Rockwell Automation 2098-DSD-xxx User Manual
Ultra3000
Digital Servo Drive
with DeviceNet
DeviceNet Firmware Version 2.xx
(Catalog Numbers
2098-DSD-005-DN, -005X-DN,
2098-DSD-010-DN, -010X-DN,
2098-DSD-020-DN, -020X-DN,
2098-DSD-030-DN, -030X-DN,
2098-DSD-075-DN, -075X-DN,
2098-DSD-150-DN, -150X-DN
2098-DSD-HV030-DN, -HV030X-DN
2098-DSD-HV050-DN, -HV050X-DN
2098-DSD-HV100-DN, -HV100X-DN
2098-DSD-HV150-DN, -HV150X-DN
2098-DSD-HV220-DN, -HV220X-DN)
Reference Manual
Important User Information
Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this
control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all
performance and safety requirements, including any applicable laws,
regulations, codes and standards.
The illustrations, charts, sample programs and layout examples shown
in this guide are intended solely for purposes of example. Since there
are many variables and requirements associated with any particular
installation, Allen-Bradley
(to include intellectual property liability) for actual use based upon
the examples shown in this publication.
Allen-Bradley publication SGI–1.1, Safety Guidelines for the
Application, Installation and Maintenance of Solid-State Control
(available from your local Allen-Bradley office), describes some
important differences between solid-state equipment and
electromechanical devices that should be taken into consideration
when applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in whole
or part, without written permission of Rockwell Automation, is
prohibited.
®
does not assume responsibility or liability
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
!
Attention statements help you to:
• identify a hazard
• avoid a hazard
• recognize the consequences
IMPORTANT
Allen-Bradley and PLC are registered trademarks of Rockwell Automation, Inc.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
RSNetWorx, Ultra3000, Ultra5000 and Ultraware are trademarks of Rockwell Automation, Inc.
Identifies information that is critical for successful
application and understanding of the product.
Table of Contents
Preface
Overview
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-3
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-4
Chapter 1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Installing, Connecting, & Commissioning Ultra3000 Drives with
DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Parameters and Electronic Data Sheet . . . . . . . . . . . . . . . . . 1-2
DeviceNet Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Predefined Master/Slave Connection Set . . . . . . . . . . . . 1-3
Explicit Response/Request Messages . . . . . . . . . . . . . . . 1-3
Polled I/O Command/Response Messages . . . . . . . . . . . 1-3
Change-of-State/Cyclic Messages . . . . . . . . . . . . . . . . . . 1-3
I/O Messaging and Explicit Messaging with DeviceNet . . . . 1-4
Selecting Input and Output Assemblies for I/O Messages . . 1-5
Programming Reference
Chapter 2
Object Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
How Objects Affect Behavior . . . . . . . . . . . . . . . . . . . . 2-3
The Defined Object Interface . . . . . . . . . . . . . . . . . . . . 2-3
Object Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Data Type Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Identity Object (Class ID 01
Reset Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Message Router Object (Class ID 02
DeviceNet Object (Class ID 03
Assembly Object (Class ID 04
Output Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Logic Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Disable Serial Communications . . . . . . . . . . . . . . . 2-19
Pause Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Abort Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Pause Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Abort Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Preset Select 0 to 5 . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Define Position . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Integrator Inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Follower Enable . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Position Strobe . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
) . . . . . . . . . . . . . . . . . . . . . . . 2-5
H
) . . . . . . . . . . . . . . . . . 2-8
H
). . . . . . . . . . . . . . . . . . . . . 2-9
H
) . . . . . . . . . . . . . . . . . . . . 2-11
H
i Publication 2098-RM004A-EN-P – August 2002
ii Table of Contents
Operation Mode Override . . . . . . . . . . . . . . . . . . . 2-21
Reset Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Start Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Define Home. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Remove Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Start Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Reset Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Enable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Handshake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Feedback Data Pointer . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Parameter Data Value and Command Data Value Fields 2-24
Command Data Table . . . . . . . . . . . . . . . . . . . . . . 2-26
Input Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
Logic Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
At Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
End of Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
In Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
In Dwell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Registered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Axis Homed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
Startup Commutation Done . . . . . . . . . . . . . . . . . . 2-39
Positive Hardware Overtravel . . . . . . . . . . . . . . . . . 2-39
Negative Hardware Overtravel . . . . . . . . . . . . . . . . 2-39
Positive Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . 2-39
Negative Overtravel . . . . . . . . . . . . . . . . . . . . . . . . 2-39
At Index 0 Position . . . . . . . . . . . . . . . . . . . . . . . . 2-39
At Index 1 Position . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Position Limit 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Position Limit 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
In Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Within Position Window . . . . . . . . . . . . . . . . . . . . 2-40
Zero Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Within Speed Window . . . . . . . . . . . . . . . . . . . . . . 2-41
Positive Current Limit. . . . . . . . . . . . . . . . . . . . . . . 2-41
Negative Current Limit . . . . . . . . . . . . . . . . . . . . . . 2-41
Up To Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Drive Enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
DC Bus Charged . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Fault Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Brake Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Handshake Echo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
DeviceNet Communication Fault Action . . . . . . . . . . . . 2-42
Using the Fault Configured Input. . . . . . . . . . . . . . . . . 2-43
Using Explicit Messaging to Control the Ultra3000 . . . . 2-44
Connection Object (Class ID 05
) . . . . . . . . . . . . . . . . . . . 2-45
H
Publication 2098-RM004A-EN-P – August 2002
Table of Contents iii
Parameter Object (Class ID 0FH) . . . . . . . . . . . . . . . . . . . . 2-46
Get_Attribute_All Response. . . . . . . . . . . . . . . . . . . . 2-100
Acknowledge Handler Object (Class ID 2B
) . . . . . . . . . 2-102
H
Publication 2098-RM004A-EN-P – August 2002
iv Table of Contents
Publication 2098-RM004A-EN-P – August 2002
Preface
Introduction
Who Should Use this Manual
Purpose of this Manual
Read this preface to become familiar with the organization of the
manual. In this preface, you will read about the following:
• Who Should Use this Manual
• Purpose of this Manual
• Contents of this Manual
• Related Documentation
• Conventions Used in this Manual
• Allen-Bradley Support
This manual is intended for qualified service personnel responsible for
setting up and servicing the Ultra3000™ with DeviceNet™. You must
have previous experience with and a basic understanding of electrical
terminology, programming procedures, networking, required
equipment and software, and safety precautions.
This manual is a reference guide for using DeviceNet to configure,
monitor, or control Ultra3000 drives with DeviceNet operating with
DeviceNet firmware version 2.xx.
Non-Indexing Ultra3000 Drives Indexing Ultra3000 Drives
2098-DSD-005-DN 2098-DSD-005X-DN
2098-DSD-010-DN 2098-DSD-010X-DN
2098-DSD-020-DN 2098-DSD-020X-DN
2098-DSD-030-DN 2098-DSD-030X-DN
2098-DSD-075-DN 2098-DSD-075X-DN
2098-DSD-150-DN 2098-DSD-150X-DN
2098-DSD-HV030-DN 2098-DSD-HV030X-DN
2098-DSD-HV050-DN 2098-DSD-HV050X-DN
2098-DSD-HV100-DN 2098-DSD-HV100X-DN
2098-DSD-HV150-DN 2098-DSD-HV150X-DN
2098-DSD-HV220-DN 2098-DSD-HV220X-DN
1 Publication 2098-RM004A-EN-P – August 2002
P-2 Preface
Note: The reference guide to Ultra3000 drives with DeviceNet
operating with firmware version 1.xx is listed in the section
below entitled Related Documentation.
Contents of this Manual
Related Documentation
This manual contains the following sections:
Chapter Title Contents
Preface An overview of this manual.
1 Overview Describes network activity and drive configuration
capabilities.
2 Programming
Reference
Configuration data and behaviors implemented in
the Ultra3000 Drive with DeviceNet are defined
using object modeling
These publications provide additional information specific to the
Ultra3000 Drive with DeviceNet or DeviceNet in general. To obtain a
copy, contact your local Rockwell Automation office or distributor, or
access the documents on-line at
or
www.ab.com/manuals/gmc
For information about: Read this document: Publication Number
A description of the
Ultra3000 and Ultra5000™
drives
How to install Ultraware™ Ultraware CD Installation
Ultra Family Brochure 2098-BR001x-EN-P
Instructions
www.theautomationbookstore.com
.
2098-IN002x-EN-P
Publication 2098-RM004A-EN-P – August 2002
How to install and
troubleshoot the Ultra3000
drive
Configure, monitor, or
control Ultra3000 drives
with DeviceNet operating
with firmware version 1.xx
Configuring the Ultra3000
DSD and Ultra5000 IPD
using Ultraware
How to use RSNetWorx RSNetWorx for DeviceNet
Ultra3000 Digital Servo
Drive Installation Manual
Ultra3000 Series
Digital Servo Drive with
DeviceNet
Firmware Version 1.xx
Reference Manual
Ultraware User Manual 2098-UM001x-EN-P
Getting Results Manual
2098-IN003x-EN-P
2098-RM001x-EN-P
9399-DNETGR
Preface P-3
For information about: Read this document: Publication Number
A glossary of industrial
automation terms and
abbreviations
How to commission a
DeviceNet system.
An overview of
Allen-Bradley motion
controls and systems
Allen-Bradley Industrial
Automation Glossary
DeviceNet Cable System
Planning and Installation
Manual
Motion Control Selection
Guide
AG-7.1
DN-6.7.2
GMC-SG001x-EN-P
A copy of the DeviceNet Specification, Volumes I and II, Release 2.0
may be ordered from the web site http://www.odva.org of the
Open Device Vendor Association.
Conventions Used in this Manual
The following conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural
steps
• Numbered lists provide sequential steps or hierarchical information
• Words you type or select appear in bold.
• When we refer you to another location, the section or chapter
name appears in italics
• Software commands and parameters are listed with initial capitals
and hardware signals are listed in all capitals (e.g., Enable Behavior
parameter, and ENABLE signal).
Publication 2098-RM004A-EN-P – August 2002
P-4 Preface
Allen-Bradley Support
Allen-Bradley 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
Allen-Bradley representatives in every major country in the world.
Local Product Support
Contact your local Allen-Bradley representative for:
• Sales and order support
• Product technical training
• Warranty support
• Support service agreements
Technical Product Assistance
If you need to contact Allen-Bradley for technical assistance, please
review the information in this manual or that listed in Related
Documentation on page P-2 first. Then call your local Allen-Bradley
representative. For the quickest possible response, we recommend
that you have the catalog numbers of your products available when
you call.
Publication 2098-RM004A-EN-P – August 2002
Overview
Chapter
1
Introduction
Features
DeviceNet is an open, global industry-standard communication
network. It is designed to provide an interface from a programmable
controller through a single cable directly to smart devices such as
sensors, push buttons, motor starters, simple operator interfaces and
drives.
The Ultra3000 Drive with DeviceNet Interface provides the following
features:
• Ultra3000 Drive with DeviceNet implements the Unconnected
Message Manager (UCMM) which is used to establish a Group 3
Explicit Message connection. Up to five Group 3 Explicit Messaging
connections can be established.
• Faulted-node Recovery, allows the node address of a device to be
changed even when it is faulted on the network. This feature
requires the support of proper PC software tools and the Node
Address (0-63, PGM) switches be set to the PGM (program)
position.
• User-configurable fault response provides the ability to customize
the drive’s actions to communication errors.
• Software configuration lets you configure the Ultra3000 Drive with
DeviceNet using RSNetWorx™ for DeviceNet (Version 3.00.00
Service Pack 1, or later).
• Customize network activity by configuring the drive to:
– report only new data using Change-of-State (COS) capability.
– report data at specific intervals using cyclic operation.
• Autobaud allows the drive to determine the network data rate.
• Supports Automatic Device Replacement (ADR).
1 Publication 2098-RM004A-EN-P – August 2002
1-2 Overview
Installing, Connecting, & Commissioning Ultra3000 Drives with DeviceNet
Parameters and Electronic Data Sheet
This manual serves as a reference for configuring, monitoring, and
controlling Ultra3000 Drives with DeviceNet. Refer to the Ultra3000
Digital Servo Drive Installation Manual (2098-IN003x-EN-P) for
information regarding:
• configuring the rotary switches on the front panel of the drive
• wiring the DeviceNet connector
• understanding the DeviceNet LED indicators
• troubleshooting
The Ultra3000 Drive with DeviceNet contains a set of parameters that
are used to configure and monitor the drive. You can perform
configuration by changing the values associated with individual
parameters. Parameter values may be written and read via DeviceNet.
Writing a value to a parameter may configure drive operations such as
the acceleration or deceleration rates. Writing a value to a parameter
may also configure DeviceNet operations such as which input and
output assemblies are to be used for I/O communications with a
master (scanner). The parameter set is documented in Programming
Reference on page 2-1.
DeviceNet Messaging
Electronic Data Sheet (EDS) files are specially formatted ASCII files
that provide all of the information necessary for a configuration tool
such as RSNetworx for DeviceNet to access and alter the parameters
of a device. The EDS file contains information on the number of
parameters in a device and how those parameters are grouped
together. Information about each parameter is contained in the file
such as parameter min, max, and default values, parameter data
format and scaling, and the parameter name and units. You can create
or access an EDS file stored in the Ultra3000 Drive with DeviceNet via
RSNetworx for DeviceNet (Version 3.00.00 Service Pack 1 or later) or
download an EDS file for the Ultra3000 Drive with DeviceNet from
Rockwell Automation - Allen-Bradley web-site www.ab.com/
networks/eds.
The Ultra3000 Drive with DeviceNet operates as a slave device on a
DeviceNet network. The drive supports Explicit Messages and Polled
or Change-of-State/Cyclic I/O Messages of the predefined master/
slave connection set. The drive also supports the Unconnected
Message Manager (UCMM) so that up to five Group 3 Explicit Message
connections may be established with the drive.
Publication 2098-RM004A-EN-P – August 2002
Overview 1-3
Predefined Master/Slave Connection Set
A set of messaging connections that facilitate communications and is
typically seen in a master/slave relationship is known as the
Predefined Master/Slave Connection set. The master is the device that
gathers and distributes I/O data for the process controller. A
DeviceNet master scans its slave devices based on a scan list it
contains. Each slave device returns I/O data to its master device.
The I/O data exchanged over this connection is pre-defined.
Explicit Response/Request Messages
Explicit Request messages are used to perform operations such as
reading and writing parameter values. Explicit Response messages
indicate the results of the attempt to service an Explicit Request
message.
Polled I/O Command/Response Messages
The Poll Command is an I/O message transmitted by the master
device. A Poll Command is directed toward a specific slave device. A
separate Poll Command must be sent to each slave device that is to be
polled. The Poll Response is the I/O message that the slave device
transmits back to the master device.
Change-of-State/Cyclic Messages
A Change-of-State/Cyclic message is directed towards a single specific
node (master or slave). An Acknowledge response may or may not be
returned to this message. A Change-of-State message is sent at a
user-configurable heart rate or whenever a data change occurs. A
Cyclic message is sent only at a user-configurable rate.
Publication 2098-RM004A-EN-P – August 2002
1-4 Overview
I/O Messaging and Explicit Messaging with DeviceNet
You can configure and monitor the drive with either I/O Messaging or
Explicit Messaging. I/O messages are for time-critical, control-oriented
data. I/O messages typically are used for moving predefined data
repeatedly with minimum protocol overhead. Explicit Messages
provide multi-purpose, point-to-point communication paths between
two devices. Explicit Messaging typically would not be used to
exchange data periodically since I/O Messages have a higher priority
and lower protocol overhead than Explicit Messages. However,
Explicit Messages have more flexibility by specifying a service to be
performed and a specific address.
Although, you can control the drive by writing to various parameters
using Explicit Messages, you should consider writing to the Assembly
Objects, which buffer the I/O data. Then the drive can be configured
to fault if a network communication fault or idle condition occurs.
However, you will have to periodically update the Assembly Object to
prevent the Explicit Messaging connection from closing. Refer to
Using Explicit Messaging to Control the Ultra3000 on page 2-44.
If you write to a parameter using an Explicit Message, the parameter
value will be saved as a working value and in nonvolatile memory.
However, if you write to a parameter using an I/O message, you can
specify whether the parameter value should be saved in nonvolatile
memory or not. Therefore, if a parameter value has to be modified
repeatedly, then you should use I/O messaging and not save the
parameter value to nonvolatile memory because the nonvolatile
memory has a limited number of writes.
ATTENTION
!
The nonvolatile memory has a limited number of
write cycles. Do not save parameter values to
nonvolatile memory (NVMEM) unless absolutely
necessary. In other words, minimize the number of
times parameter values are saved to nonvolatile
memory (NVMEM).
Publication 2098-RM004A-EN-P – August 2002
Overview 1-5
Selecting Input and Output Assemblies for I/O Messages
The Ultra3000 Drive with DeviceNet allows you to choose between
various Input and Output Assemblies, thereby choosing the data
format of the messages that are passed back and forth between the
drive and the master (scanner) on an I/O connection. The choice of
which Input and Output Assembly to use should be based on what
sort of information is appropriate in a particular system. You should
keep in mind that larger assemblies utilize more network bandwidth.
Information on the data format of all the Assemblies is given in
Assembly Object (Class ID 04H) on page 2-11, and more specifically
the following DeviceNet parameters that select input and output
assemblies:
• Parameter 7 - I/O Receive Select
• Parameter 8 - Poll Transmit (Xmit) Select
• Parameter 9 - COS/Cyclic Transmit (Xmit) Select
IMPORTANT
If you want to control the drive with I/O messages,
Parameter 10 - Logic Command Mask must be
changed from its default value. Otherwise, if a Logic
Command is sent to the drive, the command will be
cleared.
Publication 2098-RM004A-EN-P – August 2002
1-6 Overview
Publication 2098-RM004A-EN-P – August 2002
Chapter
2
Programming Reference
The Ultra3000 Drive with DeviceNet implements a vendor specific
device profile - Rockwell Automation Miscellaneous (Device Type:
73hex).
The configuration data and behaviors implemented in the Ultra3000
Drive with DeviceNet are defined using object modeling. The
Ultra3000 Drive with DeviceNet is modeled as a collection of objects.
An Object is a collection of related attributes and services. An attribute
is an externally visible characteristic or feature of an object, while a
service is a procedure an object can perform.
The following general definitions also may be useful in understanding
DeviceNet object modeling:
• Object - A representation of a particular type of data component
within the DeviceNet node.
• Instance - A specific occurrence of an Object.
• Attribute - A description of a characteristic or feature of an Object.
Attributes provide status information or govern the operation of an
Object.
• Service - A function performed by an Object.
This manual documents the DeviceNet object models implemented in
DeviceNet firmware versions 2.xx for the Ultra3000 drives.
1 Publication 2098-RM004A-EN-P – August 2002
2-2 Programming Reference
Object Model
The Object Model diagram on Page 2-2 depicts the objects supported
in the Ultra3000 Drive with DeviceNet. The following table indicates
the object classes present in this device, and the number of instances
present in each class.
Object Class Number of Instances
Identity 2
Message Router 1
DeviceNet 1
Assembly 18
Connection 2 - I/O
6 - Explicit
Parameter 1059 - Indexing Drive
298 - Non-indexing Drive
Parameter Group 16 - Indexing Drive
14 - Non-indexing Drive
Acknowledge Handler 1
Figure 2.1
Object Model
DeviceNet
Node
DeviceNet Network
Publication 2098-RM004A-EN-P – August 2002
Programming Reference 2-3
How Objects Affect Behavior
The objects in the Ultra3000 Drive with DeviceNet affect it’s behavior
as shown in the table below.
Object Effect on Behavior
Message Router No effect
DeviceNet Configures port attributes (node address, data rate, and BOI)
Assembly Defines I/O data format
Connection Contains the number of logical ports into or out of the device
Parameter Provides a public interface to the device configuration data
Parameter Group Provides an aid to device configuration
Acknowledge Handler Manages the reception of message acknowledgments
The Defined Object Interface
The objects in the Ultra3000 Drive with DeviceNet have the interface
listed in the following table.
Object Interface
Message Router Explicit Messaging Connection Instance
DeviceNet Message Router
Assembly I/O Connection or Message Router
Connection Message Router
Parameter Message Router
Parameter Group Message Router
Acknowledge Handler I/O Connection or Message Router
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2-4 Programming Reference
Object Addressing
The Media Access Control Identifier (MAC ID) is the common basis for
logically addressing separate physical components across DeviceNet.
The MAC ID is a unique integer assigned to each DeviceNet node that
distinguishes it specifically from among other nodes on the same
network. The MAC ID often is referred to as the node address. Each
MAC ID is further identified with the following address components:
Component Description
Class ID The Class ID is a unique integer value assigned to each Object Class
accessible from the network. The Ultra3000 supports an 8-bit Class ID.
Instance ID The Instance ID is a unique identification assigned to an Object Instance
that identifies it among all Instances of the same Class.
It is also possible to address the Class itself by utilizing the Instance ID
value zero (0). The Ultra3000 supports an 16-bit Instance ID.
Attribute ID The Attribute ID is a unique identification assigned to a Class Attribute
and/or Instance Attribute.
Figure 2.2
Node Objects
DeviceNet Node 1 DeviceNet Node 2
MACID#1 MACID#2
DeviceNet Network
DeviceNet Node 3 DeviceNet Node 4
Object
Class #5
Instance
#1
Attribute #1
Attribute #2
Instance
#2
MACID#3
Instance
#1
Object
Class #5
MACID#4:
Object Class #5
Instance #2
Attribute #1
Object
Class #3
Instance
#1
MACID#4
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Programming Reference 2-5
Data Type Definitions
The following mnemonics define the Ultra3000 with DeviceNet data
types.
Mnemonic Description
ARRAY Sequence of Data
BOOL Boolean (1 byte)
BYTE Bit String, (1 byte)
DINT Signed Double Integer (4 bytes)
DWORD Bit String, (4 bytes)
EPATH DeviceNet Path Segments
INT Signed Integer (2 bytes)
SHORT_STRING Character String
(1 byte length indicator, 1 byte per character)
SINT Signed Short Integer (1 byte)
UDINT Unsigned Double Integer (4 bytes)
UINT Unsigned Integer (2 bytes)
USINT Unsigned Short Integer (1 byte)
WORD 16-bit Word, (2 bytes)
Identity Object
(Class ID 01
)
H
This object provides identification and general information about the
device.
Identity Object,
Attribute for Instance ID = 0 (Class Attributes)
AttrIDAccess
Rule
2 Get Max Instance UINT Maximum instance
Identity Object,
Instance ID = 1 - 2
Instance ID Description
1 Ultra3000
2 Ultra3000 Main Firmware
Attribute
Name
Type Description Semantics
of Values
The largest instance
number of an object
currently created in
this class level of the
device.
number of a created
object at this class
hierarchy level.
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2-6 Programming Reference
Identity Object,
Attributes of Instance ID = 1 - 2
Attr.IDAccess
Rule
Attribute
Name
Data
Ty pe
Description Semantics
1 Get Vendor ID UINT Identification
of each vendor
by number
2 Device Type Indication of
general type
of product.
3 Product Code Identification
of a particular
product of an
individual
vendor
of Values
01 = Rockwell Automation/
Allen-Bradley
Instance 1:
115 = Rockwell Automation
Miscellaneous
Instance 2:
105 = Subcomponent
Instance 1:
12 = 2098-DSD-005-DN
13 = 2098-DSD-010-DN
14 = 2098-DSD-020-DN
15 = 2098-DSD-030-DN
16 = 2098-DSD-075-DN
17 = 2098-DSD-150-DN
18 = 2098-DSD-005X-DN
19 = 2098-DSD-010X-DN
20 = 2098-DSD-020X-DN
21 = 2098-DSD-030X-DN
62 = 2098-DSD-075X-DN
63 = 2098-DSD-150X-DN
81 = 2098-DSD-HV030-DN
82 = 2098-DSD-HV050-DN
83 = 2098-DSD-HV100-DN
84 = 2098-DSD-HV150-DN
85 = 2098-DSD-HV220-DN
86 = 2098-DSD-HV030X-DN
87 = 2098-DSD-HV050X-DN
88 = 2098-DSD-HV100X-DN
89 = 2098-DSD-HV150X-DN
90 = 2098-DSD-HV220X-DN
Publication 2098-RM004A-EN-P – August 2002
4 Revision
Major
Minor
STRUCT
of:
USINT
USINT
Revision of
the item the
Identity Object
represents.
5 Status WORD This attribute
represents the
current status
of the entire
device. Its
value changes
as the state of
the device
changes.
6 Serial Number UDINT Serial number
of device
7 Product Name SHORT_
STRING
Readable
identification
Instance 2:
01 = Firmware
Major Revision
Minor Revision
See table: Identity Object,
Status Description of
Attribute ID = 5
Unique identifier for each
device.
Unique identifier for each
product.
Programming Reference 2-7
Identity Object,
Status Description of Attribute ID = 5
Bit (s) Description Semantics of Values
0 Owned TRUE = device has an owner
1 Reserved, set to 0
2 Configured Always = 0
3 Reserved, set to 0
4, 5, 6, 7 Vendor specific
8 Minor recoverable
Always = 0
fault
9 Minor unrecoverable
Always = 0
fault
10 Major recoverable
TRUE if self diagnosis detects a major fault
fault
11 Major unrecoverable
Always = 0
fault
12, 13 Reserved, set to 0
14, 15
Identity Object,
Common Services
Service
Code
0E
H
05
H
11
H
Implemented for Service
Class Instance
Name
Yes Yes Get_Attribute_Single Returns the contents of the
No Reset Invokes the Reset service for
Yes n/a Find_Next_Object_
Instance
Service
Description
specified attribute.
the device.
Causes the specified class to
search and return a list of
instance IDs of existing
instances of the Identity
Object.
Reset Service
When the Identity Object receives a Reset request, it:
• determines if it can provide the type of reset requested
• responds to the request
• attempts to perform the type of reset requested
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2-8 Programming Reference
The Reset common service has the following object-specific
parameter:
Identity Object,
Reset Service
Name Data
Ty pe
Type USINT Type of Reset 0 = Emulate as closely as possible cycling power of
Description Semantics
of Values
the item the Identity Object represents. (default)
1 = Return as closely as possible to the out-of-box
configuration, then emulate cycling power as closely
as possible.
Message Router Object
(Class ID 02
)
H
The Message Router Object provides a messaging connection point
through which a Client may address a service to any object class or
instance residing in the physical device.
Message Router Object,
Attributes of Instance ID = 1
Attr.IDAccess
Rule
2 Get Number Available UINT Maximum number
3 Number active Number of
4 Active connections Array of
Attribute
Name
Data
Ty pe
UINT
Description Semantics
of Values
Count of the max
of connections
supported
connections
currently used by
system
components
A list of the
connection IDs of
the currently active
connections
number of
connections
supported
Current count of
the number of
connections
allocated to
system
communication
Array of system
connection IDs
Publication 2098-RM004A-EN-P – August 2002
Message Router Object,
Common Services
Service
Code
0E
H
Service
Name
Get_Attribute_Single Returns the contents of the specified attribute
Service
Description
Programming Reference 2-9
DeviceNet Object
(Class ID 03
)
H
The DeviceNet Object provides configuration and status attributes of a
DeviceNet port.
DeviceNet Object,
Attribute of Instance ID = 0 (Class Attribute)
Attr. ID Access
Rule
1 Get Revision UINT Revision of the DeviceNet Object
DeviceNet Object,
Attributes of Instance ID = 1
Attr.IDAccess
Rule
1 Set MAC ID USINT Node Address Range 0-63
Set is only supported if the MAC ID is programmable.
Refer to Ultra3000 Digital Servo Drive Installation Manual listed on page P-2 for
Rotary DIP switch data setting.
2 Set Baud Rate Data Rate 0 = 125K,
Attribute
Name
Attribute
Name
Data
Description Semantics
Ty pe
Class definition upon which the
implementation is based.
Data Type Description Semantics
of Values
= 2
of Values
1 = 250K,
2 = 500K
Set is only supported if the data rate is programmable.
Refer to Ultra3000 Digital Servo Drive Installation Manual listed on page P-2 for
Rotary DIP switch data setting.
3 Set Bus OFF
Interrupt
(BOI)
4 Bus OFF
Counter
BOOL Bus-OFF Interrupt Default = 0
USINT Number of times
Controller Area
Network (CAN)
went to the
bus-OFF state
Range 0-255
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2-10 Programming Reference
DeviceNet Object,
Attributes of Instance ID = 1 (Continued)
Attr.IDAccess
Rule
Attribute
Name
5 Get Allocation
information
6MAC ID
Switch
Changed
7 Baud Rate
Switch
Changed
8MAC ID
Switch
Value
Data Type Description Semantics
of Values
STRUCT of:
BYTE
Allocation choice
(1 byte)
Refer to the
DeviceNet Object
definition in the
USINT
+ Master MAC
ID (1 byte)
DeviceNet
Specification
Range 0-63, 255
Modified via
Allocate only.
BOOL The Node
Address
switch(es) have
changed since
0 = No change
1 = Change since
last reset or
power-up
last
power-up/reset.
The Baud Rate
switch(es) have
changed since
last
0 = No change
1 = Change since
last reset or
power-up
power-up/reset.
USINT Actual value of
Range 0-63
Node Address
switch(es) or
EEPROM value if
programmable.
9 Baud Rate
Switch
Value
DeviceNet Object,
Common Services
Service
Code
0E
H
10
H
Service
Name
Get_Attribute_Single Returns the contents of the
Set_Attribute_Single Modifies the specified attribute.
Actual value of
Baud Rate
switch(es),
EEPROM value if
programmable, or
operating value
after an autobaud
was completed.
Service
Description
specified attribute.
Range 0-2
Publication 2098-RM004A-EN-P – August 2002
DeviceNet Object,
Class Specific Services
Programming Reference 2-11
Assembly Object
(Class ID 04
)
H
Service
Code
4B
H
4C
H
Service
Name
Allocate_Master/Slave_
Connection_Set
Release_Group_2_
Identifier_Set
Service
Description
Requests the use of the Predefined
Master/Slave Connection Set.
Indicates that the specified
Connections within the Predefined
Master/Slave Connection Set are
no longer desired. These
connections are to be released
(deleted).
Assembly Objects are objects that bind attributes of multiple objects to
allow data to or from each object to be sent over a single connection.
The Ultra3000 with DeviceNet uses Assembly Objects to send data to
and from a Master (scanner) device over an I/O connection. The
terms Input and Output are defined from the scanner's point of view:
• Output Assemblies are defined as the information that is output by
the scanner and consumed by the Ultra3000.
• Input Assemblies are consumed by the scanner or are the scanner's
input.
The Ultra3000 with DeviceNet allows you to choose between various
Input and Output Assemblies, thereby choosing the data format of the
messages that are passed back and forth between the Ultra3000 with
DeviceNet and the scanner over the I/O connection. The following
parameters select the Assembly Object instances that are exchanged
over an I/O messaging connection.
Parameter
Instance
7 I/O Receive Select Selects the Assembly Object instance that is
8 Poll Transmit (Xmit)
9 COS/Cyclic Transmit
1
Refer to the section on the Parameter Object for more information about parameter instances.
Parameter Name Description
1
updated when a Poll/Change-of-State/Cyclic I/O
message is received by the drive. See page 2-48
for more information.
Selects the Assembly Object instance that is
Select
(Xmit) Select
transmitted by the drive over a Polled I/O
connection. See page 2-48 for more information.
Selects the Assembly Object instance that is
transmitted by the drive over a
Change-of-State/Cyclic I/O connection. See
page 2-49 for more information.
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2-12 Programming Reference
IMPORTANT
If the above parameters are modified, you must
perform one of the following before the modified
value(s) are active:
•Close any existing I/O messaging connection(s)
•Power cycle the drive
•Reset the drive
•Remove and reapply DeviceNet power to the drive.
In addition, you can send Explicit Messages to the Input and Output
Assemblies. Explicit Message writes to an Output Assembly can
perform control functions. Therefore, Explicit Message writes are only
allowed when the Master (scanner) is not actively controlling the drive
via I/O Messaging and the message write is done through a
connection with a time-out value not equal to zero. After a write, any
time-out or closure of the connection may cause the drive to fault.
Refer to Using Explicit Messaging to Control the Ultra3000. This
document may refer to Input and Output Assemblies as response and
command Assemblies respectively.
Assembly Object,
Attributes of Instance ID = 0 (Class Attributes)
Attr. ID Access
Rule
Attribute
Name
Data
Description Semantics
Ty pe
of Values
1 Get Revision UINT Revision of this
object.
2Max
Instance
Maximum instance
number of an
object currently
created in this
class level of the
device.
The current value
assigned to this attribute
is two (02).
The largest instance
number of a created
object at this class
hierarchy level.
Publication 2098-RM004A-EN-P – August 2002
Programming Reference 2-13
The following Assembly Objects are implemented in the drive and
buffer I/O in the following fashion:
• RO = Read Only
• R/W = Read/Write
• R/PW = Read/Write Protected.
Refer to the sections Output Assemblies on page 2-14 and Input
Assemblies on page 2-33 for detailed information about the various
instances of the Assembly Objects.
Assembly Object,
Instance ID = 1 - 18
ID Data Type Access Size
(Bytes)
1 Static Output R/W 1 Handshake Bit, Feedback Data Pointer
2 Static Output R/W 7 Handshake Bit, Feedback Data Pointer,
3 Static Output R/PW 2 16 Bit Logic Command
4 Static Output R/PW 3 16 Bit Logic Command, Handshake Bit,
5 Static Output R/PW 8 16 Bit Logic Command, Handshake Bit,
6 Static Output R/PW 9 16 Bit Logic Command, Handshake Bit,
7 Static Output R/PW 4 32 Bit Logic Command
8 Static Output R/PW 5 32 Bit Logic Command, Handshake Bit,
9 Static Output R/PW 11 32 Bit Logic Command, Startup
10 Static Input RO 4 32 Bit Logic Status
11 Static Input RO 8 32 Bit Logic Status, and Feedback Data
Description
and Parameter Data Value
and Feedback Data Pointer
Feedback Data Pointer, and Command
Data Value
Feedback Data Pointer, and Parameter
Data Value
and Feedback Data Pointer
Commutation Done Bit, Feedback Data
Pointer, and Parameter Data Value
Value
12 Static Input RO 9 32 Bit Logic Status, Extra Status Byte
(with Write Data Status Bits,
Handshake Echo Bit, Feedback Data
Pointer and Feedback Data Value
13 Static Input RO 5 32 Bit Logic Status, Extra Status Byte
(with Write Data Status Bits, and
Handshake Echo Bit)
14 Static Input RO 8 Alternate 32 Bit Logic Status with
Write Data Status Bits (replacing
Position Limits Bits), and Feedback
Data Value
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2-14 Programming Reference
Assembly Object,
Instance ID = 1 - 18
ID Data Type Access Size
Description
(Bytes)
15 Static Input RO 4 Alternate 32 Bit Logic Status with
Write Data Status Bits (replacing
Position Limit Bits)
16 Static Input RO 4 Feedback Data Value
17 Static Input RO 5 Extra Status Byte (with Write Data
Status bits, Handshake Echo Bit, and
Feedback Data Pointer and Feedback
Data Value
18 Static Input RO 1 Extra Status Byte with Write Data
Status Bits, and Handshake Echo Bit
Assembly Object,
Attribute of Instances ID = 1 - 18
Attr ID Access
Rule
Attribute
Name
Data Type
3SetDataARRAY
Assembly Object,
Common Services
Service
Code
Implemented for Service
Class Instance
Name
Service
Description
0E
H
Yes Yes Get_Attribute_Single Returns the contents of the
specified attribute.
10E
H
No Set_Attribute_Single Modifies an attribute value.
Output Assemblies
There are nine output assemblies. An Output Assembly can consist of
a 16 or 32 bit Logic Command, a Handshake bit, Feedback Data
Pointer, and/or a Data Value.
Assembly Object,
Instance 1 - Output Assembly
Handshake Bit, Feedback Data Pointer
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Handshake Feedback Data Pointer
Publication 2098-RM004A-EN-P – August 2002
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