Bulletin 1395
ControlNet
TM
Communication
Board
Firmware Rev 1.01
Compatible with
ControlNet Version 1.5
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. “Safety Guidelines for the Application,
Installation and Maintenance of Solid State Controls” (Publication SGI-1.1
available from your local Allen-Bradley Sales Office or online at
www.ab.com/manuals/gi
) describes some important differences between
http://
solid stateequipmentand hard-wired electromechanical devices.Because of
this difference, and also because of the wide variety of uses for solid state
equipment, all persons responsible for applying this equipment must satisfy
themselves that each intended application of this equipment is acceptable.
In no event will the Allen-Bradley Company be responsible or liable for
indirect or consequential damages resulting from the use or application of
this equipment.
The examples and diagrams in this manual are included solely for
illustrative purposes. Because of the many variables and requirements
associated with any particular installation, the Allen-Bradley Company
cannot assume responsibility or liability for actual use based on the
examples and diagrams.
No patent liability is assumed by Allen-Bradley Company with respect to
use of information, circuits, equipment, or software described in this
manual.
Reproduction of the contents of this manual, in whole or in part, without
written permission of the Allen-Bradley Company is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations.
ATTENTION: Identifies information about practices or
circumstances that can lead to personal injury or death, property
!
damage, or economic loss.
Attentions help you:
• identify a hazard
• avoid the hazard
• recognize the consequences
Important:Identifiesinformation that is especially important for successful
application and understanding of the product.
Shock Hazard labels may be located on or inside the drive to
alert people that dangerous voltage may be present.
SCANport is a trademark of Rockwell Automation.
PLC is a registered trademark of Rockwell Automation.
COLOR-KEYED is a registered trademark of Thomas & Betts Corporation.
IBM is a registered trademark of International Business Machines Corporation.
Windows 95 is a registered trademark of Microsoft Corporation.
Table of Contents
Before You Begin
Introduction & Product
Description
Configuration & PLC
Interfacing
Chapter 1
Objective 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Audience 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Term Useage 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControlNet Adapter Compatibility & Features 1-1. . . . . . . . . . . . . . . . .
Safety Precautions 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manual Organization 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2
Chapter Objective 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Board Description 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Indicators 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware Location 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DIP Switch Orientation 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Board Location 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3
Chapter Objective 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminology 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communications 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Discrete PLC Controller I/O Data Transfer 3-4. . . . . . . . . . . . . . . . . . .
Discrete PLC Controller I/O Example 3-6. . . . . . . . . . . . . . . . . . . . . . .
Command Set 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message Formats 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Upload Configuration Link 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Download Configuration Link 3-14. . . . . . . . . . . . . . . . . . . . . . . . . . . .
EE Memory Recall 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EE Memory Store 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EE Memory Intialize 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Read Parameter Data 3-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Table of Contentstoc–ii
Read Parameter Full 3-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Write Parameter Data 3-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Read System Clock 3-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Write System Clock 3-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive System Reset 3-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clear Faults 3-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Autotune Measure Motor Inertia 3-29. . . . . . . . . . . . . . . . . . . . . . . . . .
Autotune Update Motor Inertia 3-30. . . . . . . . . . . . . . . . . . . . . . . . . . .
Autotune Measure System Inertia 3-31. . . . . . . . . . . . . . . . . . . . . . . . .
Autotune Update System Inertia 3-32. . . . . . . . . . . . . . . . . . . . . . . . . .
Autotune Tune Velocity Loop 3-33. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Autotune Update V elocity Tune 3-34. . . . . . . . . . . . . . . . . . . . . . . . . . .
Read Trend Information 3-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message Operation 3-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation
Start–Up
Troubleshooting
Chapter 4
Chapter Objective 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unpacking & Inspection 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Main Board Connections 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TE Ground Connection 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Connections 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch Settings 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControlNet Connections 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Guidelines 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fiber Optic Cable Routing 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 5
Chapter Objectives 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminology 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection V erification 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example Connection Configuration 5-2. . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6
Publication 1395–5.37 – March, 1999
Chapter Objectives 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hard Faults 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Soft Faults 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warning Faults 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication Fault Reporting and Handling 6-2. . . . . . . . . . . . . . . .
CNA Board Fault Messages 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status LED Indications 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents toc–iii
Periodic Maintenance
Reference
Chapter 7
Preventative Maintenance 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tests & Records 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 8
Chapter Objective 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminology 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed Parameter Listing 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Name Structure 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Table Structure 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Table 8-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Descriptions 8-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Table of Contentstoc–iv
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Publication 1395–5.37 – March, 1999
Chapter
Before You Begin
Objective This manual contains the information necessary to perform the
following functions on the ControlNet
S Install and Set-up the CNA board
S Configure the Drive for control by a PLC Controller
S Maintain and Troubleshoot the board
Audience This manual is intended for use by expert personnel familiar with the
functions of solid state drive equipment. You must be thoroughly
familiar with the Bulletin 1395 and its hardware before attempting to
setup or troubleshoot a ControlNet Adapter Board.
To make efficient use of this Adapter Board you must be able to
operate and program an Allen-Bradley PLC controller. If you cannot,
refer to the appropriate programming and operations manual for your
PLC controller and obtain training from the support division before
attempting to setup and program the CNA board.
Adapter (CNA) Board:
1
Term Useage In this manual we refer to the ControlNet Adapter board as the “CNA
board” or the “Adapter”.
The Programmable Logic Controller is referred to as a “PLC
”.
ControlNet Adapter The CNA board provides a sophisticated interface to Allen-Bradley
Compatibility & Features PLC controllers and other equipment capable of communicating over
ControlNet. This adapter has the following features:
S One ControlNet channel, with a redundant connector to allow for
backup connection in case one cable fails.
S Compatible with all Allen-Bradley PLCs and other products that
support Programmable Controller Communication Commands.
S Compatible with Allen-Bradley 1395 Drives equipped with Version
8.10 or greater software.
Publication 1395.5.37 – March, 1999
1–2 Before You Begin
Safety Precautions The following types of precautionary statements will be found in this
manual.
IMPORTANT: Identifies particular areas of concern for correct board,
processor or Drive operation.
ATTENTION: Identifies information about practices or
!
!
circumstances that can lead to personal injury or death,
property damage, or economic loss.
ATTENTION: This board contains ESD (electostatic
discharge) sensitive parts and assemblies. Static control
precautions are required when installing, testing, servicing,
or repairing this assembly. Component damage may result if
if you do not follow ESD control procedures. If you are not
familiar with static control procedures, refer to Guarding
Against Electrostatic Damage, Allen-Bradley Publication
8000-4.5.2, or any other applicable ESD protection
handbook.
Manual Organization Table 1.A provides a brief overview of topics covered in this manual
and their location within the book.
Table 1.A.
Manual Organization
Chapter
2
3
4
5
6
Title Topics
Introduction and
Product Description
Configuration &
Interfaces
Startup &
Installation
Troubleshooting &
Maintenance
Reference
Board Identification, Hardware Content, Hardware requirements for Interfacing.
Configuring the Drive for the CNA
board and interfacing the Drive with a
PLC controller.
Unpacking & Inspection, mounting,
wiring, switch settings and configuration.
Diagnostics and Fault Messages.
Table of all CNA configuration and
setup parameters.
Publication 1395.5.37 – March, 1999
Specifications Electrical:
Board power provided by Drive 24VDC or 115VAC
Environmental:
Ambient Operating Temperature 0° to 60°C (32° to 140°F)
Storage Temperature –40° to +85°C (–40° to
Relative Humidity 5% to 95% non-condensing
Firmware Version 1.xx
1–3Before You Begin
+185°F)
Publication 1395.5.37 – March, 1999
1–4 Before You Begin
This Page Intentionally Blank
Publication 1395.5.37 – March, 1999
Chapter
2
Introduction & Product Description
Chapter Objective This chapter contains a description of the major hardware components
of the ControlNet Adapter board. It is not intended to be an all
encompassing technical description of each hardware component. This
chapter provides information to aid service personnel in:
S Identifing the CNA board.
S Understanding the hardware content of the board.
S Understanding the hardware requirements necessary to interface this
board with external devices.
General Board Description The CNA board contains the hardware necessary to connect the 1395
Drive to ControlNet 1.5. Once connected, this network can be used to
control, diagnose, and setup the Drive. Figure 2.1 shows the major
hardware components located on this board. Refer to Figure 2.1 when
attempting to identify the various hardware components.
The CNA board contains a small interface board, referred to as
the Interface Plug, which contains the hardware necessary to
communicate to PLC controllers via ControlNet. Refer to the
installation section of this manual for further details.
DIP switch U6 is used to select the node address for the ControlNet
adapter.
NOTE: Switches U5, U14 and U15 are physically present on the CNA
board but are inactive in this application.
U5 (Not Active)
U14 (Not Active)
1 2 345678 12345678
ATTENTION: Certain procedures in this manual require that
!
the Drive “Not be running”. This assumes that the main
contactor is de-energized and that the user has properly set up
the interface logic to meet this criteria.
U6 (Node Address)
U15 (Not Active)
ControlNet Node #
(1 – 99)
LED Indicators The CNA board contains several LED’s used to provide status
information. LED DS1 indicates whether the CNA board itself is
Publication 1395–5.37 – March, 1999
2–2 Introduction & Product Description
faulted or not faulted. LED’s DS2 and DS3 duplicate the function
provided by the LED’s on the Interface Plug. LED DS4 is inactive in
this application. Tables 2.A and 2.B provide information on LED’s
DS1-DS3.
Table 2.A.
LED Indicator Status for Board
CNA Board
Status
Table 2.B.
LED Indicator Status
Viewing LEDs
DS2 & DS3:
Together
Independently
LED State
LED Green – Blinking at 1 Hz
DS1
LED Green – Blinking Rapidly
LED Off
If:
Both LEDs are
steady OFF
Both steady RED
Both steady GREEN
Alternating
RED/GREEN
Alternating
RED/OFF
One Channel LED
is steady OFF
One Channel LED
is flashing RED/GREEN
One channel LED
is flashing RED/OFF
One channel LED
is flashing GREEN/OFF
One channel LED
is steady GREEN
Function
Normal Adapter Operation
Adapter is Faulted
Adapter Non-Operational
Then, this condition indicates
No Power, or reset condition exists
Failed link interface.
Normal Operation for redundant mode
Self Test
Bad node configuration
Channel disabled or not supported
Invalid link interface
Link Fault
Channel in listening mode, or
temporary channel error exists
Normal operation
Firmware Location The CNA Board contains a microprocessor (U20) which is responsible
for controlling all board functions and features. This board contains
firmware version 1.xx (the “xx” designator may vary but does not
affect information in this manual). Figure 2.1 shows the physical
location of the firmware chip (UMA1). The setup and configuration
data for the Adapter board is stored in the EEPROM memory located
on the main control board of the Drive.
Publication 1395–5.37 – March, 1999
Figure 2.1. CNA Board Components
U6
Firmware
UMAI
2–3
J1
CA STS
DS1
Channel A STS
DS2
Channel B STS
DS3
U20
Interface Plug
RT RT
Primary Channel
Redundant Channel
Network
Access
Port
J5
1 2 3 4
TE Bus
Publication 1395–5.37 – March, 1999
2–4
DIP Switch Orientation DIP Switch orientation (Figure 2.2) on the CNA board is as Follows:
CLOSED = “ON” = “1”
OPEN= “OFF” = “0”
Figure 2.2. DIP Switch Orientation
On
Off
On On Off Off
Board Location The standard mounting position for the CNA board is Port B of the
Drive (Refer to Figure 2.3). If required, the Adapter can be mounted in
Port A. Note that each port uses different parameters to store Adapter
setup and configuration information.
Figure 2.3. CNA Board Mounted in Port B
*
*
PORT A
J1
ControlNet Adapter
(CNA) Board
PORT B
J1
*
J3
J5
AB0747A
Publication 1395–5.37 – March, 1999
Chapter
Configuration & PLC Interfacing
Chapter Objective This chapter contains a general description of the CNA Board’s
features and functions. It is intended to provide background
information to support other procedures in this manual and help you to:
S Configure the Drive for use with the ControlNet Adapter Board
S Interface the Drive with an Allen-Bradley PLC Controller.
This chapter is not intended to be an all encompassing technical
description of the CNA Board.
This chapter will provide a functional overview of each interface
provided on the CNA board. Later chapters will describe in detail how
to properly connect, configure, and use these interfaces.
Terminology A brief description of terms and concepts covered in this chapter are:
Channel – Refers to a serial communication link.
Configuration – The process of linking sink to source
parameters for the purpose of distributing
data within the Drive or adapter(s). Fast
parameters are those which are updated
rapidly. They are typically used for
transmitting real time data to and from the
Drive. Fast parameter values are not stored
in non-volatile memory. Actual armature
current is an example of a fast parameter.
ControlNet Network – A communication architecture that allows
the exchange of data between
Allen-Bradley Company, Inc. products and
certified third party products.
Port – A physical location on the Drive reserved
for the connection of Adapter cards. Each
Drive has two ports. The ports are
identified in firmware as “Port A” and
“Port B”.
Parameter – A memory location in the Drive or Adapter
used to store data. This data can be real
time data and/or setup information. Each
parameter has an assigned number and
function. Parameters are displayed in
engineering units when viewed from
program terminals.
3
Publication 1395–5.37– March, 1999
3–2 Configuration & PLC Interfacing
Parameter Table – A table which contains all parameters that are
Source Parameter – A parameter that contains real time information
Sink Parameter – Sink parameters accept data from other
Scheduled Transfer – Deterministic and repeatable transfers that are
Unscheduled Transfer – Non-deterministic data transfers through
available in the Drive and adapters.
that is available for use by other devices. These
devices can include PLC controllers, operator
interface devices, program terminals, etc.
parameters which is then used by the Drive to
perform the desired functions. An example of a
sink is the external velocity reference parameter
which accepts a speed reference from a device
such as a PLC.
continuous and asynchronous to the ladder-logic
program scan.
ladder-initiated communication or programming
devices.
Operation The primary purpose of the CNA board is to allow the 1395 Drive to
be directly controlled by a PLC via ControlNet. This adapter has one
Digital communication channel with a redundant connector to allow
for backup communication to the PLC.
All scheduled data transfers between the PLC and the 1395 Drive must
be configured on a ControlNet network. You must specify where I/O
data is to be read from or written to when establishing the relationship
between processors, I/O adapters and data table file addresses.
ATTENTION: When configuring this drive on a
!
ControlNet network, you must request a Network
Update Time (NUT) of 5ms or greater. A NUT less
than 5ms may cause data transfers to (and from) the
drive to become non–deterministic.
Publication 1395–5.37– March, 1999
3–3Configuration & PLC Interfacing
Figure 3.1 presents an overview of the CNA board with a typical
Channel configuration. The parameter numbers shown are for a CNA
board mounted in Port B of the Drive. This is the standard Port for the
CNA Board.
Figure 3.1. CNA Board Channel Configuration for Port B
Comm Channel
300
Firmware
Version #
549
Fault/Warning
Configuration
Parameters
500
501
Fault/Warning
Status
Parameters
502
503
DIP Switch
for CNet
Node Address
504
301
302
303
304
305
306
307
350
351
352
353
354
355
356
357
Communications When you use the ControlNet Adapter Board for ControlNet
communications, the drive looks like a remote I/O chassis to a PLC.
This allows you to use discrete data transfer.
With discrete data transfer, the PLC controller’s I/O image table is used
to transfer the data that the drive needs to have continuously updated
ControlNet has the option for redundancy. Redundancy for the entire
network is determined by the configuration tool (RS Networx
Below is a listing of the CNA features on this Adapter:
S The board can be configured as a full I/O rack only.
S The board can be configured to ignore PLC fault conditions and
continue Drive operation.
ATTENTION: Configuring the board to ignore PLC
!
S The messaging mechanism can support transfer of multiple Drive
parameters (up to 5) in a single request.
S A “redundant” feature allows the Drive to be connected to a
redundant network
fault conditions could lead to erratic operation and
possible Drive or equipment damage.
TM
).
Publication 1395–5.37– March, 1999
3–4 Configuration & PLC Interfacing
General The CNA board does not scale or manipulate data that is transferred
between the Drive and PLC Controller. If data in the PLC is
manipulated in units other than Drive units, the data must first be
converted to Drive Units before being sent to the Drive. Consequently,
all scaling of data must be performed in the PLC.
To control Drive parameters the CNA parameters are linked to the
Drive by using source and sink parameters. Refer to the Drive
Installation and Maintenance manual for details on Drive configuration
links.
Discrete PLC Controller Data required by the Drive on a continuously updated basis is
I/O Data Transfer transferred using the I/O image table of the PLC Controller. The data
transfer rate can be determined using the standard conventions for I/O
rack updates of discrete I/O. Refer to the PLC Controller manual for
details.
Refer to Figure 3.2. This figure indicates how data is transferred
between the Drive and PLC controller. The group numbers (0-7) are
used for the transfer of discrete type data. Each group number reserves
a single 16 bit word in both the input and output image table of the
PLC Controller for the rack number assigned. In the Drive these words
are directly linked to internal Drive parameters using source and sink
parameters as shown in Figure 3.3.
Group 0
Figure 3.2. Full Rack Configuration
Group 1 Group 2 Group 3 Group 4 Group 5 Group 6 Group 7
Groups 0-7 each appear (to the PLC Controller) to
have a 16 bit input and output module installed.
Publication 1395–5.37– March, 1999
Figure 3.3. ControlNet Adapter Configuration Example
3–5Configuration & PLC Interfacing
PLC Controller
Output Image T able
Group Number
Full
0
1
2
3
4
5
6
7
Input Image T able
Group Number
Full
0
1
2
3
4
5
6
7
CNA Board
Port B
Port B
300
301
302
303
304
305
306
307
350
351
352
353
354
355
356
357
User
Configurable
Soft Links
User
Configurable
Soft Links
Bulletin 1395 Drive
Input
Variables
1
2
3
4
5
6
7
8
Output
Variables
1
2
3
4
5
6
7
8
Publication 1395–5.37– March, 1999
3–6 Configuration & PLC Interfacing
Discrete PLC Controller Figure 3.4 illustrates an application where the 6 bit words for group
I/O Example 1 and 2 are being used by the PLC Controller program for data transfer
with the Drive. In this example, the Drive has been configured so that
the data coming into source parameter 300 is sent to Logic Cmd 1
(parameter 150). Information sent to the Drive Using the 16 bit output
word for group 1 of rack 2 must therefore be a 16 bit logic word where
the bits are defined by the description of parameter 150.
Figure 3.4. Discrete PLC Controller I/O Example
PLC (Rack 2)
Output Image T able
Group 0
Group 1
Group 2
Group 3
Group 4
Group 5
Grpup 6
Group 7
Input Image T able
Scheduled
Discrete
Data
Transfer
Control Net Scheduled
Data Interface
Port B
Sources
300
301
BULLETIN 1395 DRIVE
Sinks
150
Logic Cmd 1
151
Logic Cmd 2
152
Logic Cmd 3
154
External Vel Ref
User
Configurable
Links
Group 0
Group 1
Group 2
Group 3
Group 4
Group 5
Grpup 6
Group 7
Port B
Sinks
350
351
Sources
100
Logic Status
101
Drive Status
106
Velocity Fdbk
112
Arm Current Fdbk
In a similar manner, the External Velocity Ref (parameter 154) has
been linked to source parameter 301. The 16 bit output word for group
2 of rack 2 must be a 16 bit signed integer whose value corresponds to
the allowable values in Drive Units for parameter 154.
Information from the Drive consists of Logic Status (parameter 100)
and Velocity Fdbk (parameter 106). Based on the links shown in
Figure 3.2, the 16 bit input word for group 1, rack 2 in the PLC
Controller is a 16 bit logic status word. The bits in this 16 bit word are
defined by the description for parameter 100. In addition, the 16 bit
input for group 2, rack 2 in the PLC Controller is a 16 bit signed
Publication 1395–5.37– March, 1999
3–7Configuration & PLC Interfacing
integer whose value corresponds to the allowable values in Drive Units
for parameter 106.
If the data transferred between the Drive and PLC Controller will be
manipulated (in the PLC Controller) in units other than Drive Units,
the PLC Controller program must scale the information. The scaled
information must be based on the Drive Units definitions for the
parameters in the Drive. The External Vel Ref (parameter 154) is in
Drive units where 4096 is defined as base speed. If the PLC Controller
program is written in terms of feet per minute (FPM), then FPM must
be converted to Drive Units before being sent to the Drive.
Figure 3.5 provides an example PLC Controller program which could
be used to control the Drive. Based on the configuration shown in
Figure 3.4 the PLC Controller program will be transferring information
to parameter 150 and 154 in the Drive. Integer file N7 in the PLC is
being used for Drive logic control and integer file N10 word 01 is used
to store the Drive speed reference. To control the logic operation of
the Drive, the PLC program must control the bits in the output image
table which correspond to the desired operation. Because parameter
300 has been linked to parameter 150 (Figure 3.5), and parameter 300
is associated with group 1 in the output image table, the PLC
Controller program will be controlling bits in word 0:20.
Publication 1395–5.37– March, 1999
3–8 Configuration & PLC Interfacing
Figure 3.5. Example PLC Controller Discrete I/O Program
Start
N7 :1
0000
1
Stop
N7 :1
0001
Current Limit Stop
N7 :1
Parameter 150
Logic Command Start Bit
O:020
14
Parameter 150
Logic Command Stop Bit
O:020
132
0002
0003
0004
0005
Current Limit Stop
3
N7 :1
4
Start
N7:1
1
Current Limit Stop
N7 :1
4
Start
N7 :1
1
Parameter 150
Logic Command Ramp Disable Bit
Parameter 150
Logic Command Speed Reference
Select A
N7:2
1
Parameter 150
Logic Command Speed Reference
Select B
N7:2
2
Parameter 150
Logic Command Speed Reference
Select C
N7:2
3
Parameter 150
Logic Command Clear Fault Bit
Parameter 154
External Velocity Reference
MOV
Move
Source
Dest
O:020
5
O:020
0
1
2
O:020
16
N10:1
0<
O:021
0<
0006
Publication 1395–5.37– March, 1999
END
PLC Controller (Rack 2)
Output Image T able
Group 0
Group 1
Group 2
Group 3
Group 4
Group 5
Grpup 6
Group 7
Bit numbering in the PLC Controller is performed in Octal, as opposed to
Decimal numbering in the Drive parameter 150, so it is necessary to relate
the output image table bits to the controlled bits in parameter 150. Figure
3.6 shows the correlation between the output image table bits and the
Drive parameter 150 bits. As a result of this relationship, if it is desired
to set the start bit in parameter 150 (bit 12 decimal), then bit 021/14 must
be set as shown in the first rung of Figure 3.5. Control of other logic bits
is illustrated in Figure 3.5.
Figure 3.6. Bit Mapping for Logic Command (P150, 151, 152)
ControlNet Scheduled
Data Interface
Port B
Sources
300
Sinks
150
Logic Cmd 1
3–9Configuration & PLC Interfacing
0 : 21
00
01
02
03
04
05
06
07
10
11
12
13
14
15
16
17
Par 150
00
Run Reference Select A
01
Run Reference Select B
02
Run Reference Select C
03
04
05
06
07
08
09
10
11
12
13
14
15
MOP Increment
MOP Decrement
Ramp Disable
MOP Rate 1
MOP Rate 2
Command Enable
Jog 2
Jog 1
Normal Stop
Start
Close Contactor
Clear Fault
Process Trim Enable
The first 3 bits of the Logic Command word (parameter 150 in this
example), are used to determine which speed reference will be used by
the Drive. If the normal run speed reference input to parameter 154 is to
be used, all three bits must be 0. If a preset speed or the MOP function
will be used, bits 0–2 are set accordingly (refer to Bulletin 1395
Installation and Maintenance manual for a complete description of the
Logic Command bits). In this example, the first three bits of word 2 of
integer file N7 are used to determine the speed reference used by the
Drive as shown on rung 4 in Figure 3.5.
If the normal run speed reference is selected, the PLC Controller must
send a 16 bit word to External Vel Ref (parm 154) in the Drive. Because
the speed reference is a complete 16 bit word, the PLC Controller must
send the data as a complete word rather than as individual bits as was the
case for logic command bits. In this example, word 1 of integer file N10
Publication 1395–5.37– March, 1999
3–10 Configuration & PLC Interfacing
is used to store the speed reference for the Drive. The MOV block in
rung 6 of Figure 3.5 transfers the 16 bit word of N10:01 to word 2 of the
output image table. Because word 2 of the output image table is sent to
parameter 301, which in turn is linked to parameter 154 (Figure 3.4), the
16 bit word N10:01 is the speed reference input to the Drive param. 154.
Information transferred back to the PLC Controller from the Drive is
handled much as it was in the previous example, with the exception that
data is transferred from the input image table of the PLC Controller to the
working data files in the PLC Controller program. Again, note that bit
coded words such as Logic Status (parm 100), are bit numbered in Octal
in the PLC Controller, while the Drive is in Decimal.
Command Set The CNA board supports a limited set of PCCC commands by emulating
a section of PLC-5 memory. The memory area emulated determines what
specific request and or action the CNA board will take. Below is a list of
the supported commands:
NOTE: A maximum of 5 parameters can be obtained with each
transaction.
Who Active – The node address of the CNA board (as defined by it’s DIP
switch settings) will be displayed on the “Who Active” screen of the PLC
software. It will read “1395 DRV” next to the selected station.
PLC 5 Typed Read (N10:0-999) – Memory area N10:0-999 translates
into a read parameter value(s) from the Drive. Any attempts to read
outside of this range will result in an error response. The values 0 through
999 are interpreted by the Drive as parameter numbers. For example, to
read the value of parameter 633 the MSG instruction would request
N10:633 with a size of one element. A size of 5 will read to parameters
633 through 637.
PLC 5 Typed Write (N10:500-999) – Memory area N10:500-999
translates into a write parameter value(s) to the Drive. Any attempts to
write outside of this range will result in an error response. The values 500
through 999 are interpreted by the Drive as parameter numbers. For
example, to write a value to Preset Speed 1 (parameter 633) the MSG
instruction would specify N10:633 with a size of one element. A size of 5
will write to parameters 633 through 637.
PLC Typed Read (N20:499-999) – This request reads the status of the
previous parameter writes (N20:500-999). If a Typed Read is specified
with an PLC address of N20:499, the write status of all parameters from
the last TYPED WRITE request (N10: xxx-xxx) will be OR’ed together.
If one error has occurred during the last write operation, this address will
contain the parameter number where the error occurred. If multiple errors
occurred the value will be 0FFFF (hex), and the PLC Controller can
request a Typed Read of N20:500-999 to determine which parameters
have had errors.
Publication 1395–5.37– March, 1999
3–11Configuration & PLC Interfacing
PLC Typed Read (N30:0-999) - This request translates into a read
parameter full message in the Drive. Each parameter specified results in
13 words of data (actual value, minimum value, maximum value,
descriptor, and parameter text). You can read a maximum of 5 parameters
with this service.
PLC Typed Read (N40:0-39) - This message emulates the RIO block
transfer functions available on the CNA board with the exception of the
multiple parameter read. Refer to the message structure section of this
chapter for details on the available messages and their use.
NOTE: With this command there are no BT flags to synchronize the
Write/Read operation as on the RIO.
PLC Typed Write (N40:0-39) - This message emulates the RIO block
transfer functions available on the MCA board with the exception of the
multiple parameter write. Refer to the message structure section of this
chapter for details on the available messages and their use.
NOTE: With this command there are no BT flags to synchronize the
Write/Read operation as on the RIO.
PLC Typed Read
(N70:0-119) for Trend 1
(N71:0-119) for Trend 2
(N72:0-119) for Trend 3
(N73:0-119) for Trend 4 - This message reads the trend sampled data,
which is the data retained when a trigger condition occurs. A file of 70
corresponds to Trend 1, 71 to Trend 2, 72 to Trend 3, and 73 to Trend 4.
Message Formats This section of the manual provides a detailed explanation of the
messages that the Drive supports. These messages are used by
ControlNet to program Drive parameters, read parameter data, and control
other Drive functions.
The following table summarizes the valid function code that is displayed
in word 3 of the PLC message write header message. A complete
description of the messaging write header is provided on the specified
page.
Publication 1395–5.37– March, 1999
3–12 Configuration & PLC Interfacing
Function:
EE Memory Recall
EE Memory Store
EE Memory Initalize
Read Parameter Data
Read Parameter Full
Write Parameter Data
Read System Clock
Write System Clock
Drive System Reset
Clear Faults
Autotune Measure Motor Inertia
Autotune Update Motor Inertia
Autotune Measure System Inertia
Autotune Update System Inertia
Autotune Tune Velocity Loop
Autotune Update Velocity Tune
Read Trend Information
Message Operation
Function Code:
257
513
769
514
770
515
1026
1027
1539
1795
269
525
781
1037
1037
1293
1549
270
Page:
3-13
3-14
3-15
3-16
3-18
3-20
3-22
3-23
3-24
3-25
3-26
3-27
3-28
3-29
3-30
3-31
3-32
3-34
Publication 1395–5.37– March, 1999
3–13Configuration & PLC Interfacing
Upload Configuration Link This function uploads the configuration table information from the Drive
in blocks. Each block of configuration data has a separate function code.
PLC Block Transfer Instruction Data –
Read
Write
Size In Elements: 4 4
Processor Type: PLC-5 PLC-5
Destination Address: N15:0-3 N15:0-23
Message Structure –
PLC Message Write
0
0
Function Code
see table
8
Header
Word 1
Header
Word 2
Header
Word 3
Header
Word 4
PLC Message Read
0
0
See Table
48
Parameter # (X50)
Parameter # (X51)
Parameter # (X52)
.
Parameter # (X69)
Header
Word 1
Header
Word 2
Header
Word 3
Header
Word 4
Header
Word 5
Header
Word 5
Header
Word 6
.
Header
Word 23
NOTE: Word 4 of the PLC Message Read instruction is broken down
The Low byte contains the Drive message length in bytes.
Upload Function Codes
into two bytes. The High byte contains the status bits
The “x” designator is a position holder. It could represent
parameter 150, 250, 350, etc. depending on which configura
tion table is being requested.
Function CodeParameter Numbers
#50 – #69
#150 – #169
#250 – #269
#350 – #369
#450 – #469
260
516
772
1028
1284
Message Operation – The UPLOAD CONFIGURATION LINKS
function requests a listing of the Drive configuration links from the Drive
for use in the PLC Controller. This command is broken down into five
groups of tables.
Publication 1395–5.37– March, 1999
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