Rockwell Automation 1760-DNET User Manual

Pico DeviceNet Communication Interface

1760-DNET

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.rockwellautomation.com/literature) 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, when necessary we use notes to make you aware of safety considerations.

WARNING

IMPORTANT

ATTENTION

SHOCK HAZARD

BURN HAZARD

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.

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

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 a hazard

• recognize the consequence

Labels may be located on or inside the equipment (e.g., drive or motor) to alert people that dangerous voltage may be present.

Labels may be located on or inside the equipment (e.g., drive or motor) to alert people that surfaces may be dangerous temperatures.

Preface

Pico DeviceNet Interface

Installation

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

Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Common Techniques Used in this Manual . . . . . . . . . . . . . P-2

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . P-3

Chapter 1

System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Structure of the Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Communication Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Hardware and Operating System Requirements . . . . . . . . . 1-2

Use Other Than Intended . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Chapter 2

Connect to the Basic Unit . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Connect the Power Supply . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Connect DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

EMC Compatible Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Potential Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Data Transfer Rates – Automatic Baud Rate Recognition . . . 2-4

Operate the DeviceNet Interface

DeviceNet Functions

Direct Data Exchange with Pico/GFX (Polled I/O Connection)

Application Examples for Pico

Chapter 3

Initial Power On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

DeviceNet Setting the Slave Address . . . . . . . . . . . . . . . . . 3-1

LED Status Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Cycle Time of the Pico Basic Unit. . . . . . . . . . . . . . . . . . . 3-6

EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Chapter 4

Object Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

DeviceNet Communication Profile . . . . . . . . . . . . . . . . . . . 4-9

Chapter 5

Input data: Mode, S1 – S8 . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Output Data: Mode, R1 – R16 . . . . . . . . . . . . . . . . . . . . . . 5-4

Chapter 6

Read/Write Date and Time . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Read/Write Image Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

Read/write function block data . . . . . . . . . . . . . . . . . . . . . 6-20

Analysis – error codes via PicoLink . . . . . . . . . . . . . . . . . . 6-34

Chapter 7

Pico GFX Control Commands

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Version history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Read/write date and time . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Read/write image data. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Table of Contents 2

Troubleshoot Your Controller

Specifications

Read/write function block data . . . . . . . . . . . . . . . . . . . . . 7-20

Analysis – error codes via PicoLink . . . . . . . . . . . . . . . . . . 7-64

Chapter 8

Chapter A

Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

Glossary

Index

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Preface

Read this preface to familiarize yourself with the rest of the manual. It provides information concerning:

• who should use this manual

• the purpose of this manual

• related documentation

• conventions used in this manual

• Rockwell Automation support

Who Should Use this Manual

Purpose of this Manual

Use this manual if you are responsible for designing, installing, programming, or troubleshooting control systems that use Pico controllers.

You should have a basic understanding of electrical circuitry and familiarity with relay logic. If you do not, obtain the proper training before using this product.

This manual is a reference guide for Pico controllers and the Pico DeviceNet Interface. It describes the procedures you use to install, wire, and troubleshoot the Pico DeviceNet Interface.

Refer to publication 1760-GR001, Pico Controller Getting Results Manual for a basic overview of Pico and an introduction to Pico programming.

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Preface 2

Common Techniques Used in this Manual

The following conventions are used throughout this manual:

• Bulleted lists such as this one provide information, not

Allen-Bradley Programmable Controller Grounding and Wiring Guidelines

Application Considerations for Solid-State Controls

Protection Association of Boston, MA.

Allen-Bradley Publication Index SD499

Glossary

1760-GR001

1770-4.1

SGI-1.1

AG-7.1

procedural steps.

• Numbered lists provide sequential steps or hierarchical information.

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Preface 3

Rockwell Automation Support

Rockwell Automation offers support services worldwide, with over 75 Sales/Support Offices, 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone, plus Rockwell Automation representatives in every major country in the world.

Local Product Support

Contact your local Rockwell Automation representative for:

• sales and order support

• product technical training

• warranty support

• support service agreements

Technical Product Assistance

If you need to contact Rockwell Automation for technical assistance, please review the Troubleshooting section on page 8-1 in this manual first. Then call your local Rockwell Automation representative.

You can also find a local Rockwell Automation Technical Support contact at:

• http://support.automation.rockwell.com/contactinformation/

Your Questions or Comments on this Manual

If you find a problem with this manual, or you have any suggestions for how this manual could be made more useful to you, please contact us at the address below:

Rockwell Automation Control and Information Group Technical Communication, Dept. A602V P.O. Box 2086 Milwaukee, WI 53201-2086

or visit our internet page at: http://www.ab.com/pico or http://www.rockwellautomation.com

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Preface 4

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Chapter

Pico DeviceNet Interface

The 1760-DNET communication module has been developed for automation tasks with the DeviceNet field bus. The 1760-DNET acts as a ’gateway’ and can only be operated in conjunction with Pico and Pico GFX-70 controllers.

The system unit consists of the Pico control device and the 1760-DNET DeviceNet gateway and operates exclusively as a slave station on the DeviceNet fieldbus system.

System Overview

The DeviceNet slaves are integrated into a DeviceNet fieldbus system.

Figure 1.1 Implementation of 1760-DNET in DeviceNet

a Master area, SLC 500 programmable controller or PC with CAN card b Slave area, e.g.: Pico or Pico GFX-70 with DeviceNet interface

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1-2 Pico DeviceNet Interface

Structure of the Unit

Communication Profile

Figure 1.2

1 Pico-Link Socket 2 5-pin DeviceNet Connector

f e

3 24V dc Power Supply 4 Equipment Rating Plate 5 Network Status LED

6 Module Status LED

• Predefined master/slave communication settings

– The I/O polling connection is used for the transfer of 3 bytes

of input data (R1 to R16) and 3 bytes of output data (S1 to S8) between the base unit with gateway interconnection and the DeviceNet programmable controller.

– The I/O Change of State/Cyclic connection (acknowledged,

unacknowledged) is used to transfer 2 bytes of diagnostic data from the control relay to the DeviceNet programmable controller.

– The explicit connection set-up is used for read/write access

to function relay parameters in the control relay. This type of connection set-up also supports the configuration, diagnostics and management services of the control relay.

• DeviceNet Communication adapter profile (device type 12), which has been expanded by requests

• Group 2 server

• UCMM-capable device

• Dynamic set-up of explicit and I/O connections are possible

• Device Heartbeat Message

• Device Shutdown Message

• Offline communication settings

Hardware and Operating System Requirements

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The 1760-DNET expansion unit operates together with Pico Series B and Pico GFX-70 controllers.

Pico DeviceNet Interface 1-3

Use Other Than Intended

Pico and Pico GFX-70 controllers may not be used to replace safety-relevant control circuits, e.g.:

• Furnace,

• emergency-stop,

• crane or

• Two-hand safety controls.

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1-4 Pico DeviceNet Interface

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Connect to the Basic Unit

Installation

Mounting is the same as for Pico Expansion I/O modules.

Chapter

Pico Pico GFX-70

connector

1760-DNET

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2-2 Installation

Connect the Power Supply

The module operates with a 24V dc supply voltage (see Power Supply specifications on page A-3).

WARNING

+24 V

0 V

Always ensure safe electrical isolation between the extra low voltage (SELV) and the 24V power supply.

> 1 A

+24 V 0 V

Connect DeviceNet

A 5-pin DeviceNet plug connects the DeviceNet interface of the device to the DeviceNet field bus.

Use a special DeviceNet plug and DeviceNet cable for this connection. Both are specified in the ODVA specification. The type of cable determines the maximum available cable length and the data transfer rate.

DeviceNet Pin Assignment

V– GND (Black)

CAN_L (Blue)

Shield (Clear)

CAN_H (White)

V+ (24 V) (Red)

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Installation 2-3

All pins of the plug must be connected to ensure safe communication of the

1760-DNET on the fieldbus DeviceNet. This also applies to the

24V bus voltage.

EMC Compatible Wiring

IMPORTANT

The gateway does not participate in communication on the bus if the bus voltage is not available. The Network status LED is OFF in this situation.

Terminating Resistors

The first and last node of a DeviceNet network must be terminated by means of a 120 O interconnected between the CAN_H and CAN_L terminals.

Electromagnetic interference may lead to unwanted effects on the communications fieldbus, which can be significantly reduced by using the cable described above, a shielded RJ45 connector and by terminating the screen.

bus termination resistor. This device is

. . .

The two figures below show the correct termination of the shielding.

Figure 1.3 Shield Connection to the Mounting Rail

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2-4 Installation

Figure 1.4 Shield Connection to the Mounting Plate

Potential Isolation

Data Transfer Rates – Automatic Baud Rate Recognition

The following potential isolation specifications apply to 1760-DNET interfaces:

+ –

1 Safe electrical isolation between PicoLink and the 240 VAC mains 2 Simple electrical isolation to the DeviceNet communication bus 3 Power supply 24 V DC

After it is switched on, the 1760-DNET module automatically detects the data transfer rate of the communication network. However, this is possible only if at least one network node transmits valid message frames. The device supports the following data transfer rates according to ODVA:

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• 125 kbps,

• 250 kbps,

• 500 kbps,

Maximum Distances and Bus Cable Lengths

The max. bus length is not determined by the data transfer rate, but rather by the cable used. The following cables are permitted:

• Thin Cable,

• Thick Cable

• or Flat Cable.

The data cable requirements are specified by the ODVA.

Baud Rate (kbps) Maximum Cable Length (m)

Thick Cable Thin Cable Flat Cable

125 500 100 420 250 250 100 200 500 100 100 100

Installation 2-5

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2-6 Installation

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Operate the DeviceNet Interface

Chapter

Initial Power On

DeviceNet Setting the Slave Address

Before you apply power to the DeviceNet Interface, verify that it is properly connected to the power supply, to the bus connectors and to the basic unit. Then, switch on the power supply for the basic unit and the DeviceNet Interface.

The LEDs of the 1760-DNET flicker.The device automatically detects the correct baud rate (see Data Transfer Rates – Automatic Baud Rate Recognition on page 2-4). The GW information (intelligent station connected) is displayed on the basic unit.

When the device in the network management is switched to the ‘Operational’ status, the state of the GW changes to static even on the devices with a flashing GW,(see Network Status LED (NS) on page 3-5).

If the unit has default configuration (node ID = 127), you need to define the DeviceNet slave address.

Each DeviceNet slave requires a unique address (MAC ID) in the DeviceNet structure. Within a DeviceNet structure, you can assign a maximum of 64 addresses (0 to 63). Each MAC ID must be unique within the entire bus structure.

There are three ways to set the DeviceNet address of an 1760-DNET:

• Using the integrated display and keyboard on the basic unit

• Using Pico-Soft V3.01 or higher on the PC

• Using Pico-Soft Pro on the PC

• Using the configuration software of the installed master

programmable controller (possibly by means of an explicit message).

Set the Address on the Controller Unit with Display:

Make sure that:

• The respective basic units and DeviceNet Interface are supplied with voltage.

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3-2 Operate the DeviceNet Interface

• The basic unit is accessible (password protection not activated).

• The basic unit has a valid operating system version.

• The basic unit is in STOP mode.

PASSWORD...

SYSTEM... GB D F E I CONFIGURATOR

PASSWORD... SYSTEM... GB D F E I

CONFIGURATOR

NET...

LINK...

1. Press the DEL + ALT keys to change to the special menu.

2. Use the cursor keys

Í or Ú to change to the Configurator.

3. Press OK.

4. Select the LINK.... menu with the Pico-GFX units.

5. Press OK.

DEVICENET

MAC ID 0026 222-01.20- D

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The DEVICENET menu appears.

6. Set the address using the cursor keys: – Set the current numeric value using the – You can change the current numeric value using

2 . . . 9 0 1 . . .

0 0 01PP000

o 1 0 9 . . .

2 . . .

Í or Ú keys.

ú or í.

7. Press OK to accept the address.

8. Press ESC to cancel address input.

Information about the 4th display line:

xxx -x x . x x - xx

222 - 02 . 10 - B

Set the Address with Pico-SOFT

With Pico-SOFT, version 3.1

Operate the DeviceNet Interface 3-3

Hardware version, Index: b

Software version, OS version: 2.1

Device identity: 1760-DNET

‹Menu l Online l Configuration of expansion units›

With Pico-SOFT, version 4.01 and later

‹Menu l Communication l Configuration l Expansion units l 1760-DNET›.

IMPORTANT

The menu is only available in the communication view; therefore please activate the ‘Communication’ tab.

After you have modified the MAC ID via the basic unit, restart the DeviceNet Interface by switching power off and on.

Set the Address with the DeviceNet Master

The configuration software supplied with your master programmable controller offers the option of setting or modifying the MAC ID of the gateway.

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3-4 Operate the DeviceNet Interface

For more information, refer to the programmable controller’s documentation.

You can also use various other software packages to modify the MAC ID by sending an explicit message. Do so by using the corresponding service of the DeviceNet object (see DeviceNet Object on page 4-6).

LED Status Displays

The DeviceNet Interface expansion module is equipped with two indicator LEDs for quick diagnostics. The module monitors itself as well as the DeviceNet communication bus.

Module Status LED (MS)

The dual-color LED (GREEN/RED) indicates the status of the module. It monitors whether the device is fully functional and operates without fault.

Table 3.1 Module Status LED Description

LED Status Description

Off No power supply at the module. Green The module is in normal operational

state.

Green flashing The module is in standby mode. The

configuration is faulty or incomplete, or a configuration does not exist.

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Red flashing An error has occurred. There is no

need to replace the module.

Red A fatal error has occurred. The

module must be replaced.

Green-Red flashing The module is performing a self-test.

Operate the DeviceNet Interface 3-5

Network Status LED (NS)

The dual-color LED (GREEN/RED) indicates the status of the DeviceNet communication bus. This function monitors operability and correct operation of the module.

Table 3.2 Network Status LED Description

LED Status Description

OFF The module is offline. Either it is performing

a DUP_MAC_ID test or power is missing at the device or bus.

GREEN flashing

GREEN The module is online and the connection is

RED flashing

RED A fatal network error has occurred. The

GREEN-RED flashing

The module is online. Communication has not yet been established.

active. Time-out of at least one I/O connection

(time-out state).

module has shut down communication. The module has detected a network access

error and is now in communication error state.

Cycle Time of the Pico Basic Unit

EDS File

Network traffic between the Pico basic unit and the DeviceNet Interface via Pico-LINK extends the cycle scan time of the basic unit

In the worst case, this time can be extended by 25 ms.

Please take this factor into account when you calculate the response times of the basic unit.

You can implement the module into the DeviceNet structure by means of a standardised EDS file (Electronic Data Sheet).

This EDS file primarily defines the polled I/O connection, the COS I/O connection and the cyclic I/O connection of the gateway. It does not contain data or parameters (Pico object) for functions of the controller. These functions are accessed by means of explicit messages.

You can download updates of the EDS file from:

http://www.ab.com/networks/eds/

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3-6 Operate the DeviceNet Interface

Search for the catalog number 1760.

IMPORTANT

The Identity Object entry - Major Revision defines the current operating system state of the 1760-DNET communication module. As the device with a newer operating system version can deviate from the EDS description in this point, this entry must be modified accordingly, Identity Object on 4-4.

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DeviceNet Functions

Chapter

Object Model

The Pico DeviceNet Interface is based on the Communications Adapter Profile according to the ODVA specifications (Release V2.0).

The DeviceNet object model can be used to describe all 1760-DNET functions. The object model reflects the principle of communication at the application layer. This manual deals in the following only with objects relevant for your application. Primary topic is the manufacturer-specific class Pico object.

Figure 3.5 DeviceNet Objects

Pico-LINK

Protocol Handler

Identity

Object

Message Router

Object

DeviceNet

Object

Assembly

Object

Polled I/O

Connection

COS/Cyclic I/O

Bit Strobed I/O

Connection

Pico

Object

Acknowledge Handler

Object

Connection

Explicit Message

Connection

Dynamic

Connection

Connection Object

DeviceNet

The DeviceNet objects in the illustration can be compiled again as ‘Management objects’, ‘Connection objects’ and ‘Manufacturer-specific objects’.

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4-2 DeviceNet Functions

Table 3.3

Objects Object Address Service Address Function

Class ID (Hex) Instance ID (Hex) (Hex) Attribute ID (Hex)

Management Objects

Identity Object 01 01 Message Router 02 01

Connection Objects

DeviceNet Object 03 01 Connection

Object

Manufacturer-Specific Objects

Pico Object 64 01

Direct Access: inputs/outputs, mode

Read 0E Write 10 Extended access:

time, image data, function blocks

Pico Series B Pico GFX-70

Assembly Object 04 64 ... 66

05 01 ... 04,

04 ... 0F

Management Objects

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These objects define DeviceNet-specific data and functions and must be supported by all DeviceNet devices:

• Identity Object

The Identity Object (Class ID 01

) contains all data for unique

hex

identification of a network node, e.g. the Vendor ID, Device Type and Product Code. It also comprises the actual status of a device, the serial number and the product name.

Detailed information can be found on page 4-4.

• Message Router Object

DeviceNet Functions 4-3

The Message Router Object (Class ID 02

) provides access to

hex

all classes and instances in the device by means of explicit messages.

Connection Objects

These objects define messages exchanged via DeviceNet:

• DeviceNet Object

All devices must support the DeviceNet object (Class ID: 03 It defines the physical interconnection of a device to the

DeviceNet network, meaning it also contains the device address (MAC ID) and the currently set transmission speed, for example.

Detailed information page 4-6.

• Connection Object

The Connection Object (Class ID: 05 DeviceNet devices in at least one instance. It defines the access

to data via I/O messages or explicit messages, the path and length of producer/consumer data, the CAN connection identifier, the watchdog and the error response.

) is supported by all

hex

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4-4 DeviceNet Functions

Manufacturer-Specific Objects

These objects define device-specific data and functions (Application Objects, Parameter Object, Assembly Object).

• Application Objects – Pico Object

Application objects (Class ID: 64

) describe simple

hex

applications for automation engineering. They are either predefined in the DeviceNet object library or by the user.

Refer to Pico Object on page 4-6.

• Assembly Objects

The Assembly Object (Class ID: 04

) provides the user with

hex

mapping options, that is attribute data of different instances in different classes can be grouped together to form a single attribute of an instance in an assembly object.

Identity Object

Object Address Function Access

Class ID Instance ID Attribute ID Service Code

hex

Table 4.4 Table 4.5

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Table 4.4 Attribute IDs of the Identity Object Instance

Attribute IDAccess Name Description Size

(byte)

1 Read Vendor ID Allen-Bradley Vendor ID = 1 2 2 Read Device type The 1760-DNET belongs to the

communication adapters category. Its value is 12

3 Read Product code Allen-Bradley product code = 18410 2

dec

DeviceNet Functions 4-5

Table 4.4 Attribute IDs of the Identity Object Instance

Attribute IDAccess Name Description Size

(byte)

4 Read Device

version

Two bytes are returned when reading the device version.

Hardware version,

Operating

The low byte defines the hardware version, the high byte the operating system version.

1 system version

5 Read Status This attribute describes the global status

of the device.

6 Read Serial

number

7 Read Product name The product name 1760-DNET is stored as

The serial number of the device can be read with this attribute.

hex value in ASCII format.

9 Read Configuration

consistency value

10 Read/

Write

Heartbeat Interval

This attribute returns a counter value that monitors the number of modifications in non-volatile memory (E2PROM).

Defines an interval between heartbeat messages in [s].

Service Code

The Identity Object Instance and also the following instances support the services listed in the table below.

Table 4.5 Service Code

Service Code Value Service Name Description

hex

Reset Calls the reset function of

the communication module.

hex

Get_Attribute_Single This service can be used to

fetch the value of a selected attribute from the communication module.

hex

Set_Attribute_Single This service can be used to

set a selected attribute in the device.

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4-6 DeviceNet Functions

DeviceNet Object

Object Address Function Access

Class ID Instance ID Attribute ID Service Code

hex

The DeviceNet object instance is used to configure the communication module and to define the physical environment. The Service Codes used for the Identity Object also apply in this case.

Table 4.6 DeviceNet Object Instance Attribute IDs

Attribute IDAccess Name Description Size

hex

Table 4.6 Table 4.5

(byte)

1 Read/

Write

2 Read/

Write

3 Read/

Write

4 Read/

Write

Pico Object

MAC ID The MAC ID represents the network

address of a network node. It can be read and set for the module via the DeviceNet fieldbus by means of this attribute. Range of values: 0 to 63

Setting the Slave Address on page 3-1)

Baud rate This attribute can be used to read/set the

data transfer rate for communication functions. Range of values: 0 to 2, 125 to 500 kbps (see Data Transfer Rates – Automatic Baud Rate Recognition on page 2-4).

BOI (Bus-Off interrupt)

Bus-Off counter

This attribute can be used to define the reaction to a Bus-Off event (CAN-specific).

This values shows how often a Bus-Off event has occurred. Range of values: 0 to

255.

. (see DeviceNet

dec

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Object Address Function Access

Class ID Instance ID Attribute ID Service Code

hex

Table 4.7 Table 4.8

The Pico object can be used to access Pico/GFX functions via the DeviceNet communication bus . The table below shows the attributes

+ 138 hidden pages