Rockwell Automation 1756-DMF30 User Manual

ControlLogix Drive Module

1756-DMD30, 1756-DMF30

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 Rockwell Automation Sales Ofﬁce or online at

http://www.ab.com/manuals/gi ) describes some important differences

between solid state equipment and 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 Rockwell Automation, Inc. 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, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. 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 Rockwell Automation, Inc. is prohibited.

Throughout this manual we use notes to make you aware of safety considerations.

WARNING

Identiﬁes information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION

Identiﬁes information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

IMPORTANT

Identiﬁes information that is critical for successful application and understanding of the product.

Rockwell Automation Support

Before you contact Rockwell Automation for technical assistance, we suggest you please review the troubleshooting information contained in this publication ﬁrst.

If the problem persists, call your local Rockwell Automation representative or contact Rockwell Automation in one of the following ways:

Phone

Internet

United States/Canada

Outside United States/Canada

⇒

1.262.512.8176

You can access the phone number for your country via the Internet:

1. Go to http://www.ab.com

2. Click on Product Support (http://support.automation.rockwell.com)

3. Under Support Centers , click on Contact

Information

1. Go to http://www.ab.com

2. Click on Product Support (http://support.automation.rockwell.com)

Your Questions or Comments on this Manual

If you ﬁnd a problem with this manual, please notify us by using one of these two methods:

•

Filling out the enclosed "How Are We Doing" form

•

Filling out the "Tell Us How We Can Make Our Manuals Better" form online at

http://www.ab.com/manuals/dr/manuals_feedback.html

Important User Information . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . 1-3

Your Questions or Comments on this Manual . . . . . . . . 1-3

Summary of Changes Preface

What is the ControlLogix Drive Module?

Drive Comm (Drive Communication)

Drive Module Features

Installing the Drive Module

Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . P-1

Purpose of This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

What This Manual Contains . . . . . . . . . . . . . . . . . . . . . . . . P-2

Related Products and Documentation. . . . . . . . . . . . . . . . . P-2

What is the ControlLogix

Drive Module?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

What Are Some of the Features Available On the ControlLogix

Drive Module? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Connecting the Drive Module to SynchLink and Drive Comm . . 1-3

SynchLink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Drive Comm (Drive Communication) . . . . . . . . . . . . . . 1-3

Physical Features of the ControlLogix Drive Module . . . 1-4

Using Module Identification and Status Information . . . . . . 1-5

Preventing Electrostatic Discharge . . . . . . . . . . . . . . . . . . . 1-7

Removal and Insertion Under Power . . . . . . . . . . . . . . . . . 1-7

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 1-8

Interface to DPS Drive Equipment . . . . . . . . . . . . . . . . . . . 2-1

Drive Communication Protocol . . . . . . . . . . . . . . . . . . . . . 2-1

Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Synchronized Communication . . . . . . . . . . . . . . . . . . . . . . 2-2

Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Synchronization with CST. . . . . . . . . . . . . . . . . . . . . . . 2-3

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 2-3

General Module Features. . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Removal and Insertion Under Power (RIUP) . . . . . . . . . 3-2

Module Fault Reporting . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Fully Software Configurable . . . . . . . . . . . . . . . . . . . . . 3-3

LED Status Information . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Class I Division 2 Certification . . . . . . . . . . . . . . . . . . . 3-4

Agency Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Configurable Module Features . . . . . . . . . . . . . . . . . . . . . . 3-4

Controller Communication Format . . . . . . . . . . . . . . . . 3-5

SynchLink Communications Format . . . . . . . . . . . . . . . 3-5

Module-Defined Data Tags. . . . . . . . . . . . . . . . . . . . . . 3-7

Electronic Keying. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Requested Packet Interval . . . . . . . . . . . . . . . . . . . . . . 3-10

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 3-10

Noting the Power Requirements . . . . . . . . . . . . . . . . . . . . 4-1

Installing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Connecting SynchLink Cables . . . . . . . . . . . . . . . . . . . . . . 4-3

Connecting (Drive Comm Drive Communication) Cables . . 4-5

Publication 1756-UM522B-EN-P - February 2003

Configuring the Drive Module

Troubleshooting the Drive Module

Specifications

1756-DMD30 Specific Information

Removing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 4-7

Overview of the Configuration Process . . . . . . . . . . . . . . . 5-1

Planning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Understanding the Controller - Drive Module Interface . 5-2

Choosing the SynchLink Communication Formats . . . . . 5-2

Choosing the SynchLink Network Topology . . . . . . . . . 5-4

Checking and Updating the DriveExecutive Database. . . . . 5-6

Checking the DriveExecutive Database . . . . . . . . . . . . . 5-6

Checking the DriveExecutive Database (continued). . . . 5-7

Updating the DriveExecutive Database . . . . . . . . . . . . . 5-8

Using RSLogix 5000 to Configure the Drive Module . . . . . . 5-9

Using DriveExecutive to Configure Drive Module. . . . . . . . 5-16

Return to RSLogix 5000 to Finish Configuring the Drive Module 5-23

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 5-24

Using the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Using DriveExecutive to Troubleshoot the Module . . . . . . . 6-3

Warning Signal on Main Screen . . . . . . . . . . . . . . . . . . 6-3

Fault and Alarm Window . . . . . . . . . . . . . . . . . . . . . . . 6-4

Fault and Alarm Window (continued). . . . . . . . . . . . . . 6-5

Fault and Alarm Window (continued). . . . . . . . . . . . . . 6-6

Diagnostic Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

Diagnostic Parameters (continued) . . . . . . . . . . . . . . . . 6-7

Using RSLogix 5000 to Troubleshoot the Module . . . . . . . . 6-8

Warning Signal on Main Screen . . . . . . . . . . . . . . . . . . 6-8

Module Properties Window . . . . . . . . . . . . . . . . . . . . . 6-9

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 6-10

Module Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Communication Specifications . . . . . . . . . . . . . . . . . . . . . . A-1

Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

Speed Control - Reference . . . . . . . . . . . . . . . . . . . . . . B-3

Speed Control - Regulator . . . . . . . . . . . . . . . . . . . . . . B-4

Process Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5

Position Control - Interpolated/Direct . . . . . . . . . . . . . . B-6

Position Control - Point to Point . . . . . . . . . . . . . . . . . B-7

Position Control - Auxiliary . . . . . . . . . . . . . . . . . . . . . B-8

Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9

Speed / Position Feedback. . . . . . . . . . . . . . . . . . . . . B-10

Peak Detector / Control Logix . . . . . . . . . . . . . . . . . . B-11

Field Economy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-12

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-13

How Parameters are Organized . . . . . . . . . . . . . . . . . B-15

Parameter Data In Linear List Format . . . . . . . . . . . . . B-24

Parameter Cross Reference By Name . . . . . . . . . . . . B-153

Publication 1756-UM522B-EN-P - February 2003

1756-DMF30 Specific Information

Index

Interpretting Drive Module Faults in DriveExecutive . . . . B-159

Parameter 169 [Drive I/O Status]. . . . . . . . . . . . . . . . B-159

Parameter 323 [Fault Status 1] . . . . . . . . . . . . . . . . . . B-160

Parameter 324 [Fault Status 2] . . . . . . . . . . . . . . . . . . B-161

Parameter 326 [Alarm Status 1] . . . . . . . . . . . . . . . . . B-162

Parameter 327 [Alarm Status 2] . . . . . . . . . . . . . . . . . B-162

Parameter 1229 [SL Error Status] . . . . . . . . . . . . . . . . B-163

Parameter 2044 [Rail Port 0 Faults] . . . . . . . . . . . . . . B-164

Parameter 2050 [Rail Port 1 Faults] . . . . . . . . . . . . . . B-165

Parameter 2122 [MC Faults]. . . . . . . . . . . . . . . . . . . . B-166

Parameter 2123 [MC Warnings] . . . . . . . . . . . . . . . . . B-167

Parameter 2124 [Pwr Device Status] . . . . . . . . . . . . . B-169

Parameter 2125 [Interlock Code] . . . . . . . . . . . . . . . . B-170

Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Current Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Speed Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3

Peak Detector/Control Logic. . . . . . . . . . . . . . . . . . . . . C-4

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

How Parameters Are Organized . . . . . . . . . . . . . . . . . . C-7

Parameter Data In Linear List Format . . . . . . . . . . . . . C-14

Interpretting Drive Module Faults in DriveExecutive . . . . C-100

Parameter 323 [Fault Status 1] . . . . . . . . . . . . . . . . . . C-100

Parameter 324 [Fault Status 2] . . . . . . . . . . . . . . . . . . C-101

Parameter 326 [Alarm Status 1] . . . . . . . . . . . . . . . . . C-102

Parameter 327 [Alarm Status 2] . . . . . . . . . . . . . . . . . C-102

Parameter 1229 [SL Error Status] . . . . . . . . . . . . . . . . C-103

Parameter 2044 [Rail Port 0 Faults] . . . . . . . . . . . . . . C-104

Parameter 2050 [Rail Port 1 Faults] . . . . . . . . . . . . . . C-105

Parameter 2122 [MC Faults]. . . . . . . . . . . . . . . . . . . . C-106

Parameter 2123 [MC Warnings] . . . . . . . . . . . . . . . . . C-107

Parameter 2124 [Pwr Device Status] . . . . . . . . . . . . . C-108

Parameter 2125 [Interlock Code] . . . . . . . . . . . . . . . . C-109

Publication 1756-UM522B-EN-P - February 2003

Summary of Changes

The table below summarizes the changes to this publication since the last update:

For this updated information: See:

Reliability speciﬁcation A-1 Documentation of 1756-DMD30 (Firmware Revision 2.01) Algorithms,

Parameters and Faults Documentation of 1756-DMF30 (Firmware Revision 1.09) Algorithms,

Parameters and Faults

B-1

C-1

1 Publication 1756-UM522B-EN-P - February 2003

Summary of Changes 2

Notes:

Publication 1756-UM522B-EN-P - February 2003

Preface

About This Preface

This preface describes how to use this manual. The following table describes what this preface contains and its location.

For information about: See page:

Who Should Use This Manual Preface-1 Purpose of This Manual Preface-1 Related Products and Documentation Preface-2

Who Should Use This Manual

Purpose of This Manual

You must be able to program and operate an Allen-Bradley Control efﬁciently use your Drive module.

We assume that you know how to do this in this manual. If you do not, refer to Related Documentation, before you attempt to use this module.

IMPORTANT

This manual describes how to install, conﬁgure, and troubleshoot your ControlLogix Drive module.

Logix

™ Logix controller and ControlLogix I/O modules to

SynchLink must be used in conjunction with a standard control network, such as ControlNet or Ethernet. A standard network is used for general control interlocking and transfer of diagnostic data across the system.

SynchLink does not function as a standard control network (e.g. it broadcasts data in a unidirectional manner).

1 Publication 1756-UM522B-EN-P - February 2003

•

Preface 2

•

What This Manual Contains

What is the ControlLogix Drive Module?

This chapter describes the ControlLogix Drive module. It also describes what you must know and do before using the Drive module.

For information about: See page:

What is the ControlLogix Drive Module? 1-1 Connecting the Drive Module to SynchLink

and Drive Comm Using Module Identiﬁcation and Status

Information Preventing Electrostatic Discharge 1-7 Removal and Insertion Under Power 1-7 Chapter Summary and What’s Next 1-8

1-3

1-5

What is the ControlLogix Drive Module?

The 1756-DM Drive Module is a single slot ControlLogix based module for interface to Reliance Electric Distributed Power System (DPS) drive equipment. Each drive module interfaces with an individual Power Module Interface (PMI) chassis, performing velocity and position and outer torque control.

Figure 1.1 SD3000 System Example

ControlLogix Chassis

with Drive Module

Drive Communication

Motor with

resolver

DPS with PMI

Chassis

1 Publication 1756-UM522B-EN-P - February 2003

•

1-2 What is the ControlLogix Drive Module?

There are two types of Drive module, each works with a different type of DPS drive equipment.

Table 1.A

Drive Module DPS Equipment Description

1756-DMD30 SD3000 6 Pulse DC Drive S6 and S6R

SD3000 12 Pulse DC Drive S12 and S12R

1756-DMF30 SF3000 Three Phase Field Supply

What Are Some of the Features Available On the ControlLogix Drive Module?

The following are some of the features available on the ControlLogix Drive module:

The 1756-DMD30 utilizes velocity and position and outer torque control similar to the PowerFlex 700S

•

Motor Control capability mimics the respective Reliance Electric Distributed Power drive

•

PC Tools, such as RSLogix 5000 DriveTools 2000

program suite, used for programming,

and DriveExecutive

in the

conﬁguring, monitoring and troubleshooting

Fiber optic connection to the Power Module Interface

SynchLink

for advanced high performance synchronization

and data transfer.

Removal and insertion under power (RIUP) - This system feature allows you to remove and insert the module while power is applied. For more information on RIUP, see page 1-7.

•

Class I Division 2, UL, CSA, and CE Agency Certiﬁcation

Publication 1756-UM522B-EN-P - February 2003

What is the ControlLogix Drive Module? 1-3

Connecting the Drive Module to SynchLink and Drive Comm

SynchLink

The ControlLogix Drive module mounts in a ControlLogix chassis and connects to other SynchLink nodes through a ﬁber optic cable system.

Table 1.B Fiber Optic Cables for SynchLink

Catalog Number: Cable Length Cables per box:

1403-CF001 1 meter 2 1403-CF003 3 meters 2 1403-CF005 5 meters 2 1403-CF010 10 meters 1 1403-CF020 20 meters 1 1403-CF050 50 meters 1 1403-CF100 100 meters 1 1403-CF250 250 meters 1

Drive Comm (Drive Communication)

The ControlLogix Drive module connects to a PMI chassis through special Drive Communication ﬁber optic cables.

Table 1.C Fiber Optic Cables for Drive Communication

Catalog Number Length

1756-DMCF001 1 meter 1756-DMCF003 3 meters 1756-DMCF010 10 meters 1756-DMCF030 30 meters

1756-DMAF

(1)

Use the 1756-DMAF to connect existing UDC/PMI ﬁber optic cables to the Drive Module

(1)

N/A

Publication 1756-UM522B-EN-P - February 2003

•

1-4 What is the ControlLogix Drive Module?

Before you install and use your module you should have already:

installed and grounded a 1756 chassis and power supply. For more information, refer to the publications listed in Table 1.D.

Table 1.D Chassis and Power Supply Documentation

ControlBus Connector-

Interface to the

ControlLogix

system

backplane

Catalog

Document title: Pub. number:

number:

1756-A4, -A7,

ControlLogix Chassis Installation Instructions 1756-IN080

-A10, -A13 1756-PA72,

ControlLogix Power Supply Installation Instructions 1756-5.67

-PB72 1756-PA75,

ControlLogix Power Supply Installation Instructions 1756-5.78

-PB75 1756-PA75R/A,

-PB75R/A

ControlLogix Redundant Power Supply Installation Instructions

1756-IN573

Physical Features of the ControlLogix Drive Module

Module side view Module front view

SD3000 INTERFACE

LINK

COMM

SYNC

DRIVE

OS OK OK

DRIVE FAULT

COMM OK

Status Indicators

The 1756-DMD30, SD3000 Interface, is shown. Physical features are common to all ControlLogix Drive Modules.

Publication 1756-UM522B-EN-P - February 2003

Transmit Ports

(in back)

Receive Ports (in front)

Tx (rear)

Rx (front)

SynchLink Ports

Drive Communication Ports

What is the ControlLogix Drive Module? 1-5

Backplane Connector - The backplane connector connects the

module to the ControlLogix chassis backplane.

Status Indicators - The status indicators display the module’s

communications, Drive Communication and SynchLink system status.

SynchLink Transmit Fiber Port - The transmit ﬁber port allows

connection (via ﬁber optic cables) to other SynchLink modules so the module can send data.

SynchLink Receive Fiber Port - The receive ﬁber port allows

connection (via ﬁber optic cables) to other SynchLink modules so the module can receive data.

Drive Communication Transmit Fiber Port - The transmit ﬁber

port allows connection (via ﬁber optic cables) to the PMI processor of the drive.

Using Module Identiﬁcation and Status Information

Drive Communication Receive Fiber Port - The receive ﬁber port

allows connection (via ﬁber optic cables) to the PMI processor of the drive.

Each ControlLogix Drive module maintains speciﬁc identiﬁcation information that separates it from all other modules. This information assists you in tracking all the components of your system.

For example, you can track module identiﬁcation information to be aware of exactly what modules are located in any ControlLogix rack at any time. While retrieving module identity, you can also retrieve the module’s status.

Each module maintains the following information:

Table 1.E Module Identiﬁcation and Status Information

Module Identiﬁcation: Description:

Product Type Module’s product type, such as Digital I/O or

Analog I/O module

Catalog Code Module’s catalog number

Major Revision Module’s major ﬁrmware revision number

Minor Revision Module’s minor ﬁrmware revision number

Publication 1756-UM522B-EN-P - February 2003

1-6 What is the ControlLogix Drive Module?

•

–

•

Table 1.E Module Identiﬁcation and Status Information

Module Identiﬁcation: Description:

Status Module’s status. Returns the following information:

Controller ownership (if any) Whether module has been conﬁgured Device Speciﬁc Status, such as:

Self-Test Flash update in progress Communications fault Not owned (outputs in program mode) Internal fault (need ﬂash update) Run mode

Minor recoverable fault Minor unrecoverable fault Major recoverable fault Major unrecoverable fault

Vendor ID Module manufacturer vendor, for example Allen-Bradley

Serial Number Module serial number

Length of ASCII Text String Number of characters in module’s text string

ASCII Text String Module name

IMPORTANT

To retrieve this information, you can use the WHO service in the RSLinx software. For more information on how to retrieve module identiﬁcation information, see the RSLinx online help.

Publication 1756-UM522B-EN-P - February 2003

What is the ControlLogix Drive Module? 1-7

Preventing Electrostatic Discharge

This module is sensitive to electrostatic discharge.

ATTENTION

Preventing Electrostatic Discharge

This equipment is sensitive to electrostatic discharge, which can cause internal damage and affect normal operation. Follow these guidelines when you handle this equipment:

•

Touch a grounded object to discharge potential static.

•

Wear an approved grounding wrist strap.

•

Do not touch connectors or pins on component boards.

•

Do not touch circuit components inside the equipment.

•

If available, use a static-safe workstation.

•

When not in use, store the equipment in appropriate static-safe packaging.

Removal and Insertion Under Power

These modules are designed to be installed or removed while chassis power is applied, while in non-hazardous locations only.

WARNING

ATTENTION

When you insert or remove the module while backplane power is on, an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or the area is nonhazardous before proceeding.

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

IMPORTANT

Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance that can affect module operation.

Publication 1756-UM522B-EN-P - February 2003

1-8 What is the ControlLogix Drive Module?

Chapter Summary and What’s Next

In this chapter, you learned about the ControlLogix Drive module. Move to Chapter 2, Drive Comm (Drive Communication) for details on the communications interface to DPS equipment.

Publication 1756-UM522B-EN-P - February 2003

Chapter

Drive Comm (Drive Communication)

This chapter describes Drive Comm (Drive Communication), the interface between the ControlLogix Drive module communicates and Distributed Power System (DPS).

For information about: See page:

Interface to DPS Drive Equipment 2-1 Drive Communication Protocol 2-1 Initialization 2-2 Synchronized Communication 2-2 Chapter Summary and What’s Next 2-3

Interface to DPS Drive Equipment

Drive Communication Protocol

The main function of the Drive module is to interface to Distributed Power System (DPS) drive equipment, enabling a ControlLogix processor to control the drive equipment. A ControlLogix processor performs high level control algorithms and drive coordination. The

Drive module performs outer control loop processing Power Module Interface (PMI) performs real-time control of the Power Module.

Each drive module interfaces with an individual Power Module Interface (PMI) processor. It resides in a ControlLogix chassis and connects to a PMI processor via ﬁber-optic and Drive Communication protocol.

Drive Communication is a point to point serial link between the Drive module and the Power Module Interface (PMI), on ﬁber-optic cable. It is similar to the protocol used between the Universal Drive Controller (UDC) and the PMI processor in an AutoMax DPS environment. The data is Manchester-encoded and transmitted over the ﬁber-optic links at a rate of 10M bits per second. Transfers on ﬁber-optic cables are immune to electromagnetic interference (EMI).

(1)

, and the

During initialization, the Drive Module and PMI processor use an asynchronous master-slave protocol to transfer the PMI operating system to the PMI processor and to establish synchronized communication. After initialization, they use synchronized “Set

(1)

The 1756-DMF30 does not perform outer control loop processing - it only functions as a bridge between the ControlLogix controller and the PMI processor.

1 Publication 1756-UM522B-EN-P - February 2003

2-2 Drive Comm (Drive Communication)

Point/Feedback Data Exchange” to transfer data. The Drive Module sends set point data to the PMI processor, which returns feedback data to the Drive Module.

Initialization

Synchronized Communication

At boot time, the Drive Module and PMI processor use an asynchronous master-slave protocol to transfer the PMI operating system and establish synchronized communication. The PMI processor is the master, and commences by requesting its operating system. The Drive Module responds by downloading the operating system in a special message, containing up to 256 byte packets.

When the operating system transfer is complete, the Drive Module sends a conﬁguration message and a gain message. The conﬁguration message contains information that ﬁxes the communication frequency at 4 mS. Once the Drive Module and PMI processor have synchronized communications, normal Set Point/Feedback data transfer can begin.

The synchronized protocol is called “Set Point/Feedback Data Exchange”. The drive module sends set point data to the PMI processor. The set point data contains reference data, for drive control, and a time stamp. This time stamp enables the PMI processor to calculate what the proper time is for the next feedback message. The PMI processor sends feedback messages to the Drive Module. The feedback messages contains data about drive operation.

Publication 1756-UM522B-EN-P - February 2003

Timing

The velocity loop updates (reads from, and writes to Drive Communication) every 2 mS. After every other velocity loop update (at a 4 mS interval), the position loop performs its update. After every position update, the Drive Module sends set point data to the PMI processor. After the next velocity update (but before the following one), the PMI processor sends feedback data to the Drive Module. Refer to the following timing chart.

Velocity Loop Update

Position Loop Update

Set Point Data to PMI

Feedback Data to Drive Module

Drive Comm (Drive Communication) 2-3

Figure 2.1 Drive Communication Timing

4 mS

Synchronization with CST

Chapter Summary and What’s Next

Synchronization to Coordinated System Time (CST) is not necessary to synchronize Drive Communication between the Drive Module and the PMI processor. However, if the Drive Module is synchronized to the CST, Drive Communication will also synchronize to the CST.

In this chapter, you learned about Drive Communication. For more information on Drive Module features see Chapter 3, Drive Module Features.

Publication 1756-UM522B-EN-P - February 2003

2-4 Drive Comm (Drive Communication)

Notes:

Publication 1756-UM522B-EN-P - February 2003

•

Chapter

Drive Module Features

This chapter describes the ControlLogix Drive module features.

For information about: See page:

General Module Features 3-1 Conﬁgurable Module Features 3-4 Chapter Summary and What’s Next 3-10

General Under Power) that are supported on the module regardless of conﬁguration and application.

module features are features (e.g. Removal and Insertion

General Module Features

Conﬁgurable module features are features (e.g. Communications Format) that can be conﬁgured to work differently in various applications.

The following general module features are available with the ControlLogix Drive module:

Removal and Insertion Under Power (RIUP) Module Fault Reporting Fully Software Conﬁgurable LED Status Information Class I Division 2 Certiﬁcation Agency Certiﬁcation

1 Publication 1756-UM522B-EN-P - February 2003

3-2 Drive Module Features

Removal and Insertion Under Power (RIUP)

All ControlLogix Drive modules may be removed and inserted from the chassis while power is applied. This feature allows greater availability of the overall control system because, while the module is being removed or inserted, there is no additional disruption to the rest of the controlled process.

WARNING

ATTENTION

IMPORTANT

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance that can affect module operation.

Publication 1756-UM522B-EN-P - February 2003

Module Fault Reporting

ControlLogix Drive modules provide both hardware and software indication when a module fault has occurred. Each module’s LED fault indicator as well as DriveExecutive and RSLogix 5000 will graphically display this fault and include a fault message describing the nature of the fault.

This feature allows you to determine how your module has been affected and what action should be taken to resume normal operation.

Drive Module Features 3-3

Fully Software Conﬁgurable

RSLogix 5000 and DriveExecutive software packages use custom, easily understood interfaces to determine the module conﬁguration. All module features are enabled or disabled through the conﬁguration portions of the software.

You can also use the software to interrogate any module in the system to retrieve

•

serial number

•

revision information

•

catalog number

•

vendor identiﬁcation

•

error/fault information

By eliminating such tasks as setting hardware switches and jumpers, the software makes module conﬁguration easier.

LED Status Information

The ControlLogix Drive module has LED indicators on the front of the module that allow you to check the module health and operational status.

The following status can be checked with the LED indicators:

•

SynchLink and ControlLogix backplane status

•

Drive Comm status

•

Drive status

•

Module health status

For examples of LED indicators, see page 6-1.

Publication 1756-UM522B-EN-P - February 2003

3-4 Drive Module Features

•

Class I Division 2 Certiﬁcation

The ControlLogix Drive module is certiﬁed for use in nonhazardous locations as well as Class I, Division 2 hazardous Locations containing gas groups A, B, C, and D. This equipment may be used as a component of a control system which is certiﬁed to operate in hazardous locations.

WARNING

ATTENTION

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

Agency Certiﬁcation

When the Drive module is marked appropriately, the following agency certiﬁcations apply:

Conﬁgurable Module Features

Publication 1756-UM522B-EN-P - February 2003

•

UL Listed Industrial Control Equipment

•

CSA Certiﬁed Process Control Equipment

•

CSA Certiﬁed for Class I, Division 2 Hazardous Locations

The following Drive module features are conﬁgurable via RSLogix 5000 and DriveExecutive:

Controller Communication Format SynchLink Controller Communication Format Electronic Keying Requested Packet Interval Transmitted Direct Words SynchLink Mastership

+ 339 hidden pages