 0 RW Num DE PT US

S.03.025 Output mapping parameter 25 0 to 499999 0 RW Num DE PT US

S.03.026 Output mapping parameter 26 0 to 499999 0 RW Num DE PT US

S.03.027 Output mapping parameter 27 0 to 499999 0 RW Num DE PT US

S.03.028 Output mapping parameter 28 0 to 499999 0 RW Num DE PT US

22 SI-DeviceNet User Guide

Issue Number: 2

Table 5.5 Menu 4 Fault values

Parameter Range(Ú)Default(Ö)Type

S.04.001 Output Fault value 1

S.04.002 Output Fault value 2

S.04.003 Output Fault value 3

S.04.004 Output Fault value 4

S.04.005 Output Fault value 5

S.04.006 Output Fault value 6

S.04.007 Output Fault value 7

S.04.008 Output Fault value 8

S.04.009 Output Fault value 9

S.04.010 Output Fault value 10

S.04.011 Output Fault value 11

S.04.012 Output Fault value 12

S.04.013 Output Fault value 13

S.04.014 Output Fault value 14

S.04.015 Output Fault value 15

S.04.016 Output Fault value 16

S.04.017 Output Fault value 17

S.04.018 Output Fault value 18

S.04.019 Output Fault value 19

S.04.020 Output Fault value 20

S.04.021 Output Fault value 21

S.04.022 Output Fault value 22

S.04.023 Output Fault value 23

S.04.024 Output Fault value 24

S.04.025 Output Fault value 25

S.04.026 Output Fault value 26

S.04.027 Output Fault value 27

S.04.028 Output Fault value 28

-2

to 231-1

0RWNum US

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SI-DeviceNet User Guide 23 Issue Number: 2

Table 5.6 Menu 9 Resources

Parameter Range(Ú)Default(Ö)Type

S.09.030 PCB temperature

-128 to 127

RO Num ND NC PT

24 SI-DeviceNet User Guide

Issue Number: 2

6 Parameters

6.1 Menus

Table 6.1 below details each of the module's internal menus.

Table 6.1 SI-DeviceNet Internal Menu descriptions

Menu Description

S.0 Module information

S.1 DeviceNet setup

S.2 Input mapping

S.3 Output mappings

S.4 Fault values

S.9 Resources

S is the slot number where the module is installed.

The module's menu 0 is also displayed in menu 15, 16 or 17 on the drive depending on which slot the module is installed in. Table 6.2 below shows the location of module's menu 0 on the drive.

Table 6.2 SI-DeviceNet menu 0 locations on the drive

Slot number Menu 0 location

115

216

317

6.2 Module menu 0 - Module Information

All parameters in S.00.ppp (i.e. menu 0 within the Option module menus) are also present in menus 15, 16 or 17 depending on the slot that the module is installed to e.g. Pr 3.00.007 is also present as 17.007.

The functionality and properties of the parameters are identical between the two menus.

Module ID code

Default 447

S.00.001

Range 0 to 999

Access RO

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DeviceNet

Pr S.00.001 displays the ID number for the Option Module. For SI-DeviceNet, this is

447.

SI-DeviceNet firmware version

Default N/A

S.00.002

Range 00.00.00.00 to 99.99.99.99

Access RO

The firmware version of the Option module is in the format of ww.xx.yy.zz

SI-DeviceNet User Guide 25 Issue Number: 2

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SI-DeviceNet hardware version

Default N/A

S.00.003

The hardware version of the Option module is in the format of yy.zz

Serial Number LS

S.00.004

Serial Number MS

S.00.005

The module serial number is available as a pair of 32-bit values where Serial Number LS (Pr S.00.004) provide the least significant 8 decimal digits, and Serial Number MS (Pr S.00.005) provides the most significant 8 decimal digits. The reconstructed serial number is ((S.00.005 x 100000000) + S.00.004). For example serial number “0001234567898765” would be stored as S.00.005 = 12345 and S.00.004 = 67898765.

Module Status

S.00.006

This parameter displays the current status of the module. All possible values are shown in the table below.

Value Text Description

0 Initializing Module is currently initializing.

1 Ok Module has initialized and has found no errors.

2Config

3 Error

Range 00.00 to 99.99

Access RO

Default N/A

Range 0 to 99999999

Access RO

Default N/A

Range 0 to 99999999

Access RO

Default N/A

Range Initializing (0) to Error (3)

Access RO

A configuration error has been detected in one of the communications protocols or user program.

An error has occurred preventing the firmware or user program from running correctly.

26 SI-DeviceNet User Guide

Issue Number: 2

Reset module

NOTE

Default Off (0)

S.00.007

Range Off (0) or On (1)

Access RW

Changes to the SI-DeviceNet configuration will not take effect until the SI-DeviceNet has been reset.

To reset the SI-DeviceNet:

•Set Pr S.00.007 to On (1).

• When the sequence has been completed, Pr S.00.007 will be reset to Off (0).

• The SI-DeviceNet will reset using the updated configuration.

This sequence does NOT store the SI-DeviceNet configuration parameters in the drive or the SI-DeviceNet flash memory. This parameter will change back to Off immediately, and as such the change may not be visible on the display.

Default DeviceNet Interface

Default Off (0)

S.00.008

Range Off (0) or On (1)

Access RW

If the host drive is defaulted (see the drive user guide for details), it will also clear the current configuration for the slot SI-DeviceNet is installed to.

This can be performed as follows:

•Set Pr S.00.008 to On (1).

• Reset the module by setting Pr S.00.007 to On (1).

• SI-DeviceNet communications will be stopped.

• Default parameter values for the SI-DeviceNet will be loaded.

• The SI-DeviceNet will reset using the default values.

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6.3 Module menu 1 - DeviceNet Setup

NOTE

Menu 1 contains all the parameters relating to the setup of the DeviceNet interface on the SI-DeviceNet module.

Enable DeviceNet Interface

Default On (1)

S.01.001

This parameter displays a value of On (1) to indicate that the DeviceNet Interface has been enabled.

Reset DeviceNet Interface

S.01.002

Changes to the SI-DeviceNet configuration will not take effect until the SI-DeviceNet has been reset.

To reset the SI-DeviceNet:

•Set Pr S.01.002 to On (1).

• When the sequence has been completed, Pr S.01.002 will be reset to Off (0).

• The SI-DeviceNet will reset using the updated configuration.

Default DeviceNet Interface

S.01.003

If the host drive is defaulted (see the drive user guide for details), it will also clear the current configuration for the slot SI-DeviceNet is installed to.

This can be performed as follows:

•Set Pr S.01.003 to On (1).

• Reset the DeviceNet interface by setting Pr S.01.002 to On (1).

• SI-DeviceNet communications will be stopped.

• Default parameter values for the DeviceNet interface will be loaded.

• The SI-DeviceNet will reset using the default values.

Range Off (0) or On (1)

Access RO

Default Off (0)

Range Off (0) or On (1)

Access RW

Default Off (0)

Range Off (0) or On (1)

Access RW

DeviceNet node address

Default 63

S.01.004

Every node on a DeviceNet network must be given a unique network node address. To activate a change in the node address value, the SI-DeviceNet must be reset (Pr S.01.002 or MM.007 = On (1). Address number 63 is reserved for system use.

Range 0 to 63

Access RW

28 SI-DeviceNet User Guide

Issue Number: 2

Baud rate

NOTE

Default 125 kbps (0)

S.01.005

Range Auto Detect (-1) to 500 kbps (2)

Access RW

The SI-DeviceNet will automatically detect the DeviceNet network data rate and synchronize to it. Pr S.01.005 will indicate the data rate that has been detected by the SI-DeviceNet.

A value of -1 indicates that the SI-DeviceNet has not detected any activity on the DeviceNet network, and is waiting for the master controller to start communicating.

The DeviceNet cyclic data rate parameter can be changed, but this will not affect the data rate at which the SI-DeviceNet communicates. The data rate display will be updated when the SI-DeviceNet is reset.

Pr S.01.005 Bits/s

-1 Auto-detecting

0 125 k

1 250 k

2 500 k

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Parameters

DeviceNet network diagnostic

Default N/A

S.01.006

Range 0 to 7

Access RO

DeviceNet cyclic data rate

Default N/A

S.01.007

Range 0 to 9999 Messages/s

Access RO

The DeviceNet network activity can be monitored in the SI-DeviceNet operating status parameter, Pr S.01.006. When the SI-DeviceNet is in data exchange with the DeviceNet master controller, Pr S.01.007 will give an indication of the number of cyclic data messages that are being processed per second.

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SI-DeviceNet User Guide 29 Issue Number: 2

All possible values of S.01.006 are given in the table below.

NOTE

Value Text Description

0 Network OK Network ok/healthy

1Init OK

2 No Cyclic

3 Init Failed

4 Comm Fault

5 No 24 V No 24 V external PSU has been detected.

6 Baud detecting Automatic baud rate detection is in progress.

7 Initializing The module is currently initializing.

Network loss selection

Default 200 ms

S.01.010

The network loss detection feature provides a method which ensures that communication with the master is still present. The SI-DeviceNet resets an internal timer when a valid message is received from the DeviceNet network, if a message is not received within the specified period, network loss is detected.

Range 0 to 3000 ms

Access RO

The SI-DeviceNet has initialized correctly and is waiting for the DeviceNet master to initialize communications.

No cyclic data has been recognized. This could be due to the length of the mapping data is not equal to the master setup.

A part of the SI-DeviceNet initialization sequence was not successful. If this fault persists after a power-cycle, replace the SI-DeviceNet.

Fault found in the communications of the module. This could be due to different devices configured to use different baud rates.

Network loss detection is not enabled internally until cyclic data has been detected. This prevents spurious network loss timeouts while the DeviceNet master controller is initializing the DeviceNet network.

Timeout action

Default Trip (0)

S.01.011

Pr S.01.011 determines the action to take when a timeout specified by Pr S.01.010 occurs. All possible actions and descriptions are listed below.

Value Text Description

0 Trip Trip the drive

1 Send flt values Send fault values to output parameters

2 Clear output PLC output parameters will have values set to zero

3 Hold last Hold the last value in the PLC output parameters

4 No action No action with output parameters

Range Trip (0) to No action (4)

Access RW

30 SI-DeviceNet User Guide

Issue Number: 2

When a value of "Trip" is selected in Pr S.01.011 and no cyclic communications have

WARNING

NOTE

been detected in a time period defined by Pr S.01.010 then the drive will trip displaying "SlotX Error" with a sub-trip string of "Link loss".

If the network loss timeout time (Pr S.01.010) is reduced too far, spurious network losses may occur due to a time-out occurring before the time period under normal operating conditions.

Parameters Introduction

Network loss detection can be disabled by setting Pr S.01.010 to 0. It is the user's responsibility to ensure that adequate safety precautions are taken to prevent damage or injury by disabling the drive in the event of a loss of communications.

If Pr S.01.011 is set to "Send flt values", the fault values entered in Pr S.04.001 to Pr S.04.028 are sent to the mapped output parameters when a network timeout error occurs.

e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, the value in Pr S.04.001 will be sent to Pr 20.021 and the value in Pr S.04.002 will be sent to Pr 20.022 as defined in the out mapping parameters.

If Pr S.01.011 is set to "Clear output", all PLC output parameter values are set to zero.

e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, Pr 20.021 and Pr 20.022 will be set to 0.

If Pr S.01.011 is set to "Hold last", the last values sent by the PLC master are held in the mapped output parameters.

e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, Pr 20.021 and Pr 20.022 will equal the last values sent by the PLC master.

If Pr S.01.011 is set to "No action", then the module will not write any value to any mapped output parameters.

Timeout Event Destination

Default This Slot (0)

S.01.012

Range This Slot (0) to Slot 4 (4)

Access RW

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Timeout Event Type

Default No Event (0)

S.01.013

Range No Event (0) to Event4 (4)

Access RW

When a timeout occurs, the SI-DeviceNet module can trigger an event defined by Pr S.01.013 to a destination, such as an Option Module installed to a different slot on the drive, defined by Pr S.01.012.

If triggering an event to a different Option Module, Pr S.01.012 must point to a slot where a compatible Option Module is installed to.

SI-DeviceNet User Guide 31 Issue Number: 2

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Cyclic data alignment

Default 32 (0)

S.01.014

Range 32 (0) or 16 (1) bits

Access RW

By default, the SI-DeviceNet uses 32 bits for each data channel, even if the target parameter in the drive is a 16-bit parameter. This strategy (known as casting), ensures that the cyclic data transmitted over the DeviceNet network remains aligned with the memory locations in 32-bit PLC's. When cyclic data alignment (Pr S.01.014) is set to "16 bits", a data channel will only use 32 bits if the target drive parameter is a 32-bit parameter. If the target drive parameter is only 1, 8 or 16 bits wide, 16 bits will be used for that particular data channel as shown in the following table.

Parameter

size

Actual data size (bits)

Alignment = 16 bits

Actual data size (bits)

Alignment = 32 bits

(bits)

32 32

The following examples demonstrate setting up a network using five cyclic channels for both IN and OUT data with the cyclic data alignment first set to 32 bits and then set to 16 bits.

Table 6.3 shows the mapping parameters where five IN and five OUT cyclic data channels are required. With data alignment set to 32 bits, each data channel uses 32 bits (two data words, so a total of ten words are required).

Table 6.3 Mapping parameters

Data channel

IN channel 1 IN word 0, 1 Pr 3.02.001 0.10.040 16 Pr 10.040, status word

IN channel 2 IN word 2, 3 Pr 3.02.002 0.02.001 32

IN channel 3 IN word 4, 5 Pr 3.02.003 0.04.020 16

IN channel 4 IN word 6, 7 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback

IN channel 5 IN word 8, 9 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output

OUT channel 1 OUT word 0, 1 Pr 3.03.001 0.06.042 16 Pr 06.042, control word

OUT channel 2 OUT word 2, 3 Pr 3.03.002 0.01.021 32 Pr 01.021, preset reference 1

OUT channel 3 OUT word 4, 5 Pr 3.03.003 0.02.011 32 Pr 02.011, acceleration rate 1

OUT channel 4 OUT word 6, 7 Pr 3.03.004 0.02.021 32 Pr 02.021, deceleration rate 1

OUT channel 5 OUT word 8, 9 Pr 3.03.005 0.14.020 16 Pr 14.020, PID1 reference

Data words

used

Mapping for slot 3

Setting

Data

width

Mapping status

(bits)

Pr 02.001, post-ramp speed reference

Pr 04.020, Motor load as % of rated motor load

32 SI-DeviceNet User Guide

Issue Number: 2

It is advisable to keep 16-bit parameters paired together. This prevents mis-alignment of cyclic data with 32-bit PLC registers when using auto-mapping facilities to configure the DeviceNet network. By swapping the mappings for input channel 2 with input channel 3 and moving output channel 5 to output channel 2, the data channel structure will appear as shown in the following table.

Data

channel

IN channel 1 IN word 0 Pr 3.02.001 0.10.040 16 Pr 10.040, status word

IN channel 2 IN word 1 Pr 3.02.002 0.04.020 16

IN channel 3 IN word 2, 3 Pr 3.02.003 0.02.001 32

IN channel 4 IN word 4 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback

IN channel 5 IN word 5 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output

OUT channel 1 OUT word 0 Pr 3.03.001 0.06.042 16 Pr 06.042, control word

OUT channel 2 OUT word 1 Pr 3.03.002 0.14.020 16 Pr 14.020, PID1 reference

OUT channel 3 OUT word 2, 3 Pr 3.03.003 0.01.021 32 Pr 01.021, preset reference 1

OUT channel 4 OUT word 4, 5 Pr 3.03.004 0.02.011 32 Pr 02.011, acceleration rate

OUT channel 5 OUT word 6, 7 Pr 3.03.005 0.02.021 32 1Pr 02.021, deceleration rate 1

Data words

used

Mapping for slot 3

Setting

Data

width

Mapping status

(bits)

Pr 04.020, Motor load as % of rated motor load

Pr 02.001, post-ramp speed reference

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Parameters

Input cyclic assembly object ID

Default 112

S.01.018

Range 70-73, 106-160 (even)

Access RW

Output cyclic assembly object ID

Default 113

S.01.019

Range 20-23, 107-161 (odd)

Access RW

Pr S.01.018 and S.01.019 control the input and output DeviceNet objects and also the number of polled words that are to be sent and received.

Table 6.4 on page 34 shows the number of the polled words corresponding to Pr S.01.018 and Pr S.01.019.

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SI-DeviceNet User Guide 33 Issue Number: 2

Table 6.4 Polled words

Polled words

1 106 107

2 108 109

3110 111

4112 113

5114 115

6116 117

7118 119

8 120 121

9 122 123

10 124 125

11 126 127

12 128 129

13 130 131

14 132 133

15 134 135

16 136 137

17 138 139

18 140 141

19 142 143

20 144 145

21 146 147

22 148 149

23 150 151

24 152 153

25 154 155

26 156 157

27 158 159

28 160 161

There are several assembly objects that are covered in the DeviceNet specification that are available for use. See the DeviceNet objects chapter.

Input assembly object

(Pr S.01.018)

Output assembly object

(Pr S.01.019)

34 SI-DeviceNet User Guide

Issue Number: 2

Input cyclic mapping length

Default 4

S.01.020

Range 0 to 28

Access RO

Parameters Introduction

Output cyclic mapping length

Default 4

S.01.021

Range 0 to 28

Access RO

Pr S.01.020 and Pr S.01.021 indicate the current mapping length used for sending and receiving data. To set a different value for the mapping lengths, refer to Pr S.01.018 and Pr S.01.019.

Input mapping status

Default N/A

S.01.022

Range No error (0) to Reserved (10)

Access RO

Output mapping status

Default N/A

S.01.023

Range No error (0) to Reserved (10)

Access RO

If the DeviceNet Network Diagnostic parameter (Pr S.01.006) indicates “Init Failed”, a mapping configuration error has been could have been detected. The reason for the error is indicated by the SI-DeviceNet input mapping status parameter (Pr S.01.022) and the SI-DeviceNet output mapping status parameter (Pr S.01.023).

When a mapping error has been corrected, reset the SI-DeviceNet module by setting Pr S.01.002 or MM.007 to On (1).

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The mapping error codes are described in the table below:

Value Text Description

0 No error

1 Par impossible The parameter may not exist or may not be readable.

2 Hole in mapping Cyclic data mapping parameters are not contiguous.

3 Dup mapping

4 Length exceed

5 Obj not support The selected assembly object is not supported.

6 Pre & uncompress

7 Type unmatched

8 Memory fault Failed to allocate memory for mapping.

9 No mapping No parameter is assigned to the mapping.

10 Reserved Reserved

Input processing time

Default N/A

S.01.024

Range 0 to 65535 ms

Access RO

No error has been detected during mapping initialization.

Two or more cyclic data mapping configuration parameters have been configured with the same destination parameter reference.

The length of the mapped parameters exceeds the length of the selected assembly object.

If the predefined object is selected, the data alignment must be set to 16 bits.

The IN and OUT objects both must be predefined objects, or neither.

Output processing time

Default N/A

S.01.025

Pr S.01.024 and Pr S.01.025 display the input and output processing times respectively. The input processing time (Pr S.01.024) shows the time taken from the value being sent from the drive to the value being written to the master in milliseconds. The output processing time (Pr S.01.025) shows the time taken from the value being sent from the master to the value being successfully written to the drive in milliseconds.

Range 0 to 65535 ms

Access RO

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Input consistency enable

Default Off (0)

S.01.026

Range Off (0) or On (1)

Access RW

Parameters Introduction

Input consistency trigger parameter

Default N/A

S.01.027

Range 0.00.000 to 4.99.999

Access RW

Output consistency enable

Default Off (0)

S.01.028

Range Off (0) or On (1)

Access RW

Output consistency trigger parameter

Default N/A

S.01.029

Range 0.00.000 to 4.99.999

Access RW

The SI-DeviceNet module provides an input/output consistency feature which ensures that the data in the input or output mappings is only transferred between the SI-DeviceNet module and the master when the mapped parameters are ready. This prevents data skew between parameters in the input/output mappings.

If Input consistency action (Pr S.01.026) and Output consistency action (Pr S.01.028) are set to 0 (i.e. default settings), then the input/output consistency features are disabled so that input and output data is always read from or written to the master/ module.

If Input Consistency Action (Pr S.01.026) is set to On (1), the SI-DeviceNet module will check the value of the parameter specified by the Input Consistency Trigger Source Parameter (Pr S.01.027). If the input trigger source parameter defined by Pr S.01.027 is set to a non-zero value (for example by a user program in an applications module), this indicates to the SI-DeviceNet module that all the mapped parameters are ready to be read. The module will then read the mapped parameters, transfer them to the master and will then clear the input trigger source parameter to zero. When the input trigger source parameter is set to zero, the SI-DeviceNet module will continue to transfer the previously read data to the master.

If Output Consistency Action (Pr S.01.028) is set to On (1), the SI-DeviceNet module will check the value of the parameter specified by the Output Consistency Trigger Source Parameter (Pr S.01.029). The output trigger source parameter defined by Pr S.01.029 will initially be set to 1.

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If the output trigger source parameter is set to zero (for example by a user program in an

NOTE

WARNING

applications module), this indicates to the SI-DeviceNet module that all the mapped parameters are ready to be written to. The module will then write the data from the master into the mapped parameters, and will then set the output trigger source parameter to 1. When the output trigger source parameter is set to 1, it indicates to the SI-DeviceNet module that the mapped parameters are not ready to be written to, and therefore any new data from the master will not be written to the mapped parameters in the drive until the output trigger source parameter is again set to zero.

Custom product type

Default Unidrive M (0)

S.01.031

Range Unidrive M (0) or Unidrive SP (1)

Access RW

A backwards compatibility mode is present in SI-DeviceNet. Pr S.01.031 can be used to allow the SI-DeviceNet module to appear as an SM-DeviceNet module, this only applies to the network and not the control/status words and parameter sizes. The module must be configured to match the existing network settings of the drive it is replacing (including any parameter mappings).

Using the compatibility mode allows the replacement of drives on a DeviceNet network, without having to make any changes to the master network configuration, it changes the identity code of the module so that the master believes that a similar type drive is present for a particular node.

Custom product version

Default 0

S.01.032

Range 0 to 9999

Access RW

When compatibility mode has been enabled, Pr S.01.032 should contain the correct product code to respond to the DeviceNet master. This product code should match the product code that is being used in the appropriate EDS files.

When using compatibility mode, ensure that the correct EDS file for the simulated drive is being used and not the actual drive.

This mode only changes the network to emulate the Unidrive SP on the network. Changes to the control method and data size differences must still be considered. This mode does NOT allow direct replacement.

Bus Off trip

Default Enable (0)

S.01.034

Range Enable (0) or Disable (1)

Access RW

The CAN hardware layer used by DeviceNet has a built-in safety mechanism where nodes experiencing regular problem with receiving or transmitting CAN frames will go off line. In this case, the SI-DeviceNet will trip the drive and it will not be possible to communicate with the drive via DeviceNet until the SI-DeviceNet has been reset.

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Bus Off errors will generally only occur if the DeviceNet network is broken, the wiring becomes faulty or there is noise on the network. However, in some applications, such as a continuous casting process, there is a requirement for the drive to continue to run in the event of a major network failure.

When Pr S.01.034 is set to Disable (1), the BUS Off condition may still be entered, but the SI-DeviceNet does not trip the drive. Some external provision must be made to disable the drive when the process has reached a point at which it is safe to stop.

Motor 1 type

Default FC DC Motor (2)

S.01.040

Range

FC DC Motor (2) to Trapezoidal PM BL Motor (10)

Access RO

Motor 2 type

Default FC DC Motor (2)

S.01.041

Range

FC DC Motor (2) to Trapezoidal PM BL Motor (10)

Access RO

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There are 2 instances of the Motor Data object. Instance 1 will represent the Menu 5 motor information (Motor Map 1) and instance 2 will represent the menu 21 motor map. (Motor Map 2) The instance being used by the other dependant DeviceNet objects will be determined by Pr 21.015. Pr 21.015 is polled in the background task, so the user should be aware that during motor map changeover, the rpm speed reference might not be accurate.

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6.4 Module menu 2 - Input Mappings

Menu 2 contains all the mapping parameters relating to the IN channels of the module.

The values set in each parameter are in the format of S.mm.ppp where:

S = slot number of the target/source parameter

mm = menu number of the target /source parameter

ppp = parameter number of the target/source parameter

IN channel Mapping parameter Default value

1Pr S.02.001 0.10.040 2Pr S.02.002 0.02.001 3Pr S.02.003 0.00.000 4Pr S.02.004 0.00.000 5Pr S.02.005 0.00.000 6Pr S.02.006 0.00.000 7Pr S.02.007 0.00.000 8Pr S.02.008 0.00.000

9Pr S.02.009 0.00.000 10 Pr S.02.010 0.00.000 11 P r S.02.011 0.00.000 12 Pr S.02.012 0.00.000 13 Pr S.02.013 0.00.000 14 Pr S.02.014 0.00.000 15 Pr S.02.015 0.00.000 16 Pr S.02.016 0.00.000 17 Pr S.02.017 0.00.000 18 Pr S.02.018 0.00.000 19 Pr S.02.019 0.00.000 20 Pr S.02.020 0.00.000 21 Pr S.02.021 0.00.000 22 Pr S.02.022 0.00.000 23 Pr S.02.023 0.00.000 24 Pr S.02.024 0.00.000 25 Pr S.02.025 0.00.000 26 Pr S.02.026 0.00.000 27 Pr S.02.027 0.00.000 28 Pr S.02.028 0.00.000

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6.5 Module menu 3 - Output Mappings

Menu 3 contains all the mapping parameters relating to the OUT channels of the module.

The values set in each parameter are in the format of S.mm.ppp where:

S = slot number of the target/source parameter

mm = menu number of the target /source parameter

ppp = parameter number of the target/source parameter

OUT channel Mapping

parameter

1Pr S.03.001 0.06.042

2Pr S.03.002 0.01.021

3Pr S.03.003 0.00.000

4Pr S.03.004 0.00.000

5Pr S.03.005 0.00.000

6Pr S.03.006 0.00.000

7Pr S.03.007 0.00.000

8Pr S.03.008 0.00.000

9Pr S.03.009 0.00.000

10 Pr S.03.010 0.00.000

11 Pr S.03.011 0.00.000

12 Pr S.03.012 0.00.000

13 Pr S.03.013 0.00.000

14 Pr S.03.014 0.00.000

15 Pr S.03.015 0.00.000

16 Pr S.03.016 0.00.000

17 Pr S.03.017 0.00.000

18 Pr S.03.018 0.00.000

19 Pr S.03.019 0.00.000

20 Pr S.03.020 0.00.000

21 Pr S.03.021 0.00.000

22 Pr S.03.022 0.00.000

23 Pr S.03.023 0.00.000

24 Pr S.03.024 0.00.000

25 Pr S.03.025 0.00.000

26 Pr S.03.026 0.00.000

27 Pr S.03.027 0.00.000

28 Pr S.03.028 0.00.000

Default value

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6.6 Module menu 4 - Fault Values

Menu 4 contains all the fault values that are sent to the mapped output destination parameters when fault values have been configured to be sent using an action parameter.

OUT channel Parameter

1Pr S.04.001

2Pr S.04.002

3Pr S.04.003

4Pr S.04.004

5Pr S.04.005

6Pr S.04.006

7Pr S.04.007

8Pr S.04.008

9Pr S.04.009

10 Pr S.04.010

11 Pr S.04.011

12 Pr S.04.012

13 Pr S.04.013

14 Pr S.04.014

15 Pr S.04.015

16 Pr S.04.016

17 Pr S.04.017

18 Pr S.04.018

19 Pr S.04.019

20 Pr S.04.020

21 Pr S.04.021

22 Pr S.04.022

23 Pr S.04.023

24 Pr S.04.024

25 Pr S.04.025

26 Pr S.04.026

27 Pr S.04.027

28 Pr S.04.028

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Module menu 9 - Resources

PCB temperature 1

Default N/A

S.09.030

PCB temperature 2

S.09.031

Parameters S.09.030 and S.09.031 display the current temperature of the 2 internal thermistors within the option module.

Range -128 to 127°C

Access RO

Default N/A

Range -128 to 127°C

Access RO

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7 Non cyclic data

NOTE

7.1 Introduction

“Explicit data” is the non cyclic data channel on DeviceNet that provides access to any parameter and DeviceNet object within SI-DeviceNet. As such, it is always enabled and active on SI-DeviceNet. Object access using explicit data is controlled entirely by the master controller program, and is not usually configured in any way when the DeviceNet network mapping is defined.

As non-cyclic data control is implemented entirely in the DeviceNet master controller, the method used will depend entirely on the type of master controller used.

7.2 Explicit parameter access

The Control Techniques object (Class 100 or 0x64) provides access to all drive parameters, using the parameters as shown:

Class code: 100 (0x64)

Instance: Menu

Attribute: Parameter

Read Code: 14 (0x0E) Get_Attribute_Single

Write Code: 16 (0x10) Set_Attribute_Single

All supported pre-defined DeviceNet objects can also be accessed using explicit messaging. Refer to the master controller documentation for full details about explicit messaging, and how to implement explicit messaging within the particular master controller.

Menu 0 parameters in the drive can be access using instance 200 (0xC8).

When accessing drive parameters using the Control Techniques object, all parameters must be treated as signed 32-bit parameters.

Multiple parameter access (using the Get_Atttribute_All service) is not supported by SIDeviceNet.

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8 Control / status word

NOTE

information

Safety

8.1 What are control and status words?

The control and status words allow the digital control and monitoring of the drive to be implemented using a single data word for each function. Each bit in the control word has a particular function and provides a method of controlling the output functions of the drive, such as run and direction. These words can be accessed using either cyclic or non-cyclic data.

Each bit in the status word provides feedback about the drives state of health and operational condition, such as drive OK, drive at speed, etc.

8.2 Control word

The SI-DeviceNet control word consists of 16 control bits some of which are reserved. See Table 8.1 for the individual bit function descriptions.

Table 8.1 Control word bit definitions

b15 b14 b13 b12 b11 b10 b9 b8

KEYPAD

WDOG

b7 b6 b5 b4 b3 b2 b1 b0

AUTO

NOT

STOP

To enable fieldbus control the fieldbus enable signal (Pr 06.043) and the auto bit (bit7) must both be set to ‘1’. When the AUTO bit is reset to 0 the drive will revert to terminal control.

For safety reasons, the external HARDWARE ENABLE signal must be present before the fieldbus control word can be used to start the drive. This terminal is normally controlled by an external “Emergency Stop” circuit to ensure that the drive is disabled in an emergency situation.

The control word REMOTE bit directly controls the drive parameter Pr 01.042, the function of which is to select the digital speed reference as the source of the drives speed reference. When the REMOTE bit is reset to 0 the drive will revert to using the external analog speed reference.

The actual digital speed reference selected when REMOTE is set to 1 will be Pr 01.021, which is also the default mapping for the fieldbus speed reference. However Pr 01.015 can be used to change which of the digital references is selected. For further details on the drive digital speed references, please refer to the appropriate drive User Guide.

Table 8.2 lists in detail the function of each control word bit. For further in-depth details about drive control words and sequencing bits please refer to the appropriate drive User Guides.

When a trip occurs, the drive control word MUST be set to a safe, disabled state. This ensures that the drive does not re-start unexpectedly when it is reset. This can be achieved by continuously monitoring the drive status word and interlocking it with the control word.

RESET TRIP

RUN

FWD

REV

RUN REV

JOG

FWD

JOG REV

RUN

FWD

REMOTE

ENABLE

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By default data compression is off and therefore the control word will be cast as 32 bit

NOTE

with bits 16-31 reserved.

Table 8.2 Control word bit functions

Bit Function Description

0 ENABLE

1 RUN FWD

2JOG FWD

3RUN REV

4FWD REV

5 RUN

STOP

7AUTO

8REMOTE

9JOG REV

10 Reserved

11 Res erve d

12 TRIP

13 RESET

KEYPAD

WDOG

15 Reserved

Set to 1 to enable the drive. Resetting to 0 will immediately disable the drive, and the motor will coast to a stop. The external HARDWARE ENABLE signal must also be present before the drive can be enabled.

Set to 1 (with ENABLE set to 1) to run the motor in the forward direction. When reset to 0, the drive will decelerate the motor to a controlled stop.

Set to 1 to jog the motor forward. This signal needs to be used in conjunction with the ENABLE bit. This signal is overridden by a RUN, RUN REV or RUN FWD signal.

Set to 1 (with ENABLE set to 1) to run the motor in the reverse direction. When reset to 0, the drive will decelerate the motor to a controlled stop.

Set to 1 to select the reverse direction. Set to 0 to run in the forward direction. The RUN signal is used to start and stop the motor.

Set to 1 to run the motor. FWD REV is used to select the direction of motor rotation. When reset to 0, the drive will decelerate the motor to a controlled stop.

Set to 1 to allow the sequencing bit in the drive to be latched. Refer to the drive

NOT

Advanced User Guide for more details. If NOT STOP is zero, all latches are cleared and held at 0. Pr 06.004 must be correctly set for this to function.

Set to 1 to enable fieldbus control of the drive Control Word. The Control Word Enable (Pr 06.043) must also be set to 1. When reset to 0, the drive will oper- ate under terminal control.

Set to 1 to select digital speed reference 1 (Pr 01.021), and to 0 to select analog reference 1 (Pr 01.036). REMOTE directly controls Pr 01.042, so reference selector (Pr 01.014) and preset selector (Pr 01.015) must both be set to 0 (default) for the REMOTE bit to work properly.

Set to 1 to jog the motor in reverse. This signal needs to be used in conjunction with the ENABLE bit. This signal is overridden by a RUN/RUN REV/RUN FWD command.

Set to 1 to trip the drive at any time. The trip display on the drive will be “Control Word” and the trip code will be 35. AUTO (b7) has no effect on this function. The trip cannot be cleared until TRIP is reset to 0.

A 0-1 transition of the RESET bit will reset the drive from a trip condition. If the reason for the trip is still present, or another fault condition has been detected, the drive will immediately trip again. When resetting the drive, it is recommended to check the status word to ensure that the reset was successful, before attempting to re-start the drive.

This watchdog is provided for an external keypad or other devices where a break in the communication link must be detected. The watchdog system can be enabled and/or serviced if this bit is changed from zero to one while the control word enabled. Once the watchdog is enabled it must be serviced at least once every second or an “Watchdog” trip will occur. The watchdog is disabled when a “Watchdog” trip occurs, and so it must be re-enabled when the trip is reset.

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8.3 Status word

The SI-DeviceNet status word consists of 16 control bits some of which are reserved. See the table below for the individual bit function descriptions.

b15 b14 b13 b12 b11 b10 b9 b8

Not

Supply

Used

Reached

The fieldbus status word is mapped directly from the drive status word, Pr 10.040.

Pr 10.040, is generated by the values of several individual drive status bits. Table

7.3 Mapping for 2 polled channels on page 40 shows the function indicated by each bit in the status word when set to 1.

Table 8.3 Drive status word bit functions

Bit Parameter Description

Loss

b7 b6 b5 b4 b3 b2 b1 b0

Rated

0Pr 10.001

1Pr 10.002

2Pr 10.003

3Pr 10.004

4Pr 10.005

5Pr 10.006

Load

Above Set

Speed

Reverse

Direction

Running

Commanded

At Set Speed

Reverse

Direction

Below Set

Spee d

Brake

Resistor

Alarm

Running

At or

Below

Minimum

Speed

Braking

IGBT

Active

Speed

Zero

Regenerating

Drive

Active

Current

Limit

Active

Drive

OK/

Healthy

bit 0 = 0: Drive not ok (tripped). bit 0 = 1: Drive ok.

Drive active

When bit 1 = 1, the drive is in run mode.

Zero speed

In Open Loop mode, zero speed indicates that the absolute value of the post-ramp speed reference is at or below the zero speed threshold. In RFC-A and RFC-5 modes, zero speed indicates that the absolute value of speed feedback is at or below the zero speed threshold.

Running at or below minimum speed

In bipolar mode (Pr 01.010 = 1) Pr 10.004 is the same as zero speed, Pr 10.003 (See above). In unipolar mode, Pr 10.004 is set if the absolute value of the postramp speed reference (Pr 02.001) or speed feedback (Pr 03.002) is at or below minimum speed + 0.5Hz or 5 rpm (Minimum speed is defined by Pr 01.007). This parameter is only set if the drive is running.

Below set speed

Only set if the drive is running at below set speed. Refer to Pr

03.006, Pr 03.007 and Pr 03.009 in the drive documentation for more details.

At speed

Only set if the drive is running at set speed. Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation.

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Bit Parameter Description

Above set speed

6Pr 10.007

Only set if the drive is running at above set speed. Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation for more details.

Load reached

7Pr 10.008

Indicates that the modulus of the active current is greater or equal to the rated active current, as defined in menu 4. Refer to the drive documentation for more details.

8Pr 10.009

In current limit

Indicates that the current limits are active.

Regenerating

Indicates that power is being transferred from the motor to the

9Pr 10.010

drive. Regen mode: Indicates that power is being transferred from the drive to the supply.

Dynamic brake active

10 Pr 10.011

Indicates that the braking IGBT is active. If the IGBT becomes active, this parameter will remain on for at least one second.

Dynamic brake alarm

11 P r 10.012

Dynamic brake alarm is set when the braking IGBT is active, and the braking energy accumulator is greater than 75 %.

Reverse direction commanded

12 Pr 10.013

Direction commanded is set to 1 if the Pre-ramp speed reference (Pr 01.003) is negative and reset to 0 if the Pre-ramp speed reference is zero or positive.

Reverse direction running

13 Pr 10.014

A 0 indicates forward direction and a 1 indicates reverse direction. The source of this bit is Pr 02.001 for open loop mode and Pr 03.002 for RFC-A and RFC-S modes.

Supply loss Supply loss indicates that the drive has detected a supply loss from

14 Pr 10.015

the level of the DC bus voltage. This parameter can only become active if supply loss ride through or supply loss stop modes are selected. In regen mode, supply loss is the inverse of Pr 03.007.

15 (Not Used)

Reserved

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9 EDS Files

information

Safety

9.1 What are EDS files?

EDS (Electronic Data Sheets) files are text files that are used by SI-DeviceNet network configuration software tools. They contain information about the device, such as manufacturer, product type, product code, etc., and they also provide information on the default settings and functions supported by the device. Mapping information is also included that allows access to device parameters over the SI-DeviceNet network.

EDS files are not downloaded to the PLC or scanner, and are only used during network configuration. It is actually possible to configure a network without the EDS files.

9.2 Generic EDS files

Generic EDS files are available for all supported drives. These files are available from your local Control Techniques Drive Centre or supplier.

Drive icon files are also supplied for use with the SI-DeviceNet configuration software being used. EDS files must usually be installed into the software package being used to configure a SI-DeviceNet network. Refer to the software documentation supplied with the master for instructions on how to install EDS files. Control Techniques cannot provide specific technical support for any of these software packages.

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10 Advanced Features

NOTE

10.1 Supported Drive assembly objects

The DeviceNet specification includes a series of pre-defined assembly objects for different devices, including Drives, and the SI-DeviceNet supports several of these predefined assembly objects. The format of the DeviceNet pre-defined assembly objects is fixed.

Table 10.1 Pre-defined SI-DeviceNet assembly objects

Object Type Object name

20 (0x14) Output Basic speed control output

21 (0x15) Output Extended speed control output

22 (0x16) Output Speed and torque control output

23 (0x17) Output Extended speed and torque control output

70 (0x46) Input Basic speed feedback

71 (0x47) Input Extended speed feedback

72 (0x48) Input Basic speed and torque feedback

73 (0x49) Input Extended speed and torque feedback

To select a pre-defined input or output assembly object:

1. Specify the input assembly object required in Pr S.01.018.

2. Specify the output assembly object required in Pr S.01.019.

3. Set Pr MM.007 to On to reset the SI-DeviceNet, and make the changes take effect.

The parameter mapping of the pre-defined DeviceNet objects CANNOT be changed.

10.1.1 Basic speed control

Output assembly object 20

The scanner must be configured for 4 Tx bytes (or 2 Tx words) if this output assembly object is selected.

Table 10.2 Basic speed control

Data word Function

Word 0 Basic control word (See below)

Word 1 SpeedRef (See status word)

The basic control word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0

FaultRst RunFwd

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10.1.2 Extended speed control

Output assembly object 21

The scanner must be configured for 4 Tx bytes (or 2 Tx words) if this output assembly object is selected.

Table 10.3 Extended speed control

Data word Function

Word 0 Extended control word (see below).

Word 1 SpeedRef (see status word).

The extended control word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

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Electrical

b7 b6 b5 b4 b3 b2 b1 b0

NetRef NetCtrl FaultRst RunRev RunFwd

10.1.3 Basic speed and torque control

Output assembly object 22

The scanner must be configured for 6 Tx bytes (or 3 Tx words) if this output assembly object is selected.

Table 10.4 Basic speed and torque control

Data Word Function

Word 0 Basic control word (See below)

Word 1 SpeedRef (See status word)

Word 2 TorqueRef (See status word)

The basic control word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0

10.1.4 Extended speed and torque control

Output assembly object 23

The scanner must be configured for 6 Tx bytes (or 3 Tx words) if this output assembly object is selected.

Table 10.5 Extended speed and torque control

Data word Function

Word 0 Extended control word (See below)

Word 1 SpeedRef (See status word)

Word 2 TorqueRef (See status word)

FaultRst RunFwd

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The extended control word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0

NetRef NetCtrl FaultRst RunRev RunFwd

10.1.5 Basic speed feedback

Input assembly object 70

The scanner must be configured for 4 Rx bytes (or 2 Rx words) if this input assembly object is selected.

Table 10.6 Basic speed feedback

Data word Function

Word 0 Basic status word (See below)

Word 1 SpeedActual (See status word)

The basic status word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0

10.1.6 Extended speed feedback

Input assembly object 71

The scanner must be configured for 4 Rx bytes (or 2 Rx words) if this input assembly object is selected.

Table 10.7 Extended speed feedback

Data word Function

Word 0 Basic status word (see below)

Word 1 SpeedActual (see status word)

The basic status word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

Running1 Faulted

DriveState

b7 b6 b5 b4 b3 b2 b1 b0

Reference

RefFrom

Net

CtrlFrom

Net

Ready Running2 Running1 Warning Faulted

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10.1.7 Basic speed and torque feedback

Input assembly object 72

The scanner must be configured for 6 Rx bytes (or 3 Rx words) if this input assembly object is selected’.

Table 10.8 Basic speed and torque feedback

Data word Function

Word 0 Basic status word (see below)

Word 1 SpeedActual (see status word)

Word 2 TorqueActual (see status word)

The extended status word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0

10.1.8 Extended speed and torque feedback

Input assembly object 73

The scanner must be configured for 6 Rx bytes (or 3 Rx words) if this input assembly object is selected.

Table 10.9 Extended speed and torque feedback

Data word Function

Word 0 Basic status word (See below)

Word 1 SpeedActual (See status word)

Word 2 TorqueActual (See status word)

The extended status word uses a full 16-bit word, with the bits having functions as shown below.

b15 b14 b13 b12 b11 b10 b9 b8

DriveState

b7 b6 b5 b4 b3 b2 b1 b0

Reference

RefFrom

Net

CtrlFrom

Net

Ready Running2 Running1 Warning Faulted

Running1 Faulted

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11 DeviceNet Objects

The Object Model has the following object classes present.

Table 11.1 Supported Objects

Object Class

Identity 1 (0x01)

Message Router 2 (0x02) Internally routes messages

DeviceNet 3 (0x03) Configures device attributes

Assembly 4 (0x04) 64 Defines I/O data format, i.e parameter mapping

Connection 5 (0x05) 2 Logic ports into or out of the drive

Motor Data 40 (0x28) 2 Defines the motor data

Control Supervisor 41 (0x29)

AC/DC Drive 42 (0x2A) Provides drive configuration

CT Group 100 (0x64)

CT Local slot 101 (0x65)

CT Slot 1-4

11.1 Identity Object

Class: 0x01 (1)

This object provides identification of and general information about the device.

11.1.1 VendorID

Name:

Class

Instance

Attribute

Returns the Vendor ID code, which is 0x101 (257) for Control Techniques.

11.1.2 DeviceType

Name:

Class

Instance

Attribute

Returns the Device Type code.

Class Code

102 (0x66)

105 (0x69)

VendorID

0x01

DeviceType

0x01

0x02

No. of instances Effect on behaviour

Supports the device reset service

<No. of menus>

Manages drive functions, operational states and control

Provides an interface to all drive parameters Be aware that menu 200 is used to access menu 0(Setup menu)

Provides a shortcut to access the local slot parameters Be aware that menu 200 is used to access menu 0(Setup menu)

Provides an interface to option slot 1-4 parameters Be aware that menu 200 is used to access menu 0(Setup menu)

Default

Data Type

Access

Default

Data Type

Access

257

UINT

Get

UINT

Get

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11.1.3 ProductCode

Name:

Class

Instance

Attribute

Identifies the current drive configuration, and is used to link a node to the installed EDS files. ProductCode is calculated as shown below.

Table 11.2 Generic ProductCode

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Drive Type returns the code for the product (i.e. the drive). This is 2 for Unidrive M600 to M810, and 3 for Unidrive M100 to 400.

Pr 11.028 returns the drive derivative number.

Pr 11.084 returns the drive operating mode, e.g. Open-loop = 1, RFC-A = 2, RFC-S = 3, Regen = 4, etc.

In advanced mode, ProductCode is calculated as shown below.

Table 11.3 Advanced ProductCode

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Pr 11.029 returns the major software revision number.

Local Slot indicates the slot in which the SI-DeviceNet is installed: 0 = slot 1, 1 = slot 2, 2 = slot 3.

Pr 11.084 returns the drive operating mode, e.g. open loop, closed loop, servo, etc.

Slot X indicates the family of installed in the lowest numbered slot, excluding the slot where this SI-DeviceNet is installed. Slot X = Pr MM.001/100.

Slot Y indicates the family of installed in the highest numbered slot, excluding the slot where this SI-DeviceNet is installed. Slot Y = Pr MM.001/100.

ProductCode

0x01

0x03

0Drive Type

Product

Default

Data Type

Access

((Pr 11. 029/100) * 3) +

Local Slot

See below

UINT

Get

Variant

Pr 11.0 28

Pr 11.084 Slot X Slot Y

Drive Mode

(Pr 11.084) - 1

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11.1.4 Revision

Name:

Class

Instance

Attribute

Identifies the revision of the drive. Revision is calculated as shown below.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Revision

0x01

0x04

((Pr 11.0 29 mod 1000000) / 10000 +1) 0 127

11.1.5 SerialNumber

Name:

Class

Instance

Attribute

Returns a serial number of the SI-DeviceNet. This value is entered during production, and cannot be edited. The serial number of the SI-DeviceNet can also be read from Pr MM.004 and Pr MM.005.

SerialNumber

0x01

0x06

11.1.6 ProductName

Name:

Class

Instance

Attribute

Returns a short string to indicate the Product Name. The SI-DeviceNet returns the string “SI DeviceNet”.

ProductName

0x01

0x07

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

N/A

ARRAY of USINT

Get

N/A

UDINT

Get

SM DeviceNet

SHORT_STRIN G

Get

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11.2 SI-DeviceNet Object

Class: 0x03 (3)

The DeviceNet Object provides the configuration and status of the SI-DeviceNet port.

11.2.1 MAC-ID

Name:

Class

Instance

Attribute

The MAC-ID is read from Pr S.01.004 at power up and reset. When this attribute is written to, the SI-DeviceNet will update the MAC-ID in Pr S.01.004 and reset, causing the new value to take effect immediately.

11.2.2 DataRate

Name:

Class

Instance

Attribute

The Data Rate is read from Pr S.01.007 at power up and reset. When this attribute is written to, the SI-DeviceNet will update the Data Rate in Pr S.01.007. The new value is not stored automatically, and the SI-DeviceNet is not reset.

Table 11.4 shows the attribute values for each data rate.

Table 11.4 DeviceNet data rate

Setting bits/sec

11.2.3 AllocationByte

Name:

Class

Instance

Attribute

Returns 2 bytes of information. The low byte contains the Allocation Byte, with each bit assigned as shown in the table below.

The high byte indicates the MAC-ID of the master device which allocated the Master/ Slave pre-defined connection set. A value of 255 means the pre-defined Master/Slave connection set has not yet been allocated.

MAC-ID

0x03

0x01

DataRate

0x03

0x01

0x02

0 125K

1 250K

2 500K

AllocationByte

0x03

0x01

0x05

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

USINT

Get/Set

USINT

Get/Set

USINT

Get

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Table 11.5 Allocation byte

Bit Action

Explicit Message

Polled

Strobed (Not supported)

Reserved

Change of State (Not

supported)

Cyclic (Not supported)

Acknowledge Suppression

Reserved

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11.3 Motor Data Object

Class: 0x28 (40)

11.3.1 MotorType

Name:

Class

Instance

Attribute

Name:

Class

Instance

Attribute

There are 2 instances of the Motor Data object. Instance 1 will represent the Menu 5 motor information (Motor Map 1) and instance 2 will represent the menu 21 motor map (Motor Map 2). The instance being used by the other dependant DeviceNet objects will be determined by Pr 21.015. Pr 21.015 is polled in the background task, so the user should be aware that during motor map changeover, the rpm speed reference might not be accurate.

MotorType1 is linked directly to Pr S.01.040, and MotorType2 is linked directly to Pr S.01.041.

Table 11.6 Supported motor types

Pr S.01.040,

Pr S.01.041

11.3.2 RatedCurrent

Name:

Class

Instance

Attribute

Name:

Class

Instance

Attribute

Specifies the rated current of the motor in Amps. Instance 1 is mapped to Pr 05.007 in the drive, while instance 2 is mapped to Pr 21.007.

Set Pr 05.007 = RatedCurrent1 * 10

Get RatedCurrent1 = Pr 0.507 / 10

Set Pr 21.007 = RatedCurrent2 * 10

Get RatedCurrent2 = Pr 21.007 / 10

MotorType1

0x28

0x01

0x03

MotorType2

0x28

0x02

0x03

2 Field Controlled DC Motor

6 Wound Rotor Induction motor

7 Squirrel Cage Induction Motor (default)

9 Sinusoidal PM BL motor

10 Trapezoidal PM BL motor

RatedCurrent1

0x28

0x01

0x06

RatedCurrent2

0x28

0x02

0x06

Default

Data Type

Access

Default

Data Type

Access

Motor Type

Default

Data Type

Access

Default

Data Type

Access

USINT

Get/Set

USINT

Get/Set

Pr 05.007

USINT

Get/Set

Pr 21.007

USINT

Get/Set

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11.3.3 RatedVoltage

Name:

Class

Instance

Attribute

Name:

Class

Instance

Attribute

Specifies the rated motor voltage in Volts. Instance 1 is mapped directly to Pr 05.009 in the drive, and instance 2 is mapped directly to Pr 21.009.

RatedVoltage1

0x28

0x01

0x07

RatedVoltage2

0x28

0x02

0x07

11.3.4 RatedFreq

Name:

Class

Instance

Attribute

Name:

Class

Instance

Attribute

Specifies the rated motor frequency in Hertz. Instance 1 is linked to Pr 05.006 in the Unidrive M and instance 2 is linked to Pr 21.006.

Set Pr 05.006 = RatedFreq1 * 10

Get RatedFreq1 = Pr 05.006 / 10

Set Pr 21.006 = RatedFreq2 * 10

Get RatedFreq2 = Pr 21.006 / 10

RatedFreq1

0x28

0x01

0x09

RatedFreq2

0x28

0x02

0x09

11.3.5 BaseSpeed

Name:

Class

Instance

Attribute

Name:

Class

Instance

Attribute

Specifies the base speed of the motor in rpm. Instance 1 is mapped directly to Pr 05.008 in the drive, and instance 2 is mapped directly to Pr 21.008.

BaseSpeed1

0x28

0x01

0x0F

BaseSpeed2

0x28

0x02

0x0F

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

Pr 05.009

USINT

Get/Set

Pr 21.009

USINT

Get/Set

USINT

Get/Set

USINT

Get/Set

Pr 05.008

USINT

Get/Set

Pr 21.008

USINT

Get/Set

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11.3.6 Motor2Select

Name:

Class

Instance

Attribute

Selects between Motor Map 1 and Motor Map 2 in the drive.

Set Pr 11.045

Get Pr 21.015

Motor2Select

0x28

0x01

0x64

Default

Data Type

Access

USINT

Get/Set

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11.4 Control Supervisor

Class: 0x29 (41)

11.4.1 RunFwd

Name:

Class

Instance

Attribute

Set to 1 to run the drive in the forward direction.

Get/Set Pr 06.042 bit 1

11.4.2 RunRev

Name:

Class

Instance

Attribute

Set to 1 to run the drive in the reverse direction.

Get/Set Pr 06.042 bit 3

11.4.3 NetCtrl

Name:

Class

Instance

Attribute

Switches the drive between terminal and fieldbus control.

Get/Set Pr 06.042 bit 7

Set False terminal control

Set True fieldbus control

11.4.4 State

Name:

Class

Instance

Attribute

This returns a code to indicate the current operating state of the drive.

RunFwd

0x29

0x01

0x03

RunRev

0x29

0x01

0x04

NetCtrl

0x29

0x01

0x05

State

0x29

0x01

0x05

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

USINT

Get/Set

USINT

Get/Set

USINT

Get/Set

N/A

USINT

Get

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Table 11.7 Device state

State DeviceNet state Drive state

1Startup

2 Not_Ready

3 Ready

4 Enabled

5Stopping

6Fault_Stop

7Faulted

0 Vendor Specific

11.4.5 RunningFwd

Name:

Class

Instance

Attribute

Indicates that the drive is running in the forward direction.

Get True (Pr 10.040 & 0x2002) == 0x0002

Get False (Pr 10.040 & 0x2002) != 0x0002

RunningFwd

0x29

0x01

0x07

11.4.6 RunningRev

Name:

Class

Instance

Attribute

Indicates that the drive is running in the reverse direction.

Get True (Pr 10.040 & 0x2002) == 0x2002

Get False (Pr 10.040 & 0x2002) != 0x2002

RunningRev

0x29

0x01

0x08

11.4.7 Faulted

Name:

Class

Instance

Attribute

Indicates that the drive is tripped, i.e. not OK

Get Pr 10.001

Faulted

0x29

0x01

0x0A

This state is skipped on

Inhibit

Ready

Run or Stop (stop is only enabled by default in Servo mode)

Deceleration or Injection

AC_UU (this will only occur if Mains Loss is enabled)

Tripped

All other drive states, e.g. Scan, Orienting, Regen Active, etc.

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

USINT

Get

USINT

Get

USINT

Get

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11.4.8 FaultRst

Name:

Class

Instance

Attribute

Resets the drive from a tripped condition.

Set True Pr 10.038 = 100

Set False No action

11.4.9 FaultCode

Name:

Class

Instance

Attribute

If the drive is tripped, the fault code is obtained from parameter Pr 10.020 in the drive. If the fault code in Pr 10.020 is one of the following, the table gives the appropriate ODVA code, otherwise the error code will be returned as 0x1000 + Pr 10.020.

Fault codes

Drive fault code ODVA fault code

11.4.10CtrlFromNet

Name:

Class

Instance

Attribute

Indicates that the drive is operating under fieldbus control.

Get Pr 06.042 bit 7 & Pr 06.043

FaultRst

0x29

0x01

0x0C

Default

Data Type

Access

USINT

Set

FaultRst

0x29

0x01

0x0D

Default

Data Type

Access

N/A

USINT

Set

2 0x3210

3 0x2300

40x7112

6 0x9000

20 0x2310

21 0x4300

26 0x5112

32 0x3130

CtrlFromNet

0x29

0x01

0x0F

Default

Data Type

Access

USINT

Get

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11.4.11DriveEnable

NOTE

Name:

Class

Instance

Attribute

Enables the drive. This puts the Drive into the “Ready” state, allowing the RunFwd and RunRev attributes to control the drive. RunFwd and RunRev will have no effect if DriveEnable is not set to 1.

Get/Set Pr 06.042 bit 0

The external hardware enable signal must also be present before the drive will go to the Ready state.

DriveEnable

0x29

0x01

0x0F

11.5 AC/DC Drive Object

Class: 0x2A (42)

11.5.1 AtReference

Name:

Class

Instance

Attribute

Indicates that the drive is running at the requested speed.

Get Pr 10.006

11.5.2 NetRef

Name:

Class

Instance

Attribute

Selects the source of the speed reference. Analog input 1 is used as the speed reference when running under local control, with Digital Speed Reference 1 being used as the speed reference for network control.

Get/Set Pr 06.042 bit 8

Set False analog speed reference

Set True digital speed reference

The reference can only be changed between local and remote when the drive is configured in speed control mode. If a change is requested when in torque mode then a ‘Device state conflict’ error code 10h will be returned.

AtReference

0x2A

0x01

0x03

NetRef

0x2A

0x01

0x04

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

USINT

Get/Set

USINT

Get

USINT

Get/Set

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11.5.3 DriveMode

Name:

Class

Instance

Attribute

DriveMode does not allow the operating mode of the drive to be changed. Pr 04.011 will be written to as shown in Table 11.9, provided that the drive is already in the correct operating mode.

Table 11.8 Get DriveMode

DriveMode Drive Mode Pr 11.031 Pr 04.011

Table 11.9 Set DriveMode

DriveMode Drive Mode Pr 11.031 Pr 04.011 Comment

DriveMode

0x2A

0x01

0x06

1 Open Loop Speed 0, 1 0

2 Closed Loop Speed 2, 3 0

3 Torque Control N/A 1

0 User Defined 4 0

0 Vendor Specific 4 N/A

1 Open Loop Speed 0, 1 0

2 Closed Loop Speed 2, 3 0

3 Torque Control 0, 1, 2, 3 1

4 Process Control N/A

5 Position Control N/A

11.5.4 SpeedActual

Name:

Class

Instance

Attribute

Returns the actual speed of the motor in RPM. The source of the motor speed depends on the operating mode of the drive.

Get Pr 05.004 (Open Loop)

Get Pr 03.002 (Closed Loop, Servo)

SpeedActual

0x2A

0x01

0x07

11.5.5 SpeedRef

Name:

Class

Instance

Attribute

Sets the speed reference in RPM. As the drive uses units of Hz for speed, these values are converted when reading from or writing to this attribute.

Set Pr 01.021 = (RPM * Pole Pairs) / 6 (Open Loop)

Get RPM = (Pr 02.001 * 6) / Pole Pairs (Open Loop)

Get/Set Pr 01.021 * 10 (Closed Loop, Servo)

SpeedRef

0x2A

0x01

0x08

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

USINT

Get/Set

Pr 11.031 will never be changed by setting the DriveMode attribute. An error (0x10) will be generated if the requested DriveMode value corresponds to the current drive operating mode.

USINT

Get

USINT

Get/Set

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11.5.6 TorqueActual

Name:

Class

Instance

Attribute

Returns the actual load on the motor as a percentage of the rated motor load. This attribute has 1 decimal place fixed precision, so a value of 1000 represents 100.0 % load.

Get Pr 04.020

TorqueActual

0x2A

0x01

0x0B

11.5.7 TorqueRef

Name:

Class

Instance

Attribute

Sets the load (torque) reference as % of rated motor load (torque). This attribute has 1 decimal place fixed precision, so a value of 1000 represents 100.0 % load.

Set Pr 04.008 = TorqueRef / 10

Get Torque Ref = Pr 04.008 * 10

TorqueRef

0x2A

0x01

0x0C

11.5.8 RefFromNet

Name:

Class

Instance

Attribute

Indicates the source of the speed reference.

TRUE if Pr 01.049 = 3 and Pr 01.050 = 1

FALSE otherwise.

RefFromNet

0x2A

0x01

0x0C

Default

Data Type

Access

Default

Data Type

Access

Default

Data Type

Access

USINT

Get

USINT

Get/Set

USINT

Get

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11.6 Control Techniques Object

Class code: 0x64 (100)

The Control Techniques object provides access to all drive parameters. For example, parameter Pr 04.020 would be accessed as Class 100, Instance 4, Attribute 20.

Table 11.10 Supported objects

Instance Menu Name

1 (0x01) 1 Speed reference.

2 (0x02) 2 Ramp control.

3 (0x03) 3 Speed control.

4 (0x04) 4 Current control.

5 (0x05) 5 Motor control.

6 (0x06) 6 Sequencing.

7 (0x07) 7 Analog I/O.

8 (0x08) 8 Digital I/O.

9 (0x09) 9 Logic.

10 (0x0A) 10 Drive status.

11 (0x0B) 11 Drive set-up.

12 (0x0C) 12 Programmable thresholds.

13 (0x0D) 13 Position control.

14 (0x0E) 14 Process PID loop.

15 (0x0F) 15 Slot 1 configuration.

16 (0x10) 16 Slot 2 configuration.

17 (0x11) 17 Slot 3 configuration.

18 (0x12) 18 User application menu 1.

19 (0x13) 19 User application menu 2 (not on M100-M400).

20 (0x14) 20 User application menu 3 (not on M100-M400).

21 (0x15) 21 Second motor map.

200 0 Menu 0.

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12 Diagnostics

information

Safety

12.1 Overview

This section provides basic diagnostic information intended to resolve the most common problems encountered when setting up an SI-DeviceNet module on a DeviceNet network.

A high percentage of problems reported are basic set-up problems which can usually be solved by reading the information in this chapter. If after reading this chapter you are still experiencing problems, please contact your supplier for support.

12.1.1 Drive trip display codes

If the option module detects an error during operation, it will force a trip on the drive. However, the trip string displayed on the drive will only indicate which slot initiated the trip. The exact reason for the trip will be indicated in the drive trip code parameters (Pr 10.020 and Pr 10.070).

Table 12.1 shows the possible trips that will be displayed on the drive when a problem is detected with the option module or when the option module initiates a trip.

Table 12.1 Drive trip display codes

Trip Description

SlotX HF

SlotX Error User trip generated by the option module

SlotX Not Fitted

SlotX Different

The drive has detected that an option module is present but is unable to communicate with it due to a hardware fault.

This trip will occur if a drive slot was previously configured with an option module but on power up, no option module was detected.

This trip will occur if a drive slot was previously configured with an option module but on power up, a different option module was detected. Replacing the option module with another one of the same ID number will not initiate this trip. The trip will also occur if an option module is installed to a previously unused slot.

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12.1.2 Module error codes

If the option module detects an internal error during operation, it will force a trip on the drive and provide a sub-trip string for a clearer definition of the trip. The table below shows the possible module error codes.

Table 12.2 Module error codes

Value Text Description

200

SW fault Software fault

201

BG Orun Background task overrun

202

FW invalid Invalid firmware for hardware version

203

Drv unknown Unknown drive type

204

Drv unsupported Unsupported drive type

205

Mode unknown Unknown mode

206

Mode unsupported Unsupported mode

207

FLASH corrupt Corrupted Non-volatile Flash

208

Dbase init Database initialization error

209

FS init File system initialization error

210

Memory alloc Memory allocation error

211

Filesystem File system error

212

Configuration Configuration file error

213

OHt Overheated

214

TO drv The drive has not responded with the watchdog period

215

eCMP eCMP comms failure

216

TO eCMP slot 1 Slot 1 eCMP timeout

217

TO eCMP slot 2 Slot 2 eCMP timeout

218

TO eCMP slot 3 Slot 3 eCMP timeout

219

TO eCMP slot 4 Slot 4 eCMP timeout

220

Fact Setting Missing factory setting

221

Config Load Error loading saved configuration file

222

RT Config

223

Read Par Failed to read parameter during cyclic communication

224

Write Par Failed to write parameter during cyclic communication

Failed to update parameter after drive mode being changed

12.1.3 DeviceNet error codes

If the SI-DeviceNet module detects a DeviceNet error during operation, it will force a trip on the drive and provide a sub-trip string for a clearer definition of the trip. The table below shows all possible SI-DeviceNet error codes.

Table 12.3 DeviceNet network error codes

Value Text Description

No trip No trip

100

Link Loss The link to the network has been lost

101

Bus Off The CAN layer of the module has entered the Bus Off state

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12.1.4 SI-DeviceNet network diagnostic

The operating status of the SI-DeviceNet module can be viewed in the network diagnostic parameter (Pr S.01.006). All possible values of this parameter are described in Table 12.4.

Table 12.4 SI-DeviceNet network operating status

Value Text Description

0 Network OK Network ok/healthy

1Init OK

2No Cyclic

3Init Failed

4 Comm Fault

5 No 24 V No 24 V external PSU has been detected.

6 Baud detecting Automatic baud rate detection is in progress.

7 Initializing The module is currently initializing.

The SI-DeviceNet has initialized correctly and is waiting for the DeviceNet master to initialize communications.

No cyclic data has been recognized. This could be due to the length of the mapping data is not equal to the master setup.

A part of the SI-DeviceNet initialization sequence was not successful. If this fault persists after a power-cycle, replace the SI-DeviceNet.

Fault found in the communications of the module. This could be due to different devices being configured to use different baud rates.

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12.1.5 Mapping Status

If the DeviceNet Network Diagnostic parameter (Pr S.01.006) indicates "Init Failed", a mapping configuration error has been could have been detected. The reason for the error is indicated by the SI-DeviceNet input mapping status parameter (Pr S.01.022) and the SI-DeviceNet output mapping status parameter (Pr S.01.023).

When a mapping error has been corrected, reset the SI-DeviceNet module by setting PrS.01.002 or MM.007 to On (1).

The mapping error codes are described in Table 12.5.

Table 12.5 Mapping error codes

Value Text Description

No error No error has been detected during mapping initialisation

Par impossible The parameter may not exist or may not be readable

Hole in mapping Cyclic data mapping parameters are not contiguous

Dup mapping

Length exceed

Obj not support The selected assembly object is not supported

Pre &

uncompress

Type unmatched

Memory fault Failed to allocate memory for mapping

No mapping No parameter is assigned to the mapping

Reserved Reserved

12.1.6 Alarms

If the SI-DeviceNet detects an alarm during operation, it will cause the drive to display the appropriate alarm on the drive keypad. If more than one alarm is present, it will be shown as “first-in-first-out” (FIFO) order.

Value Text Description

0 No alarm No alarm.

1 User Prog A user program alarm has been generated.

2 eCMP An eCMP alarm has been generated.

3 FS Usage A file system alarm has been generated.

4 Too Hot Module temperature is too high.

5 In Mapping Error with Input mapping setup.

6 Out Mapping Error with Output mapping setup.

7 Fbus Init

8 Read Err Error during reading from a mapped parameter.

9 Write Err Error during writing to a mapped parameter.

Two or more cyclic data mapping configuration parameters have been configured with the same destination parameter reference

The length of the mapped parameters exceeds the length of the selected assembly object

If the predefined object is selected, the data alignment must be set to 16 bits

The IN and OUT objects both must be predefined objects, or neither

Fieldbus Initialization failed, possibly due to external 24 V missing or baud rate detection failed.

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13 Glossary Of Terms

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Safety

Address: This is the unique network identification given to a networked device to allow communication on a network. When a device sends or receives data the address is used to determine the source and the destination of the message.

Alignment: By default SI-DeviceNet transmits values as 32 bits on the network. It is possible by using alignment to reduce the number of bits transmitted when sending 16bit (or smaller) values on the network to 16-bit (32-bit values will still be transmitted as 32-bit values). This has the advantage of reducing the volume of traffic on the network and allowing more parameters to be mapped within SI-DeviceNet.

Bit: A binary digit, this may have the value of 1 or 0.

Byte: A collection of 8 binary digits that collectively store a value. This may be signed or

unsigned.

CAN: The base network used for DeviceNet. The DeviceNet module does not support CAN commands.

DeviceNet: Builds on the basic CAN protocol by offering higher level functionality.

Casting: The process of changing between data sizes without changing the value

represented, e.g. changing from 16-bit to 32-bit.

Consistency: Describes how data is transmitted between nodes on the network. If data is consistent it is transmitted from node to node as a single entity. Thus preventing data corruption where multiple bytes are transmitted or received individually.

Control word: A collection of binary digits that are used to control the drive. Features typically include directional controls, run controls and other similar functions.

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Cyclic data: This consists of values that are sent at regular or cyclic intervals across the network. A typical use of cyclic data would be the transmission of a speed reference or a control word.

Data format: Determines the quantity and function of the data sent and received across the network.

Data rate: Determines the communication speed of the network, the higher the value the more data can be sent across the network in the same time period.

Device: A piece of equipment connected to a network, this may be any type of equipment including repeaters, hubs, masters or slaves.

Double word: A 32-bit word, this may be signed or unsigned.

Earthing/Grounding: Describes the electrical safety or shielding connections for the

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Event task: A special way to use a message or change of state to trigger a software routine.

IN data: Data that is returned from a slave device to the DeviceNet master.

Long word: A 32-bit data word that may be signed or unsigned.

Mapping: The process of linking DeviceNet values to parameters within the drive.

Master: The controlling device on the network, generally this will include programming

features.

Network Loss Trip: A method to determine when a node has lost contact with the master.

Node: A device on the network. This may be either a device such as a drive or part of the network such as a repeater.

Non-Cyclic Data: Data that is requested or sent by the master as required. This is not sent on a regular basis and generally allows access to any parameter. This is useful for occasional changes or configuration purposes.

Object Dictionary: A collection of the objects that are supported by the product.

Poll rate: The rate at which cyclic data is sent and received on the network.

Response ID: The response code of the message received when using PPO4 word

non-cyclic communication.

Scan rate: See Poll rate in this section.

Shielding: A connection to provide additional immunity to noise used on a network

cable.

Segment: An electrically separate part of the network. Each segment requires correct termination to ensure reliable operation. Due to electrical limitations the maximum number of devices on a segment is limited to 32.

Slave: A device on the DeviceNet network such as a drive or sensor. A slave device will only respond to messages from a master.

Status word: A value that denotes the status of the drive. Each bit within the word will have a specific meaning.

Task ID: The code used to describe the purpose of a message using PPO 4 word noncyclic communication.

Termination: This is used at both ends of a network segment to prevent reflections and reduce noise.

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Watchdog: A method used to determine if a communication system is ok/healthy. A typical watchdog scheme uses a handshaking system to check both the master and slave are participating in communications.

Word: A collection of 16 binary digits.

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Above set speed ......................................................................................... 48

At speed .....................................................................................................47

Back-up power supply ..................................................................................9

Below set speed .........................................................................................47

Cable ..........................................................................................................13

Cautions .......................................................................................................5

Compliance with regulations ........................................................................6

Conformance certificate .............................................................................10

Control and status words ............................................................................ 45

Control Techniques Object .........................................................................68

Control word ...............................................................................................45

Control word bit functions ...........................................................................46

Current limit ................................................................................................48

Cyclic data ..................................................................................................44

Date code ...................................................................................................10

DeviceNet cable .........................................................................................13

DeviceNet ground point ..............................................................................15

DeviceNet network termination ..................................................................14

Drive active ................................................................................................. 47

Dynamic brake active .................................................................................48

Electrical installation ...................................................................................12

Electrical safety ............................................................................................5

Environmental limits .....................................................................................6

Explicit parameter access ..........................................................................44

External power supply ................................................................................13

External supply ...........................................................................................12

General installation ..................................................................................... 11

General specification ....................................................................................9

Generic EDS files .......................................................................................49

Getting started ............................................................................................16

Glossary of terms .......................................................................................73

Hardware enable ........................................................................................45

Maximum network length ...........................................................................15

Minimum node to node cable length ..........................................................15

Module menu 0 - Module Information ......................................................... 25

Module menu 1 - DeviceNet Setup ............................................................28

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Module menu 2 ........................................................................................... 40

Module menu 3 ........................................................................................... 41

Module menu 4 ........................................................................................... 42

Option Module identification .......................................................................10

Parameters - adjusting .................................................................................6

Polled words ...............................................................................................34

Quick start chart SI-DeviceNet ...................................................................17

Regenerating ..............................................................................................48

Running at or below minimum speed .........................................................47

SI-DeviceNet cable shield connections ......................................................14

SI-DeviceNet connections ..........................................................................13

SI-DeviceNet network loss trip ...................................................................50

SI-DeviceNet terminal descriptions ............................................................12

Spurs ..........................................................................................................15

Status word ................................................................................................47

Stored charge ...............................................................................................6

System design and safety of personnel .......................................................5

Termination ................................................................................................14

Warnings ......................................................................................................5

Zero speed .................................................................................................47

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0478-0032-02

Emerson SI-DeviceNet User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety information

1.1 Warnings, Cautions and Notes

1.2 Electrical safety - general warning

1.3 System design and safety of personnel

1.4 Environmental limits

1.6 Compliance with regulations

1.7 Adjusting parameters

2 Introduction

2.1 What Is DeviceNet?

2.2 What is SI-DeviceNet?

2.3 General specification

2.4 Back-up power supply

2.5 Option Module identification

2.6 Product Conformance Certificate

2.7 Conventions used in this guide

3 Mechanical installation

3.1 General installation

4 Electrical installation

4.1 SI-DeviceNet terminal descriptions

4.2 SI-DeviceNet connections

4.3 DeviceNet cable

4.4 DeviceNet network termination

4.5 SI-DeviceNet cable shield connections

4.6 DeviceNet ground point

4.7 Maximum network length

4.8 Spurs

4.9 Minimum node to node cable length

5 Getting started

5.1 Quick start chart SI-DeviceNet

5.2 Parameter save and restore

5.3 Module reset

5.4 Restoring module parameter default values

5.5 Single Line Parameters

6 Parameters

6.1 Menus

6.2 Module menu 0 - Module Information

6.3 Module menu 1 - DeviceNet Setup

6.4 Module menu 2 - Input Mappings

6.5 Module menu 3 - Output Mappings

6.6 Module menu 4 - Fault Values

7 Non cyclic data

7.1 Introduction

7.2 Explicit parameter access

8 Control / status word

8.1 What are control and status words?

8.2 Control word

8.3 Status word

9 EDS Files

9.1 What are EDS files?

9.2 Generic EDS files

10 Advanced Features

10.1 Supported Drive assembly objects

11 DeviceNet Objects

11.1 Identity Object

11.2 SI-DeviceNet Object

11.3 Motor Data Object

11.4 Control Supervisor

11.5 AC/DC Drive Object

11.6 Control Techniques Object

12 Diagnostics

12.1 Overview

13 Glossary Of Terms

Index