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

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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

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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

Publication 2098-RM004A-EN-P – August 2002

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

Publication 2098-RM004A-EN-P – August 2002

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.

Publication 2098-RM004A-EN-P – August 2002

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

Publication 2098-RM004A-EN-P – August 2002

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

Publication 2098-RM004A-EN-P – August 2002

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.

Publication 2098-RM004A-EN-P – August 2002

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

Publication 2098-RM004A-EN-P – August 2002

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

Programming Reference 2-15

Assembly Object,
Instance ID = 2 - Output Assembly
Handshake Bit, Feedback Data Pointer, and Parameter Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Write

Data

Save to
NVMEM

Handshake Feedback Data Pointer

1 Parameter Instance - Low Byte

2 Parameter Instance - High Byte

3 Data Value - Low Byte

4 Data Value - Low Middle Byte

5 Data Value - High Middle Byte

6 Data Value - High Byte

Assembly Object,
Instance ID = 3 - Output Assembly
16 Bit Logic Command

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select 0Follower

Enable

1 Enable Reset Faults Start Homing Remove

Offset

Disable Serial
Communicati

Define Home Start Index Operation

ons

Integrator
Inhibit

Mode
Override

Assembly Object,
Instance ID = 4 - Output Assembly
16 Bit Logic Command, Handshake Bit, and Feedback Data Pointer

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select 0Follower

Enable

1 Enable Reset Faults Start Homing Remove

Offset

Disable Serial
Communicati

Define Home Start Index Operation

ons

Integrator
Inhibit

Mode
Override

2 Reserved Reserved Handshake Reserved Feedback Data Pointer

Publication 2098-RM004A-EN-P – August 2002

2-16 Programming Reference

Assembly Object,
Instance ID = 5 - Output Assembly
16 Bit Logic Command, Handshake Bit, Feedback Data Pointer, and Command Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select 0Follower

Enable

1 Enable Reset Faults Start Homing Remove

Offset

Disable Serial
Communicati

Define Home Start Index Operation

ons

2 Write Data Save to

Handshake Reserved Feedback Data Pointer

Integrator
Inhibit

Mode
Override

NVMEM

3 Command Data Pointer

4 Data Value - Low Byte

5 Data Value - Low Middle Byte

6 Data Value - High Middle Byte

7 Data Value - High Byte

Assembly Object,
Instance ID = 6 - Output Assembly
16 Bit Logic Command, Handshake Bit, Feedback Data Pointer, and Parameter Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select 0Follower

Enable

Integrator
Inhibit

1 Enable Reset Faults Start Homing Remove

Offset

2 Write Data Save to

Handshake Reserved Feedback Data Pointer

NVMEM

3 Parameter Instance - Low Byte

4 Parameter Instance - High Byte

5 Data Value - Low Byte

6 Data Value - Low Middle Byte

7 Data Value - High Middle Byte

8 Data Value - High Byte

Publication 2098-RM004A-EN-P – August 2002

Disable Serial
Communicati
ons

Define Home Start Index Operation

Mode
Override

Programming Reference 2-17

Assembly Object,
Instance ID = 7 - Output Assembly
32 Bit Logic Command

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Reserved Reserved Reserved Abort Homing Pause

Homing

Abort Index Pause Index Disable Serial

Communicati
ons

1 Reserved Reserved Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select

0

2 Reserved Position

Strobe

Operation
Mode

Reserved Reserved Follower

Enable

Integrator
Inhibit

Define
Position

Override

3 Enable Reset Faults Start Homing Remove

Reserved Define Home Start Index Reset Drive

Offset

Assembly Object,
Instance ID = 8 - Output Assembly
32 Bit Logic Command, Handshake Bit, and Feedback Data Pointer

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Reserved Reserved Reserved Abort Homing Pause

Homing

Abort Index Pause Index Disable Serial

Communicati
ons

1 Reserved Reserved Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select

0

2 Reserved Position

Strobe

Operation
Mode

Reserved Reserved Follower

Enable

Integrator
Inhibit

Define
Position

Override

3 Enable Reset Faults Start Homing Remove

Reserved Define Home Start Index Reset Drive

Offset

4 Reserved Reserved Handshake Reserved Feedback Data Pointer

Publication 2098-RM004A-EN-P – August 2002

2-18 Programming Reference

Assembly Object,
Instance ID = 9 - Output Assembly
32 Bit Logic Command, Startup Commutation Done Bit, Feedback Data Pointer, and Parameter Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Reserved Reserved Reserved Abort Homing Pause

Homing

1 Reserved Reserved Preset Select 5Preset Select 4Preset Select 3Preset Select 2Preset Select 1Preset Select

2 Reserved Position

Strobe

3 Enable Reset Faults Start Homing Remove

4 Write Data Save to

NVMEM

5 Parameter Instance - Low Byte

6 Parameter Instance - High Byte

7 Data Value - Low Byte

8 Data Value - Low Middle Byte

9 Data Value - High Middle Byte

10 Data Value - High Byte

Operation
Mode
Override

Handshake Reserved Feedback Data Pointer

Reserved Reserved Follower

Reserved Define Home Start Index Reset Drive

Offset

Abort Index Pause Index Disable Serial

Communicati
ons

0

Enable

Integrator
Inhibit

Define
Position

Logic Commands

The first two or four bytes in several Output Assemblies are referred
to as the Logic Command. The logic command bits correspond to
functions available via the hardware digital inputs on the Ultra3000
Drive with DeviceNet. Parameter 10 - Logic Command Mask allows
you to mask off (zero) selected Logic Command bits to prevent the
bits activating any functions.

Note: The Logic Command Mask has a default value of zero.

Therefore, the Logic Command has no affect unless you modify
the Logic Command Mask.

Publication 2098-RM004A-EN-P – August 2002

Programming Reference 2-19

The Enable bit in the logic command is OR'ed or AND'ed with a
hardware ENABLE as specified by Parameter 11 - Enable Behavior.

• If the ENABLE function has not been assigned to a hardware input,
then the hardware ENABLE is always active.

• If any of the other functions have not been assigned to a hardware
input, then the corresponding logic command bit controls the
function.

• If a function has been assigned to a hardware input, then the
corresponding logic command bit is OR'ed with the hardware
input.

IMPORTANT

A transition (0 -> 1) on a logic command bit is not
recognized if the corresponding hardware input is
active.

IMPORTANT

Toggling more than one bit at one time may produce
indeterminate behavior.

For example, changing a Preset Select and
transitioning the Start Index from 0 to 1 may cause
the previously selected Index to be executed.

Disable Serial Communications

This bit inhibits the drive's Serial Communications port operation.

• 1 = Serial Communications disabled

• 0 = Serial Communications enabled

Pause Index

This bit temporarily pauses an indexing sequence by decelerating to a
stop. The state of the input is continuously monitored to determine if
the motion should be stopped or if it may continue.

• 0 = Continue Indexing (Inactive)

• 1 = Pause Index

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Abort Index

A transition from zero to one (0 -> 1) terminates an indexing move.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Publication 2098-RM004A-EN-P – August 2002

2-20 Programming Reference

Pause Homing

This bit temporarily pauses a homing sequence by decelerating to a
stop. The state of the input is continuously monitored to determine if
the motion should be stopped or if it may continue.

• 0 = Continue Homing (Inactive)

• 1 = Pause Homing

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Abort Homing

A transition from zero to one (0 -> 1) terminates a homing sequence.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Preset Select 0 to 5

Preset Select 0 to 2 are used in combination to select a Preset Current,
Preset Velocity, Preset Position, or Preset Follower Gearing Ratio.
Preset Select 0 to 5 are used in combination to select an Index. The 64
possible binary combinations of the Preset Selects are shown in the
following table.

Preset Preset

Select 5

0000000

1 0 0 0 0 0 1

2 0 0 0 0 1 0

3 0 0 0 0 1 1

4 0 0 0 1 0 0

5 0 0 0 1 0 1

6 0 0 0 1 1 0

7 0 0 0 1 1 1

.
.
.

61 1 1 1 1 0 1

.
.
.

Preset
Select 4

.
.
.

Preset
Select 3

.
.
.

Preset
Select 2

.
.
.

Preset
Select 1

.
.
.

Preset
Select 0

.
.
.

Publication 2098-RM004A-EN-P – August 2002

62 1 1 1 1 1 0

63111111

Programming Reference 2-21

Define Position

When this input becomes active, it sets the Preset Position (parameter
304, 308, 312, 316, 320, 324, 328 or 332) selected by Preset Select 0 to
2, equal to the current drive position.

• 0 = Inactive

• 1 = Active

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Integrator Inhibit

This bit is used to zero the velocity loop integrator.

• 0 = No action

• 1 = Inhibit Integrator

Follower Enable

This bit allows the position loop to track the position command when
the drive is in the Follower Mode.

• 0 = Inactive

• 1 = Active

Position Strobe

An inactive state freezes the state of the motor encoder outputs. A
transition to an active state causes the drive to output a continuous
sequence of encoder counts until the absolute position is reached on
an external counter. This input is used in conjunction with the
Tracking output function.

• 0 = Inactive

• 1 = Active

Operation Mode Override

This bit selects whether drive uses Parameter 33 - Operation Mode or
Parameter 34 - Override Mode (Operation Mode Override) to
determine the command source.

• 0 = Parameter 33 - Operation Mode selects the command source

• 1 = Parameter 34 - Override Mode (Operation Mode Override)

selects the command source

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2-22 Programming Reference

Reset Drive

The drive resets anytime it receives a logic command with the Reset
Drive bit set high (except if the drive is enabled).

• 0 = Reset, or reboot, the hardware and firmware in the drive.

• 1 = Inactive

Start Index

A transition from zero to one (0 -> 1) of the Start Index bit begins an
index move if the drive's current Operation Mode is Indexing. A
transition is not recognized if a hardware input assigned as Start Index
is active.

Note: This output requires an Indexing drive (e.g.,2098-DSD-xxxX).

Define Home

A transition from zero to one (0 -> 1) causes the present motor
position to be selected as Home position. This means that the position
command is set to Parameter 344 - Home Position, and the position
feedback is simultaneously set to its appropriate value, according to
the position error.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Remove Offset

A transition from zero to one (0 -> 1) causes the offset of the analog
command input to be measured (after averaging), and sets Parameter
254 - Analog Velocity Offset and Parameter 256 - Analog Current
Offset to the negative of this value.

Start Homing

A transition from zero to one (0 -> 1) initiates the homing routine.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

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Programming Reference 2-23

Reset Faults

A transition from zero to one (0 -> 1) resets any detected drive faults.

ATTENTION

If an Enable input is active, the drive may be enabled
and unexpected motion may occur.

!

Enable

This bit enables the drive (1 =enable, 0 = disable) depending on the
hardware ENABLE and Parameter 11 - Enable Behavior. You can
specify this bit to be OR'ed or AND'ed with the hardware ENABLE by
setting the Enable Behavior parameter.

• If Enable Behavior is set to 'Hardware OR DNet Input', then either a
hardware ENABLE or this bit can enable the drive.

• If Enable Behavior is set to 'Hardware AND DNet Input', both the
hardware ENABLE and this bit must be active to enable the drive.

IMPORTANT

Parameter 27 - Host Enable can temporarily disable
the drive regardless of the hardware ENABLE and
Logic Command Enable bit.

Handshake

A Handshake bit is included in some of the Output Assemblies and
the bit is echoed in some of the Input Assemblies. An application can
toggle the Handshake bit and confirm if the drive received the Output
Assembly by monitoring the Handshake Echo bit in the Input
Assembly. The drive does not use the Handshake bit for any other
purpose.

Feedback Data Pointer

The Feedback Data Pointer, contained in some of the Output Assemblies,
selects the Feedback Data Value that the Input Assembly should
return. The following table lists the available Feedback Data Values.

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2-24 Programming Reference

Refer to the Parameter Object instances to obtain scaling and units
information.

Feedback
Data Pointer

0 Position Command 132 DINT

1 Motor Position 134 DINT

2 Motor Velocity 140 DINT

3 Average Current 142 INT

4 Fault Status 123 DWORD

5 Extended Fault Status 124 WORD

6 Input Status 122 DWORD

7 Output Status 121 DWORD

8 Current Command 143 INT

9 Auxiliary Encoder Position 135 DINT

10 Position Error 133 DINT

11 Velocity Error 139 DINT

12 DC Bus Voltage 131 UINT

13 Velocity Command 138 DINT

Name

Parameter
Object
Instance

Data Type

(not filtered)

Parameter Data Value and Command Data Value Fields

The Parameter and Command Data Value fields contained in some of
the Output Assemblies allow you to write a parameter value to the
drive via I/O messaging. You can use Assemblies 2, 6, and 9 to write a
Data Value to the parameter object specified by Parameter Instance ­Low Byte and Parameter Instance - High Byte. See Parameter Object,
Instances ID = 1- 1059 on page 47. Assembly 5 also allows you to
write a Data Value to a parameter. However, Assembly 5 uses a
Command Data Pointer to select one of the parameters listed in the
Command Data table. Assembly 5 was implemented because it can be
sent in a non-fragmented I/O message. If Assembly 6 is sent via an
I/O message, the message is fragmented.

The Write Data bit is used to latch the Data Value that is located in the
last four bytes of the Output Assembly. A new data value will be
accepted by the drive on a zero to one transition (0 -> 1) of the Write
Data bit only if the Write Data Busy/Ack bit (located in the Input
Assembly) is low: 0 = idle, 1 = busy. The Write Data Busy/Ack bit is
cleared when the Write Data bit is set to zero and the drive is not busy
saving the data value. The Write Data and Write Data Busy/Ack bits
are ignored if the command assembly is updated via an explicit
message. By default, the value is only written to the drive as a

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Programming Reference 2-25

working value and is NOT saved in nonvolatile memory unless the
Save To NVMEM bit is set. The working value is lost if the drive is
reset or power cycled.

IMPORTANT

IMPORTANT

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).

The drive acts on the Logic Command before reading
the Data Value. Therefore, the drive will accept the
Logic Command even though the Data Value may be
invalid. If an I/O message writes an invalid Data
Value, the drive sets the Write Data Error bit in the
Input Assembly. If the Data Value is updated via an
explicit message, the drive will return an error
response if the Data Value is invalid.

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2-26 Programming Reference

Command Data Table

The following table references the Command Data Pointer and
Parameter Object Instances for each Ultra3000 with DeviceNet
command.

Command
Data

Name Parameter Object

Instance

Pointer

0 NULL

1 Reset Faults 22

2 Reset Drive 23

3 Reset Personality 24

4 Reset I Peaks 25

5 Define Home Command 26

6 Host Enable 27

7 Host Control Mode 28

8 Velocity Setpoint 29

9 Current Setpoint 30

10 Setpoint Accel 31

11 Positive I Limit 37

12 Negative I Limit 38

13 Soft Overtravel 39

14 Positive Soft Position Limit 40

15 Negative Soft Position Limit, or

Acceleration Feedforward Gain - Kaff

16 Positive Decel Distance, or

Position Compare 1 Max

41
111

42
112

1

1

1

2

1

2

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17 Negative Decel Distance, or

Position Compare 2 Max

43 1
113

18 Zero Speed Limit 44

19 Speed Window 45

20 Up to Speed 46

21 Position Window Size 47

22 Position Window Time 48

23 Position Compare 1 Type 49

24 Position Compare 1 Min 50

25 Position Compare 2 Type 51

26 Position Compare 2 Min 52

1

These commands are available only to indexing drives.

2

These commands are available only to non-indexing drives.

2

Programming Reference 2-27

Command
Data

Name Parameter Object

Instance

Pointer

27 Velocity Loop P_Gain 53

28 Velocity Loop I_Gain 54

29 Velocity Loop D_Gain 55

30 Position Loop Kp Gain 56

31 Position Loop Ki Gain 57

32 Position Loop Kd Gain 58

33 Position Loop Kff Gain 59

34 Position Loop Ki Zone 60

35 Low Pass Filter 61

36 Low Pass Bandwidth 62

37 Digital Output Override 95

38 Override Analog Output 101

39 Analog Output Override 102

40 User Current Fault 103

41 User Velocity Limit 104

42 User Velocity Fault 105

43 Velocity Error Limit 106

44 Velocity Error Time 107

45 Position Error Limit 108

46 Position Error Time 109

47 Slew Enable 262

48 Slew Limit 263

49 Master Gear Count 0 264

50 Motor Gear Count 0 265

51 Master Gear Count 1 266

52 Motor Gear Count 1 267

53 Master Gear Count 2 268

54 Motor Gear Count 2 269

55 Master Gear Count 3 270

56 Motor Gear Count 3 271

57 Master Gear Count 4 272

58 Motor Gear Count 4 273

59 Master Gear Count 5 274

60 Motor Gear Count 5 275

61 Master Gear Count 6 276

62 Motor Gear Count 6 277

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2-28 Programming Reference

Command
Data

Name Parameter Object

Instance

Pointer

63 Master Gear Count 7 278

64 Motor Gear Count 7 279

65 Velocity Preset 0 280

66 Velocity Preset 1 281

67 Velocity Preset 2 282

68 Velocity Preset 3 283

69 Velocity Preset 4 284

70 Velocity Preset 5 285

71 Velocity Preset 6 286

72 Velocity Preset 7 287

73 Limit Preset Accel 288

74 Preset Accel Limit 289

75 Preset Decel Limit 290

76 Current Preset 0 291

77 Current Preset 1 292

78 Current Preset 2 293

79 Current Preset 3 294

80 Current Preset 4 295

81 Current Preset 5 296

82 Current Preset 6 297

83 Current Preset 7 298

84 3 Preset Position 0 304

85 3 Preset Position 0 Velocity 305

86 3 Preset Position 0 Accel 306

87 3 Preset Position 0 Decel 307

88 3 Preset Position 1 308

89 3 Preset Position 1 Velocity 309

90 3 Preset Position 1 Accel 310

91 3 Preset Position 1 Decel 311

92 3 Preset Position 2 312

93 3 Preset Position 2 Velocity 313

94 3 Preset Position 2 Accel 314

95 3 Preset Position 2 Decel 315

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96 3 Preset Position 3 316

97 3 Preset Position 3 Velocity 317

98 3 Preset Position 3 Accel 318

Programming Reference 2-29

Command
Data

Name Parameter Object

Instance

Pointer

99 3 Preset Position 3 Decel 319

100 3 Preset Position 4 320

101 3 Preset Position 4 Velocity 321

102 3 Preset Position 4 Accel 322

103 3 Preset Position 4 Decel 323

104 3 Preset Position 5 324

105 3 Preset Position 5 Velocity 325

106 3 Preset Position 5 Accel 326

107 3 Preset Position 5 Decel 327

108 3 Preset Position 6 328

109 3 Preset Position 6 Velocity 329

110 3 Preset Position 6 Accel 330

111 3 Preset Position 6 Decel 331

112 3 Preset Position 7 332

113 3 Preset Position 7 Velocity 333

114 3 Preset Position 7 Accel 334

115 3 Preset Position 7 Decel 335

116 3 Homing Type 336

117 3 Home Sensor Backoff 338

118 3 Homing Velocity 339

119 3 Homing Accel/ Decel 340

120 3 Home Offset Move 341

121 3 Homing Stop Decel 342

122 3 Home Sensor Polarity 343

123 3 Home Position 344

124 3 Homing Creep Velocity 345

125 3 Home Sensor Current 346

126 3 Start Homing Command 347

127 3 Abort Homing Command 348

128 3 Pause Homing Command 349

129 3 Host Index Number 350

130 3 Start Index Command 351

131 3 Abort Index Decel 356

132 3 Index 0 Type 357

133 3 Index 0 Distance/ Position 358

134 3 Index 0 Count 359

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2-30 Programming Reference

Command
Data

Name Parameter Object

Instance

Pointer

135 3 Index 0 Dwell 360

136 3 Index 0 Registration Distance 361

137 3 Index 0 Velocity 362

138 3 Index 0 Accel 363

139 3 Index 0 Decel 364

140 3 Index 0 Pointer 365

141 3 Index 0 Terminate 366

142 3 Index 1 Type 367

143 3 Index 1 Distance/ Position 368

144 3 Index 1 Count 369

145 3 Index 1 Dwell 370

146 3 Index 1 Registration Distance 371

147 3 Index 1 Velocity 372

148 3 Index 1 Accel 373

149 3 Index 1 Decel 374

150 3 Index 1 Pointer 375

151 3 Index 1 Terminate 376

152 3 Index 2 Type 377

153 3 Index 2 Distance/ Position 378

154 3 Index 2 Count 379

155 3 Index 2 Dwell 380

156 3 Index 2 Registration Distance 381

157 3 Index 2 Velocity 382

158 3 Index 2 Accel 383

159 3 Index 2 Decel 384

160 3 Index 2 Pointer 385

161 3 Index 2 Terminate 386

162 3 Index 3 Type 387

163 3 Index 3 Distance/ Position 388

164 3 Index 3 Count 389

165 3 Index 3 Dwell 390

166 3 Index 3 Registration Distance 391

167 3 Index 3 Velocity 392

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168 3 Index 3 Accel 393

169 3 Index 3 Decel 394

170 3 Index 3 Pointer 395

Programming Reference 2-31

Command
Data

Name Parameter Object

Instance

Pointer

171 3 Index 3 Terminate 396

172 3 Index 4 Type 397

173 3 Index 4 Distance/ Position 398

174 3 Index 4 Count 399

175 3 Index 4 Dwell 400

176 3 Index 4 Registration Distance 401

177 3 Index 4 Velocity 402

178 3 Index 4 Accel 403

179 3 Index 4 Decel 404

180 3 Index 4 Pointer 405

181 3 Index 4 Terminate 406

182 3 Index 5 Type 407

183 3 Index 5 Distance/ Position 408

184 3 Index 5 Count 409

185 3 Index 5 Dwell 410

186 3 Index 5 Registration Distance 411

187 3 Index 5 Velocity 412

188 3 Index 5 Accel 413

189 3 Index 5 Decel 414

190 3 Index 5 Pointer 415

191 3 Index 5 Terminate 416

192 3 Index 6 Type 417

193 3 Index 6 Distance/ Position 418

194 3 Index 6 Count 419

195 3 Index 6 Dwell 420

196 3 Index 6 Registration Distance 421

197 3 Index 6 Velocity 422

198 3 Index 6 Accel 423

199 3 Index 6 Decel 424

200 3 Index 6 Pointer 425

201 3 Index 6 Terminate 426

202 3 Index 7 Type 427

203 3 Index 7 Distance/ Position 428

204 3 Index 7 Count 429

205 3 Index 7 Dwell 430

206 3 Index 7 Registration Distance 431

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2-32 Programming Reference

Command
Data

Name Parameter Object

Instance

Pointer

207 3 Index 7 Velocity 432

208 3 Index 7 Accel 433

209 3 Index 7 Decel 434

210 3 Index 7 Pointer 435

211 3 Index 7 Terminate 436

212 3 Index 8 Type 437

213 3 Index 8 Distance/ Position 438

214 3 Index 8 Count 439

215 3 Index 8 Dwell 440

216 3 Index 8 Registration Distance 441

217 3 Index 8 Velocity 442

218 3 Index 8 Accel 443

219 3 Index 8 Decel 444

220 3 Index 8 Pointer 445

221 3 Index 8 Terminate 446

222 3 Index 9 Type 447

223 3 Index 9 Distance/ Position 448

224 3 Index 9 Count 449

225 3 Index 9 Dwell 450

226 3 Index 9 Registration Distance 451

227 3 Index 9 Velocity 452

228 3 Index 9 Accel 453

229 3 Index 9 Decel 454

230 3 Index 9 Pointer 455

231 3 Index 9 Terminate 456

232 3 Index 0 Absolute Direction 997

233 3 Index 1 Absolute Direction 998

234 3 Index 2 Absolute Direction 999

235 3 Index 3 Absolute Direction 1000

236 3 Index 4 Absolute Direction 1001

237 3 Index 5 Absolute Direction 1002

238 3 Index 6 Absolute Direction 1003

239 3 Index 7 Absolute Direction 1004

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220 3 Index 8 Absolute Direction 1005

241 3 Index 9 Absolute Direction 1006

242 3 Acceleration Feedforward Gain - Kaff 111

Programming Reference 2-33

Command
Data

Name Parameter Object

Instance

Pointer

243 3 Position Compare 1 Max 112

244 3 Position Compare 2 Max 113

3

These commands are available only to indexing drives.

Input Assemblies

There are nine input assemblies. An input assembly can consist of a
32 bit Logic Status, an Extra Status Byte, and/or a Feedback Data
Value .

Assembly Object,
Instance ID = 10 - Input Assembly
32 Bit Logic Status

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Startup

Commutatio
n Done

Tracking Axis Homed Registered In Dwell In Motion End of

Sequence

At Home

1 Position

Compare 2

2 Drive

Enabled

Position
Compare 1

At Index 1
Position

Up To Speed Negative

Current Limit

At Index 0
Position

Positive
Current Limit

Negative
Overtravel

Within
Speed
Window

Positive
Overtravel

Negative
Hardware
Overtravel

Zero Speed Within

Position
Window

Positive
Hardware
Overtravel

In Position

3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus

Charged

Assembly Object,
Instance ID = 11 - Input Assembly
32 Bit Logic Status, and Feedback Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Startup

Commutation

Tracking Axis Homed Registered In Dwell In Motion End of

Sequence

At Home

Done

1 Position

Compare 2

2 Drive Enabled Up To Speed Negative

Position
Compare 1

At Index 1
Position

Current Limit

At Index 0
Position

Positive
Current Limit

Negative
Overtravel

Within Speed
Window

Positive
Overtravel

Negative
Hardware
Overtravel

Zero Speed Within

Position

Positive
Hardware
Overtravel

In Position

Window

3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus

Charged

4 Feedback Data Value - Low Byte

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2-34 Programming Reference

Assembly Object,
Instance ID = 11 - Input Assembly
32 Bit Logic Status, and Feedback Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

5 Feedback Data Value - Low Middle Byte

6 Feedback Data Value - High Middle Byte

7 Feedback Data Value - High Byte

Assembly Object,
Instance ID = 12 - Input Assembly
32 Bit Logic Status, Extra Status Byte (with Write Data Status Bits, Handshake Echo Bit, Feedback Data Pointer and
Feedback Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Startup

Commutation

Tracking Axis Homed Registered In Dwell In Motion End of

Sequence

At Home

Done

1 Position

Compare 2

2 Drive Enabled Up To Speed Negative

Position
Compare 1

At Index 1
Position

Current Limit

At Index 0
Position

Positive
Current Limit

Negative
Overtravel

Within Speed
Window

Positive
Overtravel

Negative
Hardware
Overtravel

Zero Speed Within

Position

Positive
Hardware
Overtravel

In Position

Window

3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus

Charged

4 Write Data

Busy/Ack

Write Data
Error

Handshake
Echo

Reserved Feedback Data Pointer

5 Feedback Data Value - Low Byte

6 Feedback Data Value - Low Middle Byte

7 Feedback Data Value - High Middle Byte

8 Feedback Data Value - High Byte

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Programming Reference 2-35

Assembly Object,
Instance ID = 13 - Input Assembly
32 Bit Logic Status, Extra Status Byte (with Write Data Status Bits, and Handshake Echo Bit)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Startup

Commutation

Tracking Axis Homed Registered In Dwell In Motion End of

Sequence

At Home

Done

1 Position

Compare 2

2 Drive Enabled Up To Speed Negative

Position
Compare 1

At Index 1
Position

Current Limit

At Index 0
Position

Positive
Current Limit

Negative
Overtravel

Within Speed
Window

Positive
Overtravel

Negative
Hardware
Overtravel

Zero Speed Within

Position

Positive
Hardware
Overtravel

In Position

Window

3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus

Charged

4 Write Data

Busy/Ack

Write Data
Error

Handshake
Echo

Reserved Reserved Reserved Reserved Reserved

Assembly Object,
Instance ID = 14 - Input Assembly
Alternate 32 Bit Logic Status with Write Data Status Bits (replacing Position Limits Bits), and Feedback Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Startup

Commutation

Tracking Axis Homed Registered In Dwell In Motion End of

Sequence

At Home

Done

1 Write Data

Busy/Ack

2 Drive Enabled Up To Speed Negative

Write Data
Error

At Index 1
Position

Current Limit

At Index 0
Position

Positive
Current Limit

Negative
Overtravel

Within Speed
Window

Positive
Overtravel

Negative
Hardware
Overtravel

Zero Speed Within

Position

Positive
Hardware
Overtravel

In Position

Window

3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus

Charged

4 Feedback Data Value - Low Byte

5 Feedback Data Value - Low Middle Byte

6 Feedback Data Value - High Middle Byte

7 Feedback Data Value - High Byte

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2-36 Programming Reference

Assembly Object,
Instance ID = 15 - Input Assembly
Alternate 32 Bit Logic Status with Write Data Status Bits (replacing Position Limit Bits)

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Startup

Commutation

Tracking Axis Homed Registered In Dwell In Motion End of

Sequence

At Home

Done

1 Write Data

Busy/Ack

2 Drive Enabled Up To Speed Negative

Write Data
Error

At Index 1
Position

Current Limit

At Index 0
Position

Positive
Current Limit

Negative
Overtravel

Within Speed
Window

Positive
Overtravel

Negative
Hardware
Overtravel

Zero Speed Within

Position

Positive
Hardware
Overtravel

In Position

Window

3 Drive Ready Brake Active Reserved Reserved Reserved Reserved Fault Disable DC Bus

Charged

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Programming Reference 2-37

Assembly Object,
Instance ID = 16 - Input Assembly
Feedback Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Feedback Data Value - Low Byte

1 Feedback Data Value - Low Middle Byte

2 Feedback Data Value - High Middle Byte

3 Feedback Data Value - High Byte

Assembly Object,
Instance ID = 17 - Input Assembly
Extra Status Byte (with Write Data Status bits, Handshake Echo Bit, and Feedback Data Pointer and Feedback Data Value

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Write Data

Busy/Ack

Write Data
Error

Handshake
Echo

Reserved Feedback Data Pointer

1 Feedback Data Value - Low Byte

2 Feedback Data Value - Low Middle Byte

3 Feedback Data Value - High Middle Byte

4 Feedback Data Value - High Byte

Assembly Object,
Instance ID = 18 - Input Assembly
Extra Status Byte with Write Data Status Bits, and Handshake Echo Bit

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Write Data

Busy/Ack

Write Data
Error

Handshake
Echo

Reserved Reserved Reserved Reserved Reserved

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2-38 Programming Reference

Logic Status

The first four bytes in some of the Input Assemblies are referred to as
the Logic Status. The Logic Status consists of 32 bits.

At Home

This bit indicates that the position command is equal to the Parameter
344 - Home Position.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

End of Sequence

This bit indicates all iterations of the index move have been
completed.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

In Motion

This bit indicates an index move is active and the motor is moving.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

In Dwell

Indicates the motor is holding position in an index move and waiting
for the commanded dwell time.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Registered

This bit indicates the Registration Sensor has been detected and the
move has been adjusted, for this iteration of the index.

Note: The Registration Distance must be larger than the distance
required to stop or the move is not adjusted.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Publication 2098-RM004A-EN-P – August 2002

Axis Homed

This bit indicates that the homing routine has completed.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Programming Reference 2-39

Tracking

This bit indicates that the motor position has been output and the
encoder outputs are now tracking the motor encoder inputs. This
output is used in conjunction with the Position Strobe input function.

Startup Commutation Done

This bit indicates that the drive has completed its commutation
initialization algorithm.

Positive Hardware Overtravel

This bit indicates a motor integral limit switch has been encountered
in the positive travel direction.

Note: This overtravel is not the Positive Hardware Overtravel initiated

by a digital input to the drive.

Negative Hardware Overtravel

This bit indicates a motor integral limit switch has been encountered
in the negative travel direction.

Note: This overtravel is not the Negative Hardware Overtravel initiated

by a digital input to the drive.

Positive Overtravel

This bit indicates that the positive soft position limit, Parameter 40, has
been exceeded, or the positive overtravel hardware input has become
active, or the motor’s positive integral limit (if this signal exists) has
been reached.

Negative Overtravel

This bit indicates that the negative soft position limit, Parameter 41,
has been exceeded, or the negative overtravel hardware input has
become active, or the motor’s negative integral limit (if this signal
exists) has been reached.

At Index 0 Position

An active state indicates the commanded motor position is equal to
the position defined by Index 0. This output functions only after the
axis has been homed.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

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2-40 Programming Reference

At Index 1 Position

An active state indicates the commanded motor position is equal to
the position defined by Index 1. This output functions only after the
axis has been homed.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Position Limit 1

An active state indicates the condition defined by Parameter 49
(Position Compare 1 Type), Parameter 50 (Position Compare 1 Min),
and Parameter 112 (Position Compare 1 Max), for Position Compare 1
is true. If the drive has not been homed, the Position Limit 1 bit is
inactive.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

Position Limit 2

An active state indicates the condition defined by Parameter 51
(Position Compare 2 Type), Parameter 52 (Position Compare 2 Min),
and Parameter 113 (Position Compare 2 Max) for Position Compare 2
is true. If the drive has not been homed, the Position Limit 2 bit is
inactive.

Note: This output requires an Indexing drive (e.g., 2098-DSD-xxxX).

In Position

This bit indicates that the position error has been less than the
Parameter 47 - Position Window Size value for longer than the
Parameter 48 - Position Window Time value, and the speed is less
than the Parameter 44 - Zero Speed Limit setting.

Within Position Window

This bit indicates that the position error has been less than the
Parameter 47 - Position Window Size value for longer than the
Parameter 48 - Position Window Time value.

Zero Speed

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This bit indicates that the speed is less than the Parameter 44 - Zero
Speed Limit setting.

Programming Reference 2-41

Within Speed Window

This bit indicates that the velocity error is less than the Parameter 45 ­Speed Window value.

Positive Current Limit

Indicates that the drive current is being limited in the positive
direction.

Negative Current Limit

Indicates that the drive current is being limited in the negative
direction.

Up To Speed

This bit indicates the motor velocity feedback is greater than the
Parameter 46 - Up to Speed value.

Drive Enabled

This bit indicates if the power stage of the drive is enabled. For the
power stage to be enabled, the software and/or hardware ENABLE
inputs must be active, Parameter 27 - Host Enable must be enabled,
and the drive cannot have any 'disabling' faults.

DC Bus Charged

This bit indicates if the DC bus is energized.

Fault Disable

This bit indicates that a fault has occurred that caused the drive to
disable.

Brake Active

This bit indicates whether any digital output assigned as a BRAKE
output is active. If this bit is zero, then any BRAKE output is inactive
and the motor brake is applied. If this bit is one, then any BRAKE
output is active, and the motor brake is released so the motor can
move.

Drive Ready

Indicates that the drive is operational and does not have a 'disabling'
fault.

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2-42 Programming Reference

Handshake Echo

The Handshake Echo bit is included in some of the Input Assemblies.
The Handshake Echo bit is zero if the selected Output Assembly does
not contain a Handshake bit. An application can toggle the
Handshake bit in the Output Assembly and confirm if the drive
received the Output Assembly by monitoring the Handshake Echo bit
in an Input Assembly. The drive does not use the Handshake bit for
any other purpose.

DeviceNet Communication Fault Action

You can configure the Ultra3000 Drive with DeviceNet to perform a
specific action if the Output (command) Assembly is not periodically
updated after the I/O (or explicit) messaging connection has been
established and Parameter 7 - I/O Receive Select is set to a non-zero
value. The Output Assembly may not get updated for a several
reasons:

• the messaging connection is closed

• the scanner (Master) is placed into program mode

• the DeviceNet cable is unplugged

By default, the Ultra3000 Drive with DeviceNet will fault and clear the
logic command. You can configure the drive to take a different action
by configuring the following parameters:

• Idle Fault Action — Parameter 13

• Comm Fault Action — Parameter 14

• Faulted Logic Command — Parameter 15

The Ultra3000 Drive with DeviceNet will execute the Idle Fault Action
if the Master (scanner) sends I/O idle messages (zero-length
messages). The Comm Fault Action will be invoked if a
communication fault occurs such as the DeviceNet cable being
unplugged. The Idle Fault Action and Comm Fault Action parameters
allow you to configure the Ultra3000 Drive with DeviceNet to take
one of the following actions if a communication problem occurs that

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Programming Reference 2-43

prevents the Output (command) Assembly Object from being
updated:

• Fault/ Zero Data — The Ultra3000 Drive with DeviceNet faults and

the logic command is cleared

• Fault/ Hold Last — The Ultra3000 Drive with DeviceNet faults and

the last logic command received is latched

• Zero Data — The logic command is cleared

• Hold Last — The last logic command received is latched

• Fault Configure — The Faulted Logic Command parameter specifies

the logic command value. The Ultra3000 Drive with DeviceNet does
not fault. Refer to Using the Fault Configured Input on page 2-43.

Using the Fault Configured Input

You can select a constant value for the logic command in the event of
a controller (scanner) mode change or error. This constant value is
referred to as the Faulted Logic Command. When the controller is
placed in program mode or a DeviceNet network fault occurs, the
logic command to the drive can be set to automatically switch to the
value specified by the Faulted Logic Command — Parameter 15.

If you intend to use the Fault Configure Input, you must do the
following:

1. Set the desired value for the Faulted Logic Command.

2. Set the Idle Fault Action parameter and/or the Comm Fault Action

parameter to Fault Config.

Publication 2098-RM004A-EN-P – August 2002

2-44 Programming Reference

Using Explicit Messaging to Control the Ultra3000

Explicit messages provide multi-purpose, point-to-point
communication paths between two devices. It is possible to control
the drive through explicit messaging on DeviceNet by following
particular guidelines and by writing to various Assembly Objects that
are buffering the I/O data. Although it is possible to control the drive
by writing to various parameter objects, you should consider using the
Assembly Objects for controlling the drive. The guidelines are as
follows:

• Write to the various Assembly Objects that are buffering the I/O
data.

• Write access to any Assembly Object is not allowed if the message
is passed through a connection whose expected packet rate (EPR)
is zero or if I/O data is being sent over an I/O messaging
connection.

• The drive marks any explicit connection after allowing a write to an
Assembly Object through the connection.

• If a marked explicit connection times out based on the EPR, then
the fault action will be that configured for Communication Loss
over the I/O connection, Comm Fault Action — Parameter 14.

• If a marked explicit connection is deleted, then the fault action will
be that configured for Idle over the I/O connection, Faulted Logic
Command — Parameter 15.

• Multiple explicit connections can write/overwrite the control I/O if
they meet the guidelines specified. Each connection will be
marked individually within the drive.

• If the drive gets allocated/re-allocated by a controller such that
valid I/O data is being sent to the drive, or if an Idle condition
from the allocating controller is transitioned back to valid data,
then all marked explicit connections will be reset to unmarked and
future writes blocked.

• If a marked connection has its Expected Packet Rate (EPR) value
reset to zero (0) after being marked, then the connection will
become unmarked.

Publication 2098-RM004A-EN-P – August 2002

IMPORTANT

Do not use Explicit Messaging to set parameter
objects that are changed frequently. An Explicit Set
causes an NVMEM write. The nonvolatile memory
has a limited number of write cycles.

Note: Explicit Get commands have no effect on
NVMEM.

Programming Reference 2-45

Connection Object

The Connection Object manages the internal resources associated
with both I/O and Explicit Messaging Connections. The specific

(Class ID 05

)

H

instance generated by the Connection Class is referred to as a
Connection Instance or a Connection Object. A Connection Object
within a particular module actually represents one of the end-points of
a connection.

DeviceNet Connection Object,
Instance ID = 1 - 10

InstanceIDInstances

1 Group 2 Explicit Message Connection

2 Poll I/O Connection

4 Change-of-State or Cyclic I/O Connection

6-10 Group 3 Explicit Message Connections

DeviceNet Connection Object,
Attributes of Instances ID = 1 - 10 /

Attr ID Access

Rule

1 Get State USINT State of the Connection

Attribute
Name

Data Type Description

2 Instance Type I/O or Message Connection

3 Transport_class_trigger BYTE Defines the behavior of the Connection

4 Produced_connection_id UINT CAN identifier to transmit on

5 Consumed_connection_id CAN identifier to receive on

6 Initial_comm_characteristics BYTE Defines the Message Group(s) associated with this

Connection

7 Produced_connection_size UINT Maximum number of bytes transmitted across this

Connection

8 Consumed_connection_size Maximum number of bytes received across this

Connection

9 Set Expected_packet_rate Defines timing associated with this Connection

12 Watchdog_timeout_action USINT Defines how to handle Inactivity/Watchdog timeouts

13 Get Produced_connection_path_

length

14 Produced_connection_path EPATH Specifies the Application Object whose data is to be

15 Consumed_connection_path_len

gth

16 Consumed_connection_path EPATH Specifies the Application Object(s) that are to receive

UINT Number of bytes in the produced_connection_path

attribute

produced by this Connection object

UINT Number of bytes in the Consumed_connection_path

attribute

the data consumed by this Connection

17 Set Production_inhibit_time UINT Defines minimum time between new data production

for COS connections.

Publication 2098-RM004A-EN-P – August 2002

2-46 Programming Reference

DeviceNet Connection Object,
Common Services

Service Code Service Name Service Description

0E

10

05

H

H

H

Get_Attribute_Single Returns the contents of the specified attribute.

Set_Attribute_Single Modifies the specified attribute.

Reset Used to reset the Inactivity/Watchdog Timer associated with a Connection Object

Parameter Object

The DeviceNet Parameter Object provides the interface to the
Ultra3000 Drive with DeviceNet configuration data. It supplies a full

(Class ID 0F

)

H

description of the parameter, including its minimum and maximum
values and a readable text string describing the parameter. The
instances start at one and increment with no gaps.

Parameter Object,
Attributes for Instance ID = 0 (Class Attributes)

Attr ID Access

Rule

1 Get Revision UINT Revision of this object Current value = 01

2 Max Instances Maximum instance number of an

8 Parameter Class

9 Configuration

Name Data

Ty pe

WORD Bit field that describe parameters Bit 0 = supports parameter instances

Descriptor

UINT Instance number of the configuration
Assembly
Instance

Description Semantics of Values

The largest instance number of a created
object currently created in this class
level of the device

assembly

object at this class hierarchy level

Bit 1 = full attributes

Bit 2 = nonvolatile storage save command

Bit 3 = params are stored in nonvolatile

storage

0 = configuration assembly not supported

Publication 2098-RM004A-EN-P – August 2002

The table Parameter Instance on page 2-47 lists the parameter
instances implemented in the Ultra3000 Drive with DeviceNet. The
table Parameter Object Instance Attributes on page 2-97 lists the
instance attributes of the parameter object. A parameter value is
accessed via Attribute 1 of a parameter instance. Additional
information about the parameter object is located beginning on
Page 2-99.

IMPORTANT

Some parameters cannot be modified while the
Ultra3000 Drive with DeviceNet is enabled. The drive
returns the error code, 10

- Device State Conflict, if

h

you attempt to modify one of these parameters while
the drive is enabled.

Programming Reference 2-47

IMPORTANT

If Explicit Messages are to be used frequently to
change the value of parameter objects, refer to
Parameter 114 - Parameter Object Write Behavior. By
default, an Explicit Message Set_Attribute_Single
service causes a nonvolatile memory (NVMEM)
write. However, the nonvolatile memory has a
limited number of write cycles. Change Parameter
114 - Parameter Object Write Behavior to 1 - No
NVMEM Writes to prevent writing the nonvolatile
memory. Parameter values will continue to be
written to volatile memory (RAM).

•Parameters 22–26, 63, 347–349, and 351 (which
have a No Action (0) selection) are not saved in
volatile or non-volatile memory.

•Parameters 27–30, 95, 101–102, and 350 are not
saved in non-volatile memory, but are saved in
volatile memory.

Note: Explicit Get commands have no effect on
NVMEM.

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

1 Set Drive Name SHORT_

2 Get Main Firmware

3 Get DN-SW Node

4 Get DN-SW Data

Access
Rule

Parameter
Name

Version

Address

Rate

Data
Type

STRING

SHORT_
STRING

USINT 1 DeviceNet Node Address (Mac_ID) switch setting.

USINT 1 DeviceNet Data Rate switch setting.

Data Size
(Bytes)

1 byte
length
indicator, 1
byte per
character

1 byte
length
indicator, 1
byte per
character

Units /
Scale

Description

The name of the drive, up to 32 characters long.

The version of drive firmware, in the format
XX.YY.ZZ, where:

• XX = major revision

• YY = minor revision

• ZZ = maintenance revision (not displayed if zero).

0 - 125 kps
1 - 250 kps
2 - 500 kps
3 - Autobaud
4 - Programmable
5 - Programmable
6 - Programmable
7 - Programmable
8 - Programmable
9 - Programmable

Publication 2098-RM004A-EN-P – August 2002

2-48 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

5 Set DN-NV Node

Access
Rule

Parameter
Name

Address

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 The programmed nonvolatile DeviceNet Node

Address (Mac_ID).
Range: 0 to 63
Default: 63

6 Set DN-NV Data Rate USINT 1 The programmed nonvolatile DeviceNet Data Rate.

0 - 125 kps (default)
1 - 250 kps
2 - 500 kps
3 - Autobaud

7 Set I/O Receive

Select

USINT 1 Selects the output (consumed) assembly that is

updated when a Polled, Change-of-State, or Cyclic
I/O Message is received by the drive. If the value is
modified, you have to either close any existing I/O
Messaging connection(s), power cycle the drive,
reset the drive, or remove and reapply DeviceNet
power for the drive to use the modified value. Refer
to the Assembly Object for information on the data
format.
0 - No Data Consumed (default)
1 - Assembly Instance 1
2 - Assembly Instance 2
3 - Assembly Instance 3
4 - Assembly Instance 4
5 - Assembly Instance 5
6 - Assembly Instance 6
7 - Assembly Instance 7
8 - Assembly Instance 8
9 - Assembly Instance 9

8 Set Poll Transmit

(Xmit) Select

USINT 1 Selects the input (produced) assembly that is

transmitted by the drive over a Polled I/O Messaging
connection. If the value is modified, you have to
either close any existing I/O Messaging
connection(s), power cycle the drive, reset the drive,
or remove and reapply DeviceNet power for the drive
to use the modified value. Refer to the Assembly
Object for information on the data format.
0 - Assembly Instance 10 (default)
1 - Assembly Instance 11
2 - Assembly Instance 12
3 - Assembly Instance 13
4 - Assembly Instance 14
5 - Assembly Instance 15
6 - Assembly Instance 16
7 - Assembly Instance 17
8 - Assembly Instance 18

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-49

Parameter
Instance

Access
Rule

Parameter
Name

9 Set COS/Cyclic

Transmit (Xmit)
Select

10 Set Logic Command

Mask

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 Selects the response (produced) assembly that is

transmitted by the drive over a Change-of-State, or
Cyclic I/O Messaging connection. If the value is
modified, you have to either close any existing I/O
Messaging connection(s), power cycle the drive,
reset the drive, or remove and reapply DeviceNet
power for the drive to use the modified value. Refer
to the Assembly Object for information on the data
format.
0 - Assembly Instance 10 (default)
1 - Assembly Instance 13
2 - Assembly Instance 15

DWORD 4 Masks bits of the logic command sent via Polled,

Cyclic, and Change-of-State I/O messages. If a bit is
clear (zero) in the Logic Command Mask, then the
corresponding bit in the logic command will be
cleared. The Logic Command Mask can not be
modified while the drive is enabled.
Bit 0 = Disable Serial
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 3 = Pause Homing
Bit 4 = Abort Homing
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 8 = Preset Select 0
Bit 9 = Preset Select 1
Bit 10 = Preset Select 2
Bit 11 = Preset Select 3
Bit 12 = Preset Select 4
Bit 13 = Preset Select 5
Bit 14 = Reserved
Bit 15 = Reserved
Bit 16 = Define Position
Bit 17 = Integrator Inhibit
Bit 18 = Follower Enable
Bit 19 = Reserved
Bit 20 = Reserved
Bit 21 = Operation Mode Override
Bit 22 = Position Strobe
Bit 23 = Reserved
Bit 24 = Reset Drive
Bit 25 = Start Index
Bit 26 = Define Home
Bit 27 = Reserved
Bit 28 = Remove CMD Offset
Bit 29 = Start Homing
Bit 30 = Fault Reset
Bit 31 = Enable Drive

Default: 0x00000000

Publication 2098-RM004A-EN-P – August 2002

2-50 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

11 Set Enable Behavior USINT 1 Used to determine if the drive can be enabled with

either the DeviceNet Enable or hardware ENABLE; or
if both enables have to be active.
0 - Hardware OR DNet Input (default)
1 - Hardware Enable AND DNet Input

12 Set Change-of-State

Mask

DWORD 4 The Change-of-State mask is used with

Change-of-State I/O messaging. If a particular bit is
set (one) in 'Change-of-State Mask', then a
Change-of-State I/O message will be produced
whenever the corresponding bit in Parameter 16 ­DNet I/O Status changes value. Otherwise, a
Change-of-State I/O message will not be produced.
Bit 0 = At Home
Bit 1 = End of Sequence
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 7 = Startup Commutation Done
Bit 8 = Positive Hardware Overtravel
(Motor Integral Limit)
Bit 9 = Negative Hardware Overtravel
(Motor Integral Limit)
Bit 10 = Positive Overtravel
Bit 11 = Negative Overtravel
Bit 12 = At Index 0 Position
Bit 13 = At Index 1 Position
Bit 14 = Position Compare 1/Write Data Error
Bit 15 = Position Compare 2/Write Data Busy
Bit 16 = In Position
Bit 17 = Within Position Window
Bit 18 = Zero Speed
Bit 19 = Within Speed Window
Bit 20 = Positive Current Limit
Bit 21 = Negative Current Limit
Bit 22 = Up to Speed
Bit 23 = Drive Enabled
Bit 24 = DC Bus Charged
Bit 25 = Fault Disable
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready

Publication 2098-RM004A-EN-P – August 2002

Default: 0x0ffffffff

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-51

Parameter
Instance

13 Set Idle Fault Action USINT 1 Determines the action the drive should take if the

ATTENTION

!

14 Set Comm Fault

Access
Rule

Parameter
Name

If you change the Idle Fault Action parameter's value, the user application may not be able to control the
product after a fault.
Risk of severe bodily injury or equivalent damage exists. The Idle Fault Action parameter allows you to
change the default configuration that would allow the module and associated drive to continue to
operate if communication is lost.
Precautions should be taken to assure that your settings for these parameters and your application do not
create bodily injury or equipment damage.
Refer to the sections DeviceNet Communication Fault Action on page 2-42 and Using the Fault Configured
Input on page 2-43.

Action

Data
Type

USINT 1 Determines the action the drive should take if the

Data Size
(Bytes)

Units /
Scale

Description

master sends a zero length I/O message to the drive,
which may occur if a PLC™ (master) is set to program
mode. No action is taken if the Parameter 7 - I/O
Receive Select specifies an I/O command message
that does not have a logic command.
0 - Fault / Zero Data (default)
1 - Fault / Hold Last Data
2 - Zero Data
3 - Hold Last Data
4 - Fault Configuration (Use data specified by
Parameter 15 - Faulted Logic Command).

drive detects a network failure while an I/O
messaging connection is active. No action is taken if
the Parameter 7 - I/O Receive Select specifies an I/O
command message that does not have a logic
command.
0 - Fault / Zero Data (default)
1 - Fault / Hold Last Data
2 - Zero Data
3 - Hold Last Data
4 - Fault Configuration (Use data specified by
Parameter 15 - Faulted Logic Command).

ATTENTION

!

If you change the Comm Fault Action parameter's value, the user application may not be able to control
the product after a fault.
Risk of severe bodily injury or equivalent damage exists. The Comm Fault Action parameter allows you to
change the default configuration that would allow the module and associated drive to continue to
operate if communication is lost.
Precautions should be taken to assure that your settings for these parameters and your application do not
create bodily injury or equipment damage.
Refer to the sections DeviceNet Communication Fault Action on page 2-42 and Using the Fault Configured
Input on page 2-43.

Publication 2098-RM004A-EN-P – August 2002

2-52 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

15 Set Faulted Logic

Command

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

DWORD 4 Provides the logic command data to the drive when

the drive receives an invalid I/O message or detects
a network failure while an I/O messaging connection
is active.
Bit 0 = Disable Serial
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 3 = Pause Homing
Bit 4 = Abort Homing
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 8 = Preset Select 0
Bit 9 = Preset Select 1
Bit 10 = Preset Select 2
Bit 11 = Preset Select 3
Bit 12 = Preset Select 4
Bit 13 = Preset Select 5
Bit 14 = Reserved
Bit 15 = Reserved
Bit 16 = Define Position
Bit 17 = Integrator Inhibit
Bit 18 = Follower Enable
Bit 19 = Reserved
Bit 20 = Reserved
Bit 21 = Operation Mode Override
Bit 22 = Position Strobe
Bit 23 = Reserved
Bit 24 = Reset Drive
Bit 25 = Start Index
Bit 26 = Define Home
Bit 27 = Reserved
Bit 28 = Remove CMD Offset
Bit 29 = Start Homing
Bit 30 = Fault Reset
Bit 31 = Enable Drive

IMPORTANT

The Faulted Logic Command does not affect those bits that have been masked off by Parameter 10 - Logic
Command Mask. Otherwise, the unmasked Faulted Logic Command bits are OR'ed with the corresponding
hardware inputs. The Enable bit may be configured to be OR'ed and AND’ed with the hardware Enable
input, refer to Parameter 11 - Enable Behavior.

Publication 2098-RM004A-EN-P – August 2002

Default: 0x00000000

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-53

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

16 Get DNet I/O Status DWORD 4 'DNet I/O Status' is the Logic Status field that can be

sent via Polled, Change-of-State, and Cyclic I/O
messages. The Logic Status is part of several
different input (response) assemblies. Refer to the
Assembly Object.
Bit 0 = At Home
Bit 1 = End of Sequence
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 7 = Startup Commutation Done
Bit 8 = Positive Hardware Overtravel
(Motor Integral Limit)
Bit 9 = Negative Hardware Overtravel
(Motor Integral Limit)
Bit 10 = Positive Overtravel
Bit 11 = Negative Overtravel
Bit 12 = At Index 0 Position
Bit 13 = At Index 1 Position
Bit 14 = Position Compare 1/Write Data Error
Bit 15 = Position Compare 2/Write Data Busy
Bit 16 = In Position
Bit 17 = Within Position Window
Bit 18 = Zero Speed
Bit 19 = Within Speed Window
Bit 20 = Positive Current Limit
Bit 21 = Negative Current Limit
Bit 22 = Up to Speed
Bit 23 = Drive Enabled
Bit 24 = DC Bus Charged
Bit 25 = Fault Disable
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready

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2-54 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

17 Get Logic Command DWORD 4 The logic command being used by the drive. Any bits

masked by the Logic Command Mask will be clear
(0). Refer to the Logic Command field in the output
(command) assemblies for the bit definition.
Bit 0 = Disable Serial
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 3 = Pause Homing
Bit 4 = Abort Homing
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 8 = Preset Select 0
Bit 9 = Preset Select 1
Bit 10 = Preset Select 2
Bit 11 = Preset Select 3
Bit 12 = Preset Select 4
Bit 13 = Preset Select 5
Bit 14 = Reserved
Bit 15 = Reserved
Bit 16 = Define Position
Bit 17 = Integrator Inhibit
Bit 18 = Follower Enable
Bit 19 = Reserved
Bit 20 = Reserved
Bit 21 = Operation Mode Override
Bit 22 = Position Strobe
Bit 23 = Reserved
Bit 24 = Reset Drive
Bit 25 = Start Index
Bit 26 = Define Home
Bit 27 = Reserved
Bit 28 = Remove CMD Offset
Bit 29 = Start Homing
Bit 30 = Fault Reset
Bit 31 = Enable Drive

18 Set Serial Address USINT 1 The drive's serial communications port address. If

the Serial Address is modified, then the drive must
be reset for the drive to use the new address.
Range: 0 to 253
Default: 0

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-55

Parameter
Instance

19 Set Broadcast

Access
Rule

Parameter
Name

Address

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 The address used by a host PC to issue a single

broadcast command to all connected Ultra3000
drives. The drive does not send a response to
commands received with the broadcast address. If
the Broadcast Address is modified, then the drive
must be reset for the drive to use the new address.

Note: If a drive's Broadcast Address and Serial
Address are set to the same value, the drive will
treat all serial commands as normal, point-to-point
commands, and will send a response to all
commands it processes.
Range: 0 to 255
Default: 255

20 Set Serial Baud Rate USINT 1 The baud rate for the drive's serial communications

port. If the baud rate is modified, then the drive must
be reset for the drive to use the new baud rate.
0 - 1200
1 - 2400
2 - 4800
3 - 9600
4 - 19200
5 - 38400 (default)

21 Set Frame Format USINT 1 The packet frame format for the drive's serial

communications port. If the frame format is
modified, then the drive must be reset for the drive
to use the new frame format.
0 - 7 Data Bits, Even Parity, 1 Stop Bit
1 - 7 Data Bits, Odd Parity, 1 Stop Bit
2 - 8 Data Bits, No Parity, 1 Stop Bit (default)
3 - 8 Data Bits, Even Parity, 1 Stop Bit
4 - 8 Data Bits, Odd Parity, 1 Stop Bit

22 Set Reset Faults USINT 1 Resets any drive faults. Motion may occur after

clearing drive faults if the drive is enabled.
0 - No Action (default)
1 - Reset

23 Set Reset Drive USINT 1 Resets, or reboots, the hardware and firmware in the

drive.
0 - No Action (default)
1 - Reset

Note: Set is not allowed if the drive is enabled.

24 Set Reset Personality USINT 1 Resets the drive's parameters by reinitializing them

to factory default settings. Stored faults in the fault
history remain unchanged.
0 - No Action (default)
1 - Reset

Note: The drive is reset after the parameters are
reinitialized.

Note: Set is not allowed if the drive is enabled.

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2-56 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

25 Set Reset I Peaks USINT 1 Resets the peak value parameters to zero: Peak

26 Set Define Home

27 Set Host Enable USINT 1 Sets or returns the drive’s Host Enable flag. If set to

Access
Rule

Parameter
Name

Command

Data
Type

USINT 1 Causes the present motor position to be selected as

Data Size
(Bytes)

Units /
Scale

Description

Positive Position Error (Peak +Posn Error), Peak
Negative Position Error (Peak -Posn Error), Positive
Peak Current, and Negative Peak current.
0 - No Action (default)
1 - Reset

Home position. The position command is set to the
Home Position value, and the position feedback is
simultaneously set to its appropriate value,
according to the position error.
0 - No Action (default)
1 - Execute Command

'Enable' and the ENABLE input is active, the drive is
enabled. If set to 'Disable' or the ENABLE input is not
active, the drive is disabled. By default, Host Enable
is enabled. If the drive is reset or power cycled, the
'Host Enable' is automatically set to 'ENABLE'. The
Host Enable setting is not saved in nonvolatile
memory.
0 - Disable
1 - Enable (default)

ATTENTION

The Host Enable parameter allows you to temporarily disable the drive. Do not assume that the drive is
permanently disabled via the Host Enable parameter. Failure to comply may result in personal injury
and/or equipment damage.

!

28 Set Host Control

Mode

29 Set Velocity Setpoint DINT 4 Cnts /

USINT 1 Temporarily puts the drive into various tuning and

Sec

special operating modes. The Host Control Mode
setting is not saved in nonvolatile memory.
0 - Normal Mode (default)
1 - Setpoint Velocity
2 - Setpoint Current
3 - Host Index Mode (Indexing Only)
4 - Autotuning
5 - Step Velocity
6 - Step Position

The velocity command value used when the Host
Contrl Mode is 'Setpoint Velocity'. The drive will
ramp up, or ramp down, to the Velocity Setpoint at
the rate of acceleration set by Parameter 31 ­Setpoint Accel. The Velocity Setpoint is not saved in
nonvolatile memory.
Range: -0x7fffffff to 0x7fffffff
Default: 0

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-57

Parameter
Instance

30 Set Current Setpoint INT 2 Amps /

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

128

Description

The current command value used when Parameter
28 - Host Control Mode is set to 2 - Setpoint Current.
The Current Setpoint setting is not saved in
nonvolatile memory.
Range: -32767 to 32767
Default: 0

31 Set Setpoint Accel UDINT 4 Cnts /

Sec

The maximum rate of acceleration (or deceleration)

2

the drive will use to ramp up (or down) when the
drive is in Setpoint Velocity mode and the Velocity
Setpoint is changed.
Range: 0 to 0x7fffffff
Default: 100000

32 Set Motor Forward

Direction

USINT 1 Determines the positive motor direction.

0 - Normal (default) - A positive direction move
increases the encoder count.
1 - Reverse - A positive direction move decreases
the encoder count.

Note: Set is not allowed if the drive is enabled.

33 Set Operation Mode USINT 1 The drive's command source and operating mode.

0 - Analog Velocity Input (default)
1 - Analog Current Input
2 - Preset Velocity
3 - Preset Current
4 - Follower: Auxiliary Encoder
5 - Follower: Step / Direction
6 - Follower: Step Up / Step Down
7 - Indexing (Indexing Drive only)
8 - Analog Position (Indexing Drive only)
9 - Preset Position (Indexing Drive only)

Note: Set is not allowed if the drive is enabled.

34 Set Override Mode USINT 1 The drive's command source and operating mode

used when the Operation Mode Override input is
active.
0 - Analog Velocity Input (default)
1 - Analog Current Input
2 - Preset Velocity
3 - Preset Current
4 - Follower: Auxiliary Encoder
5 - Follower: Step / Direction
6 - Follower: Step Up / Step Down
7 - Indexing (Indexing Drive only)
8 - Analog Position (Indexing Drive only)
9 - Preset Position (Indexing Drive only)

Note: Set is not allowed if the drive is enabled.

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2-58 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

35 Set (Machine Cycle)

Position Rollover

36 Set Machine Cycle

Size

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 Enables or disables the machine cycle position

rollover function. If enabled the position feedback
will rollover when it’s value reaches the Machine
Cycle Size.
0 - Disable (default)
1 - Enable

Note: This parameter is automatically set to Enable
(1) and cannot be changed when Single-Turn
Absolute mode is active (refer to Parameter 231 ­Single-Turn Absolute).

Note: Set is not allowed if the drive is enabled.

UDINT 4 Cnts The position feedback will rollover at the Machine

Cycle Size if Parameter 35, Position Rollover
parameter is set to 1 - Enable. For example, if
Machine Cycle Size is set to 1000, then the position
feedback will range between 0 to 999.
Range: 100 to 0x7fffffff
Default: 0x7fffffff

Note: This parameter is automatically set to One
Revolution (in counts) and cannot be changed when
Single-Turn Absolute mode is active (refer to
Parameter 231 - Single-Turn Absolute).

Note: Set is not allowed if the drive is enabled.

37 Set Positive I Limit USINT 1 % The positive current limit value. The value is a

percentage of the lesser of the intermittent (peak)
drive current rating and intermittent (peak) motor
current rating. During runtime, the drive limits
positive current to the lesser of the:

• Positive Current Limit,

• Analog Current Limit input,

• Intermittent Current rating of the drive, or

• Intermittent Current rating of the motor.

Range: 0 to 100
Default: 100

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-59

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

38 Set Negative I Limit USINT 1 % The negative current limit value. The value is a

percentage of the lesser of the intermittent (peak)
drive current rating and intermittent (peak) motor
current rating. During runtime, the drive limits
positive current to the lesser of the:

• Negative Current Limit,

• Analog Current Limit input,

• Intermittent Current rating of the drive, or

• Intermittent Current rating of the motor.

Range: 0 to 100
Default: 100

39 Set Soft Overtravel USINT 1 Enables or disables the software overtravel limit

checking.
0 - Disable (default)
1 - Enable

Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.

Note: The Soft Overtravel does not operate unless
the drive was previously homed.

40 Set Positive Soft

Position Limit

DINT 4 Cnts The absolute position that will cause a deceleration

to zero velocity when exceeded in the positive
direction.
Range: -0x7fffffff to 0x7fffffff
Default: 0x7fffffff

41 Set Negative Soft

Position Limit

Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.

Note: The Positive Soft Position Limit does not
operate unless the drive was previously homed.

DINT 4 Cnts The absolute positive that will cause a deceleration

to zero velocity when exceeded in the negative
direction.
Range: -0x7fffffff to 0x7fffffff
Default: -0x7fffffff (0x80000001)

Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.

Note: The Negative Soft Position Limit does not
operate unless the drive was previously homed.

Publication 2098-RM004A-EN-P – August 2002

2-60 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

42 Set Positive Decel

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

DINT 4 Cnts The distance that an axis will travel when an

Distance

43 Set Negative Decel

DINT 4 Cnts The distance that an axis will travel when an

Distance

44 Set Zero Speed Limit UDINT 4 Cnts /

Sec

Description

overtravel limit has been reached in the positive
direction.
Range: 0 to 0x7fffffff
Default: 0

Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.

overtravel limit has been reached in the negative
direction.
Range: 0 to 0x7fffffff
Default: 0

Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.

A +/- range, or window, around zero velocity. If the
motor feedback velocity falls within this range, the
Zero Speed flag will be (or remain) set.
Range: 0 to 0x7fffffff
Default: 500

45 Set Speed Window UDINT 4 Cnts /

Secs

46 Set Up to Speed UDINT 4 Cnts /

Secs

47 Set Position Window

UDINT 4 Cnts The maximum amount of position error which will

Size

48 Set Position Window

USINT 1 mSec The minimum length of time the position error must

Time

A +/- range, or window, around the velocity
command. If the motor feedback velocity falls within
this range, the Speed Window flag will be (or
remain) set.
Range: 0 to 0x7fffffff
Default: 1000

If the motor feedback velocity is greater than or
equal to this value, the Up to Speed flag will be (or
remain) set.
Range: 0 to 0x7fffffff
Default: 100000

permit the In Position and the In Position Window
flags to be (or remain) set.
Range: 0 to 0x7fffffff
Default: 20

be less than the Position Window Size value, for the
In Position and the In Position Window flags to be (or
remain) set.
Range: 1 to 255
Default: 20

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-61

Parameter
Instance

Access
Rule

Parameter
Name

49 Set Position Compare

1Type

50 Set Position Compare

1Min

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 Selects the type of comparison that will determine if

the Position Compare 1 flag should be set.
0 - Greater Than (default) - The flag will be set if the
motor feedback position is greater than the
Position Compare 1 Min value.
1 - Less Than - The flag will be set if the motor
feedback position is less than the
Position Compare 1 Min value.
2 - Within Window - The flag will be set if the motor
feedback position is greater than
Position Compare 1 Min and less than Parameter
112 - Position Compare 1 Max.
3 - Outside Window - The flag will be set if the
motor feedback position is less than
Position Compare 1 Min or more than Position
Compare 1 Max.

Note: The Position Compare 1 Type does not operate
unless the drive was previously homed.

DINT 4 Cnts The position that will be compared to the motor

(auxiliary) feedback position to determine if the
Position Compare 1 flag should be set.
Range: -0x7fffffff to 0x7fffffff
Default: 0

51 Set Position Compare

2Type

52 Set Position Compare

2Min

USINT 1 Selects the type of comparison that will determine if

the Position Compare 2 flag should be set.
0 - Greater Than (default) - The flag will be set if the
motor feedback position is greater than the
Position Compare 2 Min value.
1 - Less Than - The flag will be set if the motor
feedback position is less than the
Position Compare 2 Min value.
2 - Within Window - The flag will be set if the motor
feedback position is greater than
Position Compare 2 Min and Less than Parameter
113 - Position Compare 2 Max.
3 - Outside Window - The flag will be set if the
motor feedback position is less than
Position Compare 2 Min or more than Position
Compare 2 Max.

Note: The Position Compare 2 Type does not operate
unless the drive was previously homed.

DINT 4 Cnts The position that will be compared to the motor

(auxiliary) feedback position to determine if the
Position Compare 2 flag should be set.
Range: -0x7fffffff to 0x7fffffff
Default: 0

Publication 2098-RM004A-EN-P – August 2002

2-62 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

53 Set Velocity Loop

P_Gain

54 Set Velocity Loop

I_Gain

55 Set Velocity Loop

D_Gain

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

UINT 2 The proportional gain for the velocity loop. The P

gain generates a control signal proportional to the
velocity error. Increasing the P gain improves
response time and increases the stiffness of the
system. Too high a P gain value causes instability;
too low a P gain value results in loose or sloppy
system dynamics.
Range: 0 to 4000
Default: 200

UINT 2 Integral gain for the velocity loop. The I gain

generates a control signal proportional to the
integral of the velocity error. I gain improves the
steady-state velocity performance of the system.
Increasing the integral gain generally increases the
ultimate positioning accuracy of the system.
However excessive integral gain results in system
instability.
Range: 0 to 4000
Default: 66

INT 2 Derivative gain value for the velocity loop. The D

gain generates a control signal proportional to
measured acceleration. Positive D gain reduces
velocity overshoot, and negative D gain should be
used only in systems that exhibit mechanical
resonance.
Range: -1000 to 1000
Default: 0

56 Set Position Loop Kp

Gain

57 Set Position Loop Ki

Gain

58 Set Position Loop Kd

Gain

59 Set Position Loop Kff

Gain

UINT 2 1/128 Proportional gain for the position loop. The Kp gain

generates a control signal proportional to the
position error. Kp gain changes the position loop
bandwidth and the settling time of the position loop.
Range: 0 to 4095
Default: 512

UINT 2 1/128 Integral gain for the position loop. Ki gain generates

a control signal proportional to the integral of the
velocity error.
Range: 0 to 4095
Default: 0

UINT 2 1/128 Derivative gain for the position loop. The Kd gain

generates a control signal proportional to measured
velocity. Kd provides damping to the position loop,
which can reduce overshoot.
Range: 0 to 4095
Default: 0

UINT 2 Feedforward gain for the position loop. The Kff gain

generates a feed forward signal proportional to the
commanded speed. Kff gain reduces position
following error. However high values can cause
position overshoot.
Range: 0 to 200
Default: 100

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-63

Parameter
Instance

60 Set Position Loop Ki

Access
Rule

Parameter
Name

Zone

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

UDINT 4 Cnts The region around the commanded position where

integral gain is active. If the position error is greater
than Ki Zone, the integrator is not active.
Range: 0 to 0x7fffffff
Default: 1000

61 Set Low Pass Filter USINT 1 Selects whether to enable or disable the drive's low

pass filter.
0 - Disable
1 - Enable (default)

62 Set Low Pass

Bandwidth

UINT 2 Hz The bandwidth of the low pass filter. This value

indicates the cutoff frequency of the low pass filter.
The filter reduces noise generated by encoder
resolution or mechanical resonance in the system.
Range: 1 to 992
Default: 150

63 Set Start Autotune

Command

USINT 1 Starts autotuning if the drive is enabled and

Parameter 28, Host Control Mode is set to 4 ­Autotuning.
0 - No Action (default)
1 - Execute Command

64 Set Tuning Direction USINT 1 Select the direction in which the motor rotates

during autotuning.
0 - Bi-Directional (default)
1 - Forward Only
2 - Reverse Only

65 Set Autotune

Maximum
Distance

UDINT 4 Cnts The maximum distance the motor will turn when

performing autotuning. The autotune distance
should be set as large as the application permits, so
that the autotune algorithm is able to collect
sufficient data to compute new tuning gains.
Range: 1 to 0x7fffffff
Default: 1000000

66 Set Autotune Step

Current

67 Set Tune Position

Step

USINT 1 % The current the drive will command when performing

autotuning. The value is a percentage of the lesser
of the intermittent (peak) drive current rating and
intermittent (peak) motor current rating. The
autotune current is normally set to 10%, but may
need to be increased in the presence of large
inertias or high friction. In these systems, higher
settings ensure that the autotune algorithm is able
to collect sufficient data to compute new tuning
gains.
Range: 1 to 100
Default: 10

UINT 2 Cnts The amplitude of the drive's commanded position

step (square wave) during manual position tuning.
Range: 1 to 32767
Default: 500

Publication 2098-RM004A-EN-P – August 2002

2-64 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

68 Set Tune Position

Period

69 Set Tune Velocity

Step

70 Set Tune Velocity

Period

71 Set Motor Encoder

Interpolation

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

UINT 2 mSec The period of the drive's commanded position step

(square wave) during manual position tuning.
Range: 1 to 32767
Default: 500

UDINT 4 Cnts /

Sec

The amplitude of the drive's commanded velocity
step (square wave) during manual velocity tuning.
Range: 1 to 0x7fffffff
Default: 10000

UINT 2 mSec The period of the drive's command velocity step

(square wave) during manual velocity tuning.
Range: 1 to 32767
Default: 500

USINT 1 The amount of interpolation to be used with

sine/cosine encoders. For example, if the
interpolation is set to x256, the drive interpolates
256 counts for every 1/4 line of the input sinusoid.
0 - x4
1 - x8
2 - x16
3 - x32
4 - x64
5 - x128
6 - x256 (default)
7 - x512
8 - x1024

72 Set Position

Feedback Source

73 Set Encoder Output

Signal

74 Set Motor Encoder

Divider

Note: Set is not allowed if the drive is enabled.

USINT 1 The source for position loop feedback.

0 - Motor Encoder (default)
1 - Auxiliary Encoder

Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.

USINT 1 Specifies the type of encoder output from the drive.

0 - Buffered (default) - The encoder input is passed
through the drive directly, without interpolation or
division.
1 - Divided - The encoder input is divided and then
output.
2 - Interpolated - The interpolated encoder counts
are output.

UINT 2 The amount of division used for generating the

encoder output signal. For example, if the Divider is
set to 4, the encoder output frequency will be 1/4
the encoder input frequency. This parameter is only
active if Divided is selected as the Encoder Output
Signal.
Range: 1 to 1000
Default: 4

th

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-65

Parameter
Instance

Access
Rule

Parameter
Name

75 Set Maximum

Encoder Output
Frequency

76 Set Marker Output

Gating

77 Set Auxiliary Encoder

Load Count

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 The encoder output frequency limit. This parameter

is active only if Divided or Interpolated is selected as
the Encoder Output Signal.
0 - 500 kHz (default)
1 - 1 MHz
2 - 4 MHz
3 - 8 MHz

USINT 1 Allows the drive to produce and use a more precise

marker signal.
0 - Not Gated - The drives uses and outputs the
normal marker input as received from the encoder.
(default)
1 - Gated with A and B - The marker output of the
drive is the logical AND of the marker input from the
encoder and the A and B inputs. This produces a
more precise marker signal for homing.

UINT 2 Cnts The Auxiliary Encoder Motor Count and Auxiliary

Encoder Load Count parameters specify the ratio of
encoder counts between the motor encoder and the
load encoder. The parameters are active only if the
The Position Feedback Source is selected to be
Auxiliary Encoder.
Range: 1 to 32767
Default: 1

78 Set Auxiliary Encoder

Motor Count

79 Set Auxiliary Encoder

Typ e

80 Set Auxiliary Encoder

Lines/Rev

81 Set Auxiliary Encoder

Lines/ Meter

INT 2 Cnts The Auxiliary Encoder Motor Count and Auxiliary

Encoder Load Count parameters specify the ratio of
encoder counts between the motor encoder and the
load encoder. The parameters are active only if the
Position Feedback Source is selected to be Auxiliary
Encoder.
Range: -32767 to 32767
Default: 1

USINT 1 The type of auxiliary encoder.

0 - Rotary Encoder (default)
1 - Linear Encoder

UINT 2 Auxiliary encoder lines per revolution. This

parameter is used only if the auxiliary encoder is a
rotary encoder.
Range: 100 to 64000
Default: 2000

UDINT 4 Auxiliary encoder lines per meter of travel. This

parameter is used only if the auxiliary encoder is a
linear encoder.
Range: 4000 to 10000000
Default: 10000

Publication 2098-RM004A-EN-P – August 2002

2-66 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

82 Set Digital Input 1

Configuration

83 Set Digital Input 2

Configuration

84 Set Digital Input 3

Configuration

85 Set Digital Input 4

Configuration

86 Set Digital Input 5

Configuration

87 Set Digital Input 6

Configuration

88 Set Digital Input 7

Configuration

89 Set Digital Input 8

Configuration

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

DWORD 4 Each digital input configuration parameter assigns

one or more functions to the corresponding Digital

DWORD 4

Input. Selecting a function will cause that function to
become active when the associated Digital Input
becomes active. If no functions are selected by a

DWORD 4

digital input configuration parameter, then the
corresponding Digital Input is unassigned.

DWORD 4

Bit 0 = Disable Serial Input
Bit 1 = Pause Index

DWORD 4

Bit 2 = Abort Index
Bit 3 = Pause Homing

DWORD 4

Bit 4 = Abort Homing
Bit 6 = Positive Hardware Overtravel
Bit 7 = Negative Hardware Overtravel

DWORD 4

Bit 8 = Preset Select 0
Bit 9 = Preset Select 1
Bit 10 = Preset Select 2

DWORD 4

Bit 11 = Preset Select 3
Bit 12 = Preset Select 4
Bit 13 = Preset Select 5
Bit 16 = Define Position
Bit 17 = Integrator Inhibit
Bit 18 = Follower Enable
Bit 19 = Forward Enable
Bit 20 = Reverse Enable
Bit 21 = Operation Mode Override
Bit 22 = Position Strobe
Bit 23 = Home Sensor
Bit 24 = Reset Drive
Bit 25 = Start Index
Bit 26 = Define Home Position
Bit 27 = Registration
Bit 28 = Remove Command Offset
Bit 29 = Start Homing
Bit 30 = Fault Reset
Bit 31 = Enable Drive

Publication 2098-RM004A-EN-P – August 2002

Defaults:
Parameter 82 = 0x80000000
Parameters 83-89 = 0x00000000

Note: Set is not allowed if the drive is enabled.

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-67

Parameter
Instance

Access
Rule

Parameter
Name

90 Set Digital Output 1

Configuration

91 Set Digital Output 2

Configuration

92 Set Digital Output 3

Configuration

93 Set Digital Output 4

Configuration

94 Set Relay Output

Configuration

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

DWORD 4 Each digital output configuration parameter assigns

one or more functions to the corresponding Digital

DWORD 4

Output (or Relay Output). Selecting a function will
cause the Digital Output to become active when the
associated function becomes active. If no functions

DWORD 4

are selected by a digital output configuration
parameter, then the corresponding Digital Output (or

DWORD 4

Relay Output) is unassigned.

Bit 0 = At Home

DWORD 4

Bit 1 = End of Sequence
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 7 = Startup Commutation Done
Bit 8 = Positive Hardware Overtravel
(Motor Integral Limit)
Bit 9 = Negative Hardware Overtravel
(Motor Integral Limit)
Bit 10 = Positive Overtravel
Bit 11 = Negative Overtravel
Bit 12 = At Index 0 Position
Bit 13 = At Index 1 Position
Bit 14 = Position Compare 1
Bit 15 = Position Compare 2
Bit 16 = In Position
Bit 17 = Within Position Window
Bit 18 = Zero Speed
Bit 19 = Within Speed Window
Bit 20 = Positive Current Limit
Bit 21 = Negative Current Limit
Bit 22 = Up to Speed
Bit 23 = Drive Enabled
Bit 24 = DC Bus Charged
Bit 25 = Fault Disable
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready

Default = 0x00000000

Note: Set is not allowed if the drive is enabled.

Publication 2098-RM004A-EN-P – August 2002

2-68 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

95 Set Digital Output

Access
Rule

Parameter
Name

Override

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

WORD 2 Allows you to write (override) selected digital

output(s). If one or more of the Override bits are set
to a one, then the Output and Relay State bits will
determine whether the overridden digital outputs
are active or inactive. For example, if the Digital
Output Override parameter is set to 0x0044, then
Digital Output 3 will be active. The Digital Output
Override setting is not saved in nonvolatile memory.

Bit 0 = Output 1 Override
Bit 1 = Output 2 Override
Bit 2 = Output 3 Override
Bit 3 = Output 4 Override
Bit 4 = Relay Override
Bit 5 = Reserved
Bit 6 = Reserved
Bit 7 = Reserved
Bit 8 = Output 1 State
Bit 9 = Output 2 State
Bit 10 = Output 3 State
Bit 11 = Output 4 State
Bit 12 = Relay State

Range: 0 to 0x1fff
Default: 0

96 Set Brake On Delay INT 2 mSec The time delay between enabling the drive and

activating a Brake output which releases the motor
brake. Negative values indicate the time that the
function is activated before enabling the drive.
Range: -32767 to 32767
Default: 0

97 Set Brake Off Delay INT 2 mSec The time delay between disabling the drive and

deactivating a Brake output to apply the motor
brake. If a drive fault occurs when a negative is
assigned to the Brake Off Delay, the drive is disabled
and the Brake is deactivated simultaneously.
Range: -32767 to 32767
Default: 0

98 Set Analog Output

Configuration

Publication 2098-RM004A-EN-P – August 2002

USINT 1 Selects a drive signal to be assigned to the analog

output.
0 - Unassigned (default)
1 - Position Command
2 - Position Error
7 - Position Feedback
16 - Current Command
17 - Average Current
22 - Velocity Feedback
23 - Velocity Command
24 - Velocity Error
36 - Current Feedback

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-69

Parameter
Instance

Access
Rule

Parameter
Name

99 Set Analog Output

Scale

100 Set Analog Output

Offset

101 Set Override Analog

Output

102 Set Analog Output

Override

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

INT 2 The analog output scale in units per volt. The units is

dependent on the signal selected by the Parameter
98 - Analog Output Configuration. Parameter 110 ­Analog Output Position Scale is used to scale the
analog output if a position signal is selected and the
Analog Output Scale is zero.
Range: -32767 to 32767
Default: 0

INT 2 mV The offset applied to the analog output.

Range: -10000 to 10000
Default: 0

USINT 1 The analog output override control flag determines if

you can write to the analog output directly. The
Override Analog Output setting is not saved in
nonvolatile memory.
0 - Normal (default)
1 - Override

INT 2 mV Sets the analog output value when Parameter 101,

Override Analog Output is set to 1 - Override. The
Analog Output Override setting is not saved in
nonvolatile memory.
Range: -10000 to 10000
Default: 0

103 Set User Current

Fault

104 Set User Velocity

Limit

105 Set User Velocity

Fault

106 Set Velocity Error

Limit

UINT 2 Amps /

128

The current level that will generate a fault when
exceeded by the average current. The drive
automatically protects itself and the motor when the
average current exceeds the drive or motor current
ratings, and this protection cannot be disabled.
However, you can specify a lower current fault level
with this parameter.
Range: 0 to 32767
Default: 32640

UDINT 4 Cnts /

Sec

The minimum velocity that will generate a User
Velocity fault. The drive automatically protects the
motor from exceeding its ratings, and this protection
cannot be disabled. However, you can specify a
lower velocity fault level with this parameter.
Range: 0 to 0x7fffffff
Default: 100000

USINT 1 Determines if the User Velocity fault detection is

enabled (turned on) or disabled.
0 - Disable (default)
1 - Enable

USINT 1 % of

max
motor
speed

The minimum velocity error which triggers the
Velocity Error fault.
Range: 1 to 100
Default: 25

Publication 2098-RM004A-EN-P – August 2002

2-70 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

107 Set Velocity Error

Time

108 Set Position Error

Limit

109 Set Position Error

Time

110 Set Analog Output

Position Scale

111 Set Acceleration

Feedforward
Gain - Kaff

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

UINT 2 mSec The minimum time which the velocity error must be

greater than the Velocity Error Limit to cause a
Velocity Error Fault.
Range: 0 to 65535
Default: 1000

UDINT 4 Cnts The minimum position error which triggers the

Following Error fault.
Range: 0 to 0x7fffffff
Default: 8000

UINT 2 mSec The minimum time during which the position error

must be greater than the Position Error Limit to
cause a Following Error fault.
Range: 0 to 65535
Default: 100

DINT 4 Cnts/V This parameter is used to scale the analog output

when Parameter 98 - Analog Output Configuration
selects a position signal and Parameter 99 - Analog
Output Scale is equal to zero.
Range: -0x7fffffff to 0x7fffffff
Default: 0

UINT 2 % Acceleration feedforward gain for the position loop.

The Kaff gain generates a feed forward signal
proportional to the commanded acceleration.
Kaff gain reduces position following error. However,
high values can cause position overshoot.
Range: 0 to 200
Default: 0

112 Set Position Compare

1 Max

113 Set Position Compare

2 Max

DINT 4 Cnts The position that will be compared to the motor

(auxiliary) feedback position to determine if the
Position Compare 1 flag should be set.
Range: -0x7fffffff to 0x7fffffff
Default: 0

DINT 4 Cnts The position that will be compared to the motor

(auxiliary) feedback position to determine if the
Position Compare 2 flag should be set.
Range: -0x7fffffff to 0x7fffffff
Default: 0

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-71

Parameter
Instance

Access
Rule

Parameter
Name

114 Set Parameter Object

Write Behavior

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 Determines whether the Set_Attribute_Single

(write) service to a parameter object will cause the
parameter value to be saved to both nonvolatile
(NVMEM) and volatile (RAM) memory or just to
volatile memory. By default, most parameter values
are written to both volatile and nonvolatile memory.
However, if the Parameter Object Write Behavior is
set to 1 - No NVMEM Writes, then parameter values
are only written to volatile memory.
0 - Writes to NVMEM (default)
1 - No NVMEM Writes

Note: This parameter (114) does not affect how
parameter values are saved when an I/O or explicit
message writes a parameter value via an Assembly
Object.

Note: This parameter (114) is always written to both
volatile and nonvolatile memory. Setting this
parameter to 1 - No NVMEM Writes allows a user to
frequently change parameter values without
exceeding the nonvolatile memory's limited number
of write cycles. Typically, a user will not modify this
parameter.

Note: Some parameter values are not saved to
nonvolatile memory. Example: Parameter 22 - Reset
Faults, Parameter 27 - Host Enable, Parameter 29 ­Velocity Setpoint.

115-119 Get Reserved USINT 1 Default: 0

Publication 2098-RM004A-EN-P – August 2002

2-72 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

120 Get Operating Mode USINT 1 The operating mode that the drive is currently in.

0 = Analog Velocity Input
1 = Analog Current Input
2 = Preset Velocity
3 = Preset Current
4 = Follower - Auxiliary Encoder
5 = Follower - Step / Direction
6 = Follower - Step Up / Step Down
7 = Indexing
8 = Analog Position
9 = Preset Position
10 - 15 = Reserved
16 = Setpoint Velocity
17 = Setpoint Current
18 = Host Index Mode
19 = Autotuning
20 = Step Velocity
21 = Step Position
22 = Encoder Index Alignment
23 = Commutation Diagnostics
24 = Motor Feedback Diagnostics
25 = Motor Marker Diagnostics
26 = Auxiliary Feedback Diagnostics
27 = Auxiliary Marker Diagnostics
28 - 31 = Reserved
32 = Disabled
33 = Fault Decel
34 = Homing
35 = Reserved
36 = Commutation Startup
37 = Start/Stop

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-73

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

121 Get Output Status DWORD 4 Various output status flags in the drive.

Bit 0 = At Home
Bit 1 = End of Sequence
Bit 2 = In Motion
Bit 3 = In Dwell
Bit 4 = Registered
Bit 5 = Axis Homed
Bit 6 = Tracking
Bit 7 = Startup Commutation Done
Bit 8 = Positive Hardware Overtravel
(Motor Integral Limit)
Bit 9 = Negative Hardware Overtravel
(Motor Integral Limit)
Bit 10 = Positive Overtravel
Bit 11 = Negative Overtravel
Bit 12 = At Index 0 Position
Bit 13 = At Index 1 Position
Bit 14 = Position Compare 1
Bit 15 = Position Compare 2
Bit 16 = In Position
Bit 17 = Within Position Window
Bit 18 = Zero Speed
Bit 19 = Within Speed Window
Bit 20 = Positive Current Limit
Bit 21 = Negative Current Limit
Bit 22 = Up to Speed
Bit 23 = Drive Enabled
Bit 24 = DC Bus Charged
Bit 25 = Fault Disable
Bit 26 = Reserved
Bit 27 = Reserved
Bit 28 = Reserved
Bit 29 = Reserved
Bit 30 = Brake
Bit 31 = Ready

Publication 2098-RM004A-EN-P – August 2002

2-74 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

122 Get Input Status DWORD 4 The present state of the digital inputs.

Bit 0 = Disable Serial Input
Bit 1 = Pause Index
Bit 2 = Abort Index
Bit 3 = Pause Homing
Bit 4 = Abort Homing
Bit 6 = Positive Hardware Overtravel
Bit 7 = Negative Hardware Overtravel
Bit 8 = Preset Select 0
Bit 9 = Preset Select 1
Bit 10 = Preset Select 2
Bit 11 = Preset Select 3
Bit 12 = Preset Select 4
Bit 13 = Preset Select 5
Bit 16 = Define Position
Bit 17 = Integrator Inhibit
Bit 18 = Follower Enable
Bit 19 = Forward Enable
Bit 20 = Reverse Enable
Bit 21 = Operation Mode Override
Bit 22 = Position Strobe
Bit 23 = Home Sensor
Bit 24 = Reset Drive
Bit 25 = Start Index
Bit 26 = Define Home Position
Bit 27 = Registration
Bit 28 = Remove Command Offset
Bit 29 = Start Homing
Bit 30 = Fault Reset
Bit 31 = Enable Drive

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-75

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

123 Get Fault Status DWORD 4 The Fault Status and Extended Fault Status

parameters provide the present state of the possible
fault conditions.
Bit 0 = Absolute Feedback Memory
(Nonvolatile Memory Endurance Exceeded)
Bit 1 = Absolute Feedback Overspeed
(Position Change Exceeds Position Rollover / 2)
Bit 2 = Absolute Feedback Range Exceeded
Bit 3 = Motor Overtemp
Bit 4 = IPM Fault
Bit 6 = Encoder Channel B Line Break
Bit 7 = Encoder Channel A Line Break
Bit 8 = Bus Undervoltage
Bit 9 = Bus Overvoltage
Bit 10 = Bad Hall State
Bit 11 = Home Search Failed
Bit 12 = Home Position Outside Limits
Bit 13 = Network Communication
Bit 14 = Electrical Cycle
Bit 16 = User Current Fault
Bit 17 = Motor Overspeed
Bit 18 = Following Error
Bit 19 = Motor Encoder
Bit 20 = Auxiliary Encoder
Bit 21 = Motor Thermal Protection
Bit 22 = IPM Thermal Protection
Bit 23 = Excessive Velocity Error
Bit 24 = Sensor Unassigned
Bit 25 = Motor Speed Limit
Bit 26 = Axis Not Homed
Bit 27 = Motor Parameter Error
Bit 28 = Excessive Encoder Output Frequency
Bit 29 = Encoder Communication
Bit 30 = Encoder Data Error
Bit 31 = Sincos Encoder Frequency Too High

124 Get Extended Fault

Status

WORD 2 The Fault Status and Extended Fault Status

parameters provide the present state of the possible
fault conditions.
Bit 0 = Position Outside Modulus
(Absolute Position Exceeds Position Rollover
Bit 1 = Ground Short Circuit
Bit 2 = Soft-Starting Fault
Bit 3 = Internal Overtemperature
Bit 4 = AC Input Phase Loss
Bit 5 = Reserved
Bit 6 = Self-sensing Error

Publication 2098-RM004A-EN-P – August 2002

2-76 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

125 Get Tuning Status BYTE 1 Status bits for the autotune procedure.

Bit 0 = Autotune Done
Bit 1 = Reserved
Bit 2 = Reserved
Bit 3 = Autotune Speed Too Low
Bit 4 = Autotune Timeout
Bit 5 = Distance Limit Reached
Bit 6 = Autotune Failed

126 Get Digital Input

States

WORD 2 The present state of the digital hardware inputs.

Bit 0 = Input 1 State
Bit 1 = Input 2 State
Bit 2 = Input 3 State
Bit 3 = Input 4 State
Bit 4 = Input 5 State
Bit 5 = Input 6 State
Bit 6 = Input 7 State
Bit 7 = Input 8 State

127 Get Digital Output

States

WORD 2 The present state of the digital hardware outputs.

Bit 0 = Output 1 State
Bit 1 = Output 2 State
Bit 2 = Output 3 State
Bit 3 = Output 4 State
Bit 4 = Relay State

128 Get Encoder Signals WORD 2 The preset state of the encoder signals.

Bit 0 = Auxiliary Encoder Z
Bit 1 = Auxiliary Encoder B
Bit 2 = Auxiliary Encoder A
Bit 3 = Motor Encoder S3
Bit 4 = Motor Encoder S2
Bit 5 = Motor Encoder S1
Bit 6 = Motor Encoder Z
Bit 7 = Motor Encoder B
Bit 8 = Motor Encoder A
Bit 9 = Motor Thermostat
Bit 10 = Negative Overtravel
Bit 11 = Positive Overtravel

129 Get Analog Command

Input Value

130 Get Analog Output

INT 2 mV The Analog Command Input value before any the

scale and offset are applied.

INT 2 mV The Analog Output value.

Value

131 Get DC Bus Voltage UINT 2 Volts The measured voltage of the DC bus.

132 Get Position

Command

DINT 4 Cnts The commanded motor position which is input to the

position loop.

133 Get Position Error DINT 4 Cnts The difference between commanded motor position

(Position Command) and actual motor position
(Motor Position).

134 Get Motor Position DINT 4 Cnts Actual motor position.

135 Get Auxiliary Encoder

Position

Publication 2098-RM004A-EN-P – August 2002

DINT 4 Cnts Auxiliary encoder position.

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-77

Parameter
Instance

136 Get Peak -Position

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

DINT 4 Cnts The negative peak Position Error.

Error

137 Get Peak +Position

DINT 4 Cnts The positive peak Position Error.

Error

138 Get Velocity

Command

DINT 4 Cnts /

Sec

139 Get Velocity Error DINT 4 Cnts /

Sec

140 Get Motor Velocity DINT 4 Cnts /

Sec

141 Get Analog Current

Limit

INT 2 Amps /

128

142 Get Average Current INT 2 Amps /

128

143 Get Current

Command

INT 2 Amps /

128

144 Get Current Feedback INT 2 Amps /

128

145 Get Negative Peak

Current

INT 2 Amps /

128

Description

The commanded motor velocity which is input to the
velocity loop.

The difference between command motor velocity
(Motor Velocity) and actual velocity (Motor Velocity).

Actual motor velocity (filtered value).

The current limit specified by the analog current limit
input.

The average value of the Current Command.

The commanded current.

The actual current in the motor producing torque in a
rotary motor or force in a linear motor.

The negative peak, as recorded by the peak
detection algorithm.

146 Get Positive Peak

Current

INT 2 Amps /

128

The positive peak, as recorded by the peak detection
algorithm.

147 Get Drive Temp UINT 2 % The drive temperature as a percentage of the trip

point.

148 Get Motor Temp UINT 2 % /

128

The motor temperature as a percentage of the trip
point.

149 Get Encoder Temp USINT 1 Deg C The encoder temperature if Parameter 191, Auto

Motor Identification is set to Enable and a smart
encoder is detected.

Publication 2098-RM004A-EN-P – August 2002

2-78 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

150
152
154
156
158
160
162
164
166
168
170
172
174
176
178
180
182
184
186
188

Access
Rule

Parameter
Name

Get Fault History 1

through

Fault History 20

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

USINT 1 Returns the most recent faults detected in the drive.

Fault History 0 is the most recent, 19 is the oldest.
0 - No Fault
1 - Absolute Feedback Memory
2 - Absolute Feedback Overspeed
3 - Absolute Feedback Range Exceeded
4 - Motor Overtemp
5 - IPM Fault
7 - Channel B Line Break
8 - Channel A Line Break
9 - Bus Undervoltage
10 - Bus Overvoltage
11 - Bad Hall State
12 - Home Search Failed
13 - Home Position Outside Limits
14 - Network communication
15 - Electrical Cycle
17 - User Current Fault
18 - Motor Overspeed
19 - Following Error
20 - Motor Encoder
21 - Auxiliary Encoder
22 - Motor Thermal Protection
23 - IPM Thermal Protection
24 - Excessive Velocity Error
25 - Sensor Unassigned
26 - Motor Speed Limit
27 - Axis Not Homed
28 - Motor Parameter Error
29 - Excessive Encoder Output Frequency
30 - Encoder Communication
31 - Encoder Data Error
32 - Sincos Encoder Frequency Too High
33 - Position Outside Modulus
34 - Ground Short Circuit
35 - Soft-Starting Fault
36 - Internal Overtemperature
37 - AC Input Phase Loss
39 - Self-sensing Error
51 - Boot FW Checksum
52 - Main FW Checksum
53 - User NV Uninitialized
54 - NVMEM Read Error
55 - User NV Checksum
56 - Watchdog Timeout
57 - Gate Array Watchdog
60 - Manufacture NV Uninitialized
62 - Manufacture NV Checksum
74 - NVMEM Write Error
82 - Bus Error
87 - Illegal Event
88 - Breakpoint Interrupt
89 - DeviceNet Board Checksum
93 - Serial Number
95 - Dual Port Error
96 - Unused Interrupt
97 - Spurious Interrupt
98 - Divide by Zero
99 - Illegal Instruction

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-79

Parameter
Instance

151

Access
Rule

Parameter
Name

Get Fault Time 1
153
155

through
157
159

Fault Time 20
161
163
165
167
169
171
173
175
177
179
181
183
185
187
189

190 Get Motor Parameter

Source

191 Set Auto Motor

Identification

Data
Type

UDINT 4 10 *

Data Size
(Bytes)

Units /
Scale

Min

Description

The time when the corresponding Fault History value
occurred. The time is based on an internal service
clock that runs only when the drive is powered.

BYTE 1 Indicates where the drive retrieves the motor

parameter values.
Bit 0 = Nonvolatile Memory
Bit 1 = Smart Encoder
Bit 2 = Motor File

USINT 1 Specifies if the drive should read the motor

parameters from an intelligent motor encoder or
from NVRAM.
0 - Enable - read parameters from encoder (default)
1 - Disable - read parameters from NVRAM

192 Set Motor Model SHORT_

STRING

193 Set Self-Sensing

USINT 1 % The current the drive will command when performing

Current

1 byte
length
indicator, 1
byte per
character

Note: Set is not allowed if the drive is enabled.

The model name of the motor, up to 32 characters
long. The drive does not use the name Motor Model,
other than as a user interface display.

Note: Set is not allowed if the drive is enabled.

self-sensing startup. The value is a percentage of
the lesser of the intermittent (peak) drive current
rating and the intermittent (peak) motor current
rating. The self-sensing current is normally set to 16,
but may need to be increased in the presence of
large inertias or high friction. In these systems,
higher settings will ensure that the self-sensing
startup algorithm will be able to complete.
Range: 1 to 100
Default: 16

Publication 2098-RM004A-EN-P – August 2002

2-80 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

194 Set Motor Flag USINT 1 Indicates if the drive is configured for a standard or

custom motor. The pre-configured motor database in
Ultraware supplies parameters for standard motors.
The drive does not use this parameter for
configuration via Parameter Object Set.
0 - Custom Motor (default)
1 - Standard Motor

Note: Set is not allowed if the drive is enabled.

195 Set Motor Type USINT 1 The type of motor connected to the drive.

0 - Rotary Motor (default)
1 - Linear Motor

Note: Set is not allowed if the drive is enabled.

196 Set Torque Constant KtUINT 2 N-m/A

/ 4096

The torque constant for a rotary motor
(Active if Parameter Instance 195 = 0).
Range: 1 to 65535
Default: 2458

Note: Set is not allowed if the drive is enabled.

197 Set Force Constant Kf UINT 2 N/A / 16The force constant for a linear motor

(Active if Parameter Instance 195 = 1).
Range: 1 to 65535
Default: 16

Note: Set is not allowed if the drive is enabled.

/ 65536

2

The rotor inertia for a rotary motor
(Active if Parameter Instance 195 = 0).

198 Set Rotary Inertia

Jm

UDINT 4 kg-cm

Range: 1 to 0x0ffffffff
Default: 49807

Note: Set is not allowed if the drive is enabled.

199 Set Linear Motor

Mass

UDINT 4 kg /

65536

Mass of the moving part (rotor) of a linear motor
(Active if Parameter Instance 195 = 1).
Range: 1 to 0x0ffffffff
Default: 65536

Note: Set is not allowed if the drive is enabled.

200 Set Tot a l M a s s UDINT 4 kg /

65536

The mass of the load and moving part of a linear
motor
(Active if Parameter Instance 195 = 1).
Range: 0 to 0x0ffffffff
Default: 0

Note: Set is not allowed if the drive is enabled.

201 Set Poles/ Revolution USINT 1 The number of motor poles per revolution

(Active if Parameter Instance 195 = 0).
Range: 2 to 100 (even numbers only)
Default: 8

Publication 2098-RM004A-EN-P – August 2002

Note: Set is not allowed if the drive is enabled.

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-81

Parameter
Instance

202 Set Electrical Cycle

Access
Rule

Parameter

Name

Length

Data
Type

Data Size
(Bytes)

Units /
Scale

UINT 2 meter /

10000

Description

Length of an electrical cycle for a linear motor
(Active if Parameter Instance 195 = 1).
Range: 100 to 10000
Default: 300

Note: Set is not allowed if the drive is enabled.

203 Set Integral Limits USINT 1 Indicates whether the motor provides built in

feedback for travel limits.
0 - No (default)
1 - Yes

Note: Set is not allowed if the drive is enabled.

204 Set Rated Motor

Voltage

UINT 2 Volts The rated voltage of the motor, in units of AC RMS

Volts.
Range: 100 to 1000
Default: 230

Note: Set is not allowed if the drive is enabled.

205 Set Motor Resistance UINT 2 Ohms /

256

The phase to phase resistance of the motor stator.
Range: 1 to 65535
Default: 998

Note: Set is not allowed if the drive is enabled.

206 Set Motor Inductance UINT 2 mH /

256

The phase-phase inductance of the motor stator.
Range: 1 to 65535
Default: 6144

Note: Set is not allowed if the drive is enabled.

207 Set Flux Saturation 0 USINT 1 The motor flux saturation value at 12.5% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

208 Set Flux Saturation 1 USINT 1 The motor flux saturation value at 25% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

Publication 2098-RM004A-EN-P – August 2002

2-82 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

Access
Rule

Parameter
Name

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

209 Set Flux Saturation 2 USINT 1 The motor flux saturation value at 37.5% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

210 Set Flux Saturation 3 USINT 1 The motor flux saturation value at 50% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

211 Set Flux Saturation 4 USINT 1 The motor flux saturation value at 62.5% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

212 Set Flux Saturation 5 USINT 1 The motor flux saturation value at 75% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

213 Set Flux Saturation 6 USINT 1 The motor flux saturation value at 87.5% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

214 Set Flux Saturation 7 USINT 1 The motor flux saturation value at 100% of motor

peak current. The value is scaled so that 255
indicates no saturation, and 64 indicates 75%
saturation.
Range: 1 to 255
Default: 255

Note: Set is not allowed if the drive is enabled.

Publication 2098-RM004A-EN-P – August 2002

Parameter Object,
Instances ID = 1- 1059

Programming Reference 2-83

Parameter
Instance

Access
Rule

Parameter

Name

215 Set Maximum Rotary

Speed

216 Set Maximum Linear

Speed

217 Set Motor Peak

Current

218 Set Motor

Continuous

Current

219 Set Motor Encoder

Typ e

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

UINT 2 RPM The maximum speed of a rotary motor

(Active if Parameter Instance 195 = 0).
Range: 300 to 32767
Default: 3500

Note: Set is not allowed if the drive is enabled.

UINT 2 m/s /

256

The maximum speed of a linear motor
(Active if Parameter Instance 195 = 1).
Range: 32 to 32767
Default: 256

Note: Set is not allowed if the drive is enabled.

UINT 2 Amps /

128

The peak (intermittent) current rating of the motor.
Range: 1 to 32767
Default: 2560

Note: Set is not allowed if the drive is enabled.

UINT 2 Amps /

128

The continuous current rating of the motor.
Range: 1 to 32767
Default: 640

Note: Set is not allowed if the drive is enabled.

USINT 1 Type of motor encoder.

0 - None (not supported)
1 - Incremental (default)
2 - Sine/Cosine
3 - SRS/SRM

Note: Set is not allowed if the drive is enabled.

220 Set Commutation

Typ e

USINT 1 The type of motor commutation. The drive only

supports sinusoidal commutation.
0 - Brush
1 - Trapezoidal
2 - Sinusoidal (default)

Note: Set is not allowed if the drive is enabled.

221 Set Motor Startup

Typ e

USINT 1 Type of motor startup for sinusoidal commutation.

0 - Self-Sensing
1 - Hall Inputs (default)
2 - Serial

Note: Set is not allowed if the drive is enabled.

222 Set Hall Offset UINT 2 Degs Hall offset, in units of electrical degrees.

Range: 0 to 359
Default: 0

Note: Set is not allowed if the drive is enabled.

Publication 2098-RM004A-EN-P – August 2002

2-84 Programming Reference

Parameter Object,
Instances ID = 1- 1059

Parameter
Instance

223 Set Encoder Lines Per

Access
Rule

Parameter
Name

Rev

Data
Type

Data Size
(Bytes)

Units /
Scale

Description

UINT 2 The number of encoder lines per revolution on a

rotary motor encoder
(Active if Parameter Instance 195 = 0).
Range: 100 to 64000
Default: 2000

Note: Set is not allowed if the drive is enabled.

224 Set Encoder Lines Per

Meter

UDINT 4 The number of encoder lines per meter of travel on a

linear motor encoder
(Active if Parameter Instance 195 = 1).
Range: 4000 to 10000000
Default: 100000

Note: Set is not allowed if the drive is enabled.

225 Set Thermostat USINT 1 Indicates whether the motor has a built-in

thermostat.
0 - Not Present (default)
1 - Present

Note: Set is not allowed if the drive is enabled.

226 Set Thermal

Protection

USINT 1 Determines if the motor thermal protection

algorithm is enabled or disabled.
0 - Disable
1 - Enable (default)

227 Set Motor Rth(w-e) UDINT 4 C/W/

65536

228 Set Motor Cth(w-e) UDINT 4 W-s/C

/ 256

229 Set Motor Rth(w-a) UDINT 4 C/W /

65536

230 Set Motor Cth(w-a) UDINT 4 W-s/C

/ 256

Note: Set is not allowed if the drive is enabled.

Thermal resistance of the motor from winding to
encoder.
Range: 1 to 0x7fffffff
Default: 0x7fffffff

Note: Set is not allowed if the drive is enabled.

Thermal capacitance of the motor from winding to
encoder.
Range: 1 to 0x7fffffff
Default: 1

Note: Set is not allowed if the drive is enabled.

Thermal resistance of the motor from winding to
ambient.
Range: 1 to 0x7fffffff
Default: 57672

Note: Set is not allowed if the drive is enabled.

Thermal capacitance of the motor from winding to
ambient.
Range: 1 to 0x7fffffff
Default: 0x4cb00

Note: Set is not allowed if the drive is enabled.

Publication 2098-RM004A-EN-P – August 2002