Rockwell Automation 2098-IPD-020-DN User Manual

Ultra5000 Series Intelligent Positioning Drives with DeviceNet

(Catalog Numbers 2098-IPD-005-DN, 2098-IPD-010-DN, and 2098-IPD-020-DN,

Reference Manual

Important User Information

ATTENTION

IMPORTANT

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 progra 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, Sa

Application, Installation and Maintenance of Solid-State Control

(available from your local Allen-Bradley office), describes some important di 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 perm prohibited.

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

fferences between solid-state equipment and

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

does not assume responsibility or liability

ission of Rockwell Automation, is

ms and layout examples shown

fety Guidelines for the

Attention statements help you to:

• identif

• avoid a

• recognize the consequences

Allen-Bradley is a registered trademark of Rockwell Automation. RSNetWorx, Ultra3000, Ultra5000 and Ultraware are trademarks of Rockwell Automation. DeviceNet is a trademark of the Open DeviceNet Vendor Association.

y a hazard

hazard

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

Publication 2098-RM002A-EN-P – October 2001

Preface 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

The DeviceNet Interface

Installing, Connecting, & Commissioning Your Ultra5000 with

DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

DeviceNet Connector Pins and Signals (P2) . . . . . . . . . . 1-2

Planning Your DeviceNet Network . . . . . . . . . . . . . . . . 1-2

Connecting Your DeviceNet Cable . . . . . . . . . . . . . . . . 1-3

Configuring Your Ultra5000 with DeviceNet . . . . . . . . . . . . 1-5

DeviceNet Driver Installation

DeviceNet Overview

Chapter 2

Configuring Ultra5000 DeviceNet Using the DNetConfigData

Array. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Array Index 0 – PGM MAC ID. . . . . . . . . . . . . . . . . . . . 2-2

Array Index 1 – PGM Baudrate . . . . . . . . . . . . . . . . . . . 2-2

Array Index 2 – DeviceNet Module Fault Action. . . . . . . 2-2

Array Index 3 – DeviceNet Idle Fault Action . . . . . . . . . 2-3

Array Index 4 – DeviceNet Comm Fault Action . . . . . . . 2-3

Array Index 5 – I/O Transmit Select . . . . . . . . . . . . . . . 2-4

Array Index 6 – I/O Receive Select . . . . . . . . . . . . . . . . 2-5

Array Index 7 – DeviceNet Modules Status. . . . . . . . . . . 2-5

Array Index 8 – DeviceNet Loader Version . . . . . . . . . . 2-6

Array Index 9 – DeviceNet Server Version . . . . . . . . . . . 2-6

Chapter 3

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Parameters and Electronic Data Sheet . . . . . . . . . . . . . . . . . 3-1

DeviceNet Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Predefined Master/Slave Connection Set . . . . . . . . . . . . 3-2

Explicit Response/Request Messages . . . . . . . . . . . . . . . 3-2

Polled I/O Command/Response Messages . . . . . . . . . . . 3-2

I/O Messaging and Explicit Messaging with DeviceNet . . . . 3-3

Selecting Input and Output Assemblies for I/O Messages . . 3-3

i Publication 2098-RM002A-EN-P – October 2001

ii Table of Contents

Programming Reference

Chapter 4

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

How Objects Affect Behavior . . . . . . . . . . . . . . . . . . . . 4-2

The Defined Object Interface . . . . . . . . . . . . . . . . . . . . 4-3

Object Addressing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

Data Type Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

Identity Object (Class ID 01H) . . . . . . . . . . . . . . . . . . . . . . . 4-5

Reset Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

Message Router Object (Class ID 02H) . . . . . . . . . . . . . . . . . 4-8

DeviceNet Object (Class ID 03H) . . . . . . . . . . . . . . . . . . . . . 4-9

Assembly Object (Class ID 04H) . . . . . . . . . . . . . . . . . . . . 4-11

DeviceNet Comm Fault Action. . . . . . . . . . . . . . . . . . . 4-14

DeviceNet Idle Fault Action. . . . . . . . . . . . . . . . . . . . . 4-14

Using Explicit Messaging to Control the Ultra5000 . . . . 4-15

Connection Object (Class ID 05H) . . . . . . . . . . . . . . . . . . . 4-16

Parameter Object (Class ID 0FH) . . . . . . . . . . . . . . . . . . . . 4-17

Get_Attribute_All Response . . . . . . . . . . . . . . . . . . . . . 4-52

Troubleshooting DeviceNet Drives

Chapter 5

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Module Status LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Network Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Node Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Device Failure - LED Status Check . . . . . . . . . . . . . . . . . . . 5-3

Scanner Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Power Supply Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Cable Installation and Design Problems . . . . . . . . . . . . . . . 5-5

Adjusting the Physical Network Configuration . . . . . . . . . . . 5-5

Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Publication 2098-RM002A-EN-P – October 2001

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

urpose of this Manual

• P

• 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 Ultra5000™ drive 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 Ultra5000 drives with DeviceNet.

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P-2 Preface

Contents of this Manual

This manual contains the following sections:

Chapter Title Contents

Preface An overview of this manual and

Allen-Bradley technical support.

1 The DeviceNet Interface Describes how to install, connect and

commission an Ultra5000 with DeviceNet.

2 DeviceNet Driver Installation Describes loading of the drivers and

setup files for the Ultra5000 Drive with DeviceNet.

3 DeviceNet Overview Introduces DeviceNet parameters and

messaging

4 Programming Reference Configuration data and behaviors

implemented in the Ultra5000 Drive with DeviceNet are defined using object modeling.

5 Troubleshooting DeviceNet

Drives

Describes troubleshooting actions for DeviceNet interfaces to Ultra5000 drives.

Conventions Used in this Manual

Configuring the Ultra3000 DSD and Ultra5000 IPD using Ultraware

Ultraware User Manual 2098-UM001x-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.

The following conventions are used throughout this manual:

• Bulleted lists such as this one provide infor

mation, 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., Jog Program Velocity parameter, and ENABLE signal).

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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 locate Allen-Bradley representatives in every major country in the world.

d throughout the United States alone, plus

Local Product Support

Contact your local Allen-Bradley representative for:

• Sales and order support

oduct technical training

• Pr

• 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 Prepresentative. For the quickest possible response, we recommend that

you have the catalog numbers of your products available when

you call.

2 first. Then call your local Allen-Bradley

Publication 2098-RM002A-EN-P – October 2001

The DeviceNet Interface

Module Status Network Status

LSD Node Address Selector Switch

Data Rate Selector Switch

MSD Node Address Selector Switch

DeviceNet Connector

Chapter

Installing, Connecting, & Commissioning Your Ultra5000 with DeviceNet

This manual serves as a reference for configuring, monitoring, and controlling an Ultra5000 drive through a DeviceNet interface. The following information is contained in this chapter.

iring the DeviceNet connector.

• W

• Setting

• Configuring the data (baud) rate.

• Understanding the DeviceNet LED indicators.

Refer to the Ultra5000 Intelligent Position Manual (2098-IN001x-EN-P) for

installation and troubleshooting of the main drive unit.

Figure 1.1 Ultra5000 DeviceNet External Connections

drive addresses through the rotary switches.

g Drive Installation

additional information regarding

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1-2 The DeviceNet Interface

DeviceNet Connector Pins and Signals (P2)

Pin Description Signal

1 Network Power Common 24V DC V-

2 Network Communication Signal Line Can_L

3 Shield Shield

4 Network Communication Signal Line Can_H

5 Network Power 24V DC V+

Planning Your DeviceNet Network

A DeviceNet network is a planned arrangement of electrical power and device distribution that is adjusted for optimal communications.

Before you add devices, record the following:

• Net

• Ne

work data rate

twork cable system map (topology) to which you are connecting

• Distances between cable system components

• Device current draw and voltage drop for each device on the

network

• Limitation of the trunk and drop cables

Refer to the table below for recommended trunk and drop lengths.

Data Rates 125 Kbps 250 Kbps 500 Kbps

meters feet meters feet meters feet

Thick Trunk Lines 500 1640 250 820 100 328

Thin Trunk Lines 100 328 100 328 100 328

Maximum Drop Length 6 20 6 20 6 20

Cumulative Drop Budget 156 5120 78 256 39 128

Refer to the DeviceNet Cable System Planni

ng and

Installation

Manual (publication DN-6.7.2) for specific guidance in calculating

and attaching the Ultra500

0 to a network.

Publication 2098-RM002A-EN-P – October 2001

The DeviceNet Interface 1-3

Outer Jacket

Braided Shield

6.4 mm

(0.25 in)

Outer Jacket

Shrink Wrap

38 mm (1.5 in)

Outer Jacket

Shrink Wrap

8.1 mm

(0.32 in)

Connecting Your DeviceNet Cable

To attach a plugable, open style, screw-connector to the DeviceNet cable:

1. Strip 65 mm (2.6 in.) to 75 mm (2.96 in.) of the outer jacket from

the end of the cable, leaving no more than 6.4mm (0.25 in.) of the braided shield exposed.

Figure 1.2 Exposing the braided shield

2. Wrap the end of the cable with 38 mm (1.5 in.) of shrink wrap,

covering part of the exposed wires and part of the outer jacket.

Figure 1.3 Adding shrink wrap

3. Strip 8.1 mm (0.32 in.) of the insulation from the end of each of

the insulated wire.

Note: Be careful not to nick, cut, or otherwise damage the

individual strands of wire.

Trim the last 6.5 mm (0.26 in.) of the bare wires so that the outside dimension does not exceed 0.17 mm (0.045 in.).

Figure 1.4 Exposing wire stands

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1-4 The DeviceNet Interface

23 145

Red (V+)

White (Can_H)

Bare (Shield)

Blue (Can_L)

Black (V-)

Plug Connector

4. Insert each wire into the appropriate clamping cavity of the plugable screw connector, according to the color of the cable insulation.

5. Use an 1/8 inch flat blade screwdriver to attach wires in the connector. Firmly tighten the clamping screws to secure each wire.

Figure 1.5 Wiring the DeviceNet connector

Terminal Cable Color Designation

1 Black V -

2 Blue Can_L

3 Bare Shield

4 White Can_H

5 Red V +

6. Insert the connector on the Ultra5000 drive to attach the DeviceNet network.

Publication 2098-RM002A-EN-P – October 2001

The DeviceNet Interface 1-5

Use the MSD and LSD rotary switches on the DeviceNet panel of the drive to set node addresses.

MSD

LSD

Configuring Your Ultra5000 with DeviceNet

To configure your Ultra5000 drive with DeviceNet:

1. Verify that there is no power applied to the drive, and the Dev

iceNet cable is connected (refer to figures 1.1 through 1.5 in

this chapter.

2. Set the node address for each drive in your system. Valid node addresses are 00-63 and PGM. The MSD rotary switch, Figure 1.6, sets the most significant digit and the LSD rotary switch sets the least significant digit. For switch locations, refer to Figure 1.1 on page 1-1 of this chapter. The following table provides examples.

For this Node Address:

10 1 0

11 1 1

12 1 2

Figure 1.6 MSD and LSD Rotary Switches

Set the MSD switch to: Set the LSD switch to:

Note: Selecting an invalid node address (> 63) sets the node

address according to a non-volatile parameter stored in the drive.

Refer to the Ultra5000 Intelligent Positioning Drive Installation Manual (2

3. Set the data rate switch, Figure 1.

098-IN001x-EN-P) for a listing of reserved node addresses.

7, to the established DeviceNet network data rate. Valid data rates are 125 kbps, 250 kbps, 500 kbps, AUTO, and PGM. Refer to Figure 1.1 on page 1-1 for the switch location on the drive.

Note: Selecting AUTO automatically matches the device data rate

to the rate of the network. Selecting PGM sets the data rate according to a non-volatile parameter stored in the drive.

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1-6 The DeviceNet Interface

Use the Data Rate rotary switch on the DeviceNet panel of the drive to set the data rate.

Figure 1.7 Data Rate Rotary Switch

4. Apply power to the drive.

5. Observe the module status LED.

If the module status LED: Then:

Is not steady green Refer to Troubleshooting DeviceNet Drives

on page 5-1.

Is steady green The drive is ready. Go to step 6.

6. Observe the network status LED.

If the network status LED: Then:

Is off Establishing communication with

network (wait for flashing or steady green).

Is not flashing or steady green Refer to Troubleshooting

DeviceNet Drives on page 5-1.

Is flashing or steady green Communication is ready. Go to

Chapter 2.

Publication 2098-RM002A-EN-P – October 2001

Chapter

IMPORTANT

DeviceNet Driver Installation

Follow the procedure listed in the Ultraware User Manual (publication 2098-UM001x-EN-P) to load and create the requisite DeviceNet drivers for the Ultra5000 drive.

1. Install the following files as Drivers to the Ultra5000 drive:

• DNetLoad.exe

• DNe

. Load the following files to the Files branch of the Ultra5000 drive:

• DNetBoot.hex

• DNetMain.hex

Cycle power on the Ultra5000 and verify that within approximate DeviceNet interface is lit (on). This indicates successful installation of the drivers. The Module Status LED will flash red-green while the DeviceNet interface card is being initialized.

4. Select Rescan from the Tools menu. Verify the DNetServ.exe automatically creates Workspace of the Ultra5000 drive.

Name Type Number of Elements

DNetConfigData Long Int 8

DNetIntArray Long Int 32

DNetFltArray Float 32

tServ.exe

y 15 seconds the green Module Status LED on the

the following Global Variables in the

If the Ultra5000 Drive Properties are Reset to Factory Settings with Ultraware, the DeviceNet drivers are erased and must be reinstalled.

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2-2 DeviceNet Driver Installation

ATTENTION

Configuring Ultra5000 DeviceNet Using the DNetConfigData Array

The DNetConfigData array is the interface for configuring DeviceNet on the Ultra5000. The array is a standard Ultra5000 long integer array and is automatically created by the DeviceNet driver program. For more information on arrays, see the Ultra5000 Programming Manual.

Array Index 0 – PGM MAC ID

The programmed non-volatile DeviceNet Node Address (MAC ID).

Value Description

0 to 63 MAC ID range (default is 63)

Array Index 1 – PGM Baudrate

The programmed non-volatile DeviceNet Data Rate.

Value Description

0 125 kps (default)

1 250 kps

2 500 kps

3 Autobaud

Array Index 2 – DeviceNet Module Fault Action

Risk of severe bodily injury or equivalent damage exists.

The Module Fault Action value allows you to change the default configuration, and to potentially allow the drive to continue to operate when communication with the DeviceNet module is lost.

Determines the action the drive should take when it cannot communicate with the DeviceNet module.

Value Description

DeviceNet fault E14 (default)

Publication 2098-RM002A-EN-P – October 2001

1 Ignore

DeviceNet Driver Installation 2-3

ATTENTION

Array Index 3 – DeviceNet Idle Fault Action

Risk of severe bodily injury or equivalent damage exists.

The Idle Fault Action value allows you to change the default configuration, and to potentially allow the drive to continue to operate when communication with the DeviceNet module is lost.

Determines the action the drive should take if the 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 will be taken if I/O Receive Select is set to 0 (No data consumed).

Value Description

1 Ignore

DeviceNet fault E14 (default)

Array Index 4 – DeviceNet Comm Fault Action

Risk of severe bodily injury or equivalent damage exists.

The Comm Fault Action value allows you to change the default configuration, and to potentially allow the drive to continue to operate when communication with the DeviceNet module is lost.

Determines the action the drive should take if the drive detects a network failure while an I/O messaging connection is active.

Value Description

1 Ignore

DeviceNet fault E14 (default)

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2-4 DeviceNet Driver Installation

Array Index 5 – I/O Transmit Select

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 Assembly Object, Instance ID = 1 - 16 on page 4-12 for information on the data format.

Value Description

0 No data produced.

1 One Integer:

DNetIntArray[0]

2 Two Integers:

DNetIntArray[0], DNetIntArray[1]

3 One Float:

DNetFltArray[0]

4 Two Floats:

DNetFltArray[0], DNetFltArray[1]

5 One Integer, One Float:

DNetIntArray[0], DNetFltArray[0]

6 Two Integers, One Float:

DNetIntArray[0], DNetIntArray[1], DNetFltArray[0]

7 One Integer, Two Floats:

DNetIntArray[0], DNetFltArray[0], DNetFltArray[1]

8 Two Integers, Two Floats:

DNetIntArray[0], DNetIntArray[1], DNetFltArray[0], DNetFltArray[1]

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DeviceNet Driver Installation 2-5

Array Index 6 – I/O Receive Select

Selects the output (consumed) assembly that is updated when a Polled 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 Assembly Object, Instance ID = 1 - 16 on page 4-12 for information on the data format.

Value Description

0 No data consumed

1 One Integer:

DNetIntArray[2]

2 Two Integers:

DNetIntArray[2], DNetIntArray[3]

3 One Float:

DNetFltArray[2]

4 Two Floats:

DNetFltArray[2], DNetFltArray[3]

5 One Integer, One Float:

DNetIntArray[2], DNetFltArray[2]

6 Two Integers, One Float:

DNetIntArray[2], DNetIntArray[3], DNetFltArray[2]

7 One Integer, Two Floats:

DNetIntArray[2], DNetFltArray[2], DNetFltArray[3]

8 Two Integers, Two Floats:

DNetIntArray[2], DNetIntArray[3], DNetFltArray[2], DNetFltArray[3]

Array Index 7 – DeviceNet Modules Status

This is a read-only value that indicates the last modules fault status. This value defaults to zero on power up and reset.

Value Description

0 No Fault (default)

DeviceNet Idle Fault

DeviceNet Comm Fault

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2-6 DeviceNet Driver Installation

Array Index 8 – DeviceNet Loader Version

This is a read-only value that indicates the current version of DNetLoad.exe. The version number is displayed without periods (e.g. version 1.2.0 will display as 120).

Array Index 9 – DeviceNet Server Version

This is a read-only value that indicates the current version of DNetServ.exe. The version number is displayed without periods (e.g. version 1.2.0 will display as 120).

Publication 2098-RM002A-EN-P – October 2001

DeviceNet Overview

Chapter

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 Ultra5000 Drive with DeviceNet Interface provides the following features:

tra5000 Drive with DeviceNet implements the Unconnected

• Ul

ssage 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.

• Software configuration lets you configure the Ultra5000 Drive with DeviceNet using RSNetWorx for DeviceNet (3.00.01 or later, version

3.00 with Service Pack 1).

Parameters and Electronic Data Sheet

• Autobaud allows the drive to determine the network data rate.

Note: User programs and files cannot be loaded to the Ultra5000 drive

over DeviceNet.

The Ultra5000 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 beginning on page 4-1.

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3-2 DeviceNet Overview

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. 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 Ultra5000 Drive with DeviceNet via RSNetworx for DeviceNet (3.00.01 or later, version 3.00 with Service Pack 1) or download an EDS file for the Ultra5000 Drive with DeviceNet f www.ab

rom Rockwell Automation/Allen-Bradley web-site

.com/networks/eds.

DeviceNet Messaging

The Ultra5000 with DeviceNet operates as a slave device on a DeviceNet network. The drive supports Explicit Messages and Polled 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.

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

Publication 2098-RM002A-EN-P – October 2001

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

DeviceNet Overview 3-3

polled. The Poll Response is the I/O message that the slave device transmits back to the master device.

I/O Messaging and Explicit Messaging with DeviceNet

Selecting Input and Output Assemblies for I/O Messages

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.

The Ultra5000 with DeviceNet provides sixteen generic Input and Output Assemblies. The choice of which Input and/or Output Assembly to use should be based on the type of information that is appropriate in the particular system. The I/O Assemblies are mapped to the first four 32-bit values of the Long Integer (DNetIntArray) and Floating-point (DNetFltArray) arrays

The Ultra5000 has no pre-defined information stored in these location control, and it is the responsibility of the user program(s) to update and utilize the values as necessary.

s. The contents of the locations are under user program

The choice of which Input and Output Assembly to use should be ba

sed 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 4-11.

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3-4 DeviceNet Overview

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Chapter

Programming Reference

The Ultra5000 Drive with DeviceNet implements a vendor specific device profile - Rockwell Automation Miscellaneous (Device Type: 73hex).

The configuration data and behaviors implemented in the Ultra5000 Drive with De Ultra5000 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 DeviceNe

viceNet are defined using object modeling. The

t object modeling:

Object Model

ject - A representation of a particular type of data component

• Ob

withi

n 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.

The Object Model diagram on Page 4-2 depicts the objects supported in the Ultra5000 Drive with DeviceNet. The following table indicates

object classes present in this device, and the number of instances

the present in each class.

Object Class Number of Instances

Identity 4

Message Router 1

DeviceNet 1

Assembly 16

Connection 1 - I/O

6 - Explicit

Parameter 340

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4-2 Programming Reference

Class ID #2

0X02

Class ID #1

0X01

Class ID #3

0X03

Class ID #15

0X0F

Class ID #4

0X04

Class ID #5

0X05

DeviceNet Network

DeviceNet Node

Message

Router

Connection

Object

Ultra5000

(no public

DeviceNet

Object

Application

Object

Identity Object

Parameter

Object

Assembly

Object

Interface)

Figure 4.1 Object Model

How Objects Affect Behavior

The objects in the Ultra5000 Drive with DeviceNet affect its 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

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Programming Reference 4-3

The Defined Object Interface

The objects in the Ultra5000 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

Object Addressing

The Media Access Control Identifier (MAC ID) is the common basis for logically addressing separate physical components across DeviceNet. The M distin network. The MAC ID often is referred to as the node address. Each component (object) is further identified with the following address components:

AC ID is a unique integer assigned to each DeviceNet node that

guishes it specifically from among other nodes on the same

Component Description

Class ID The Class ID is a unique integer value assigned to each Object Class

accessible from the network. The Ultra5000 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 Ultra5000 supports an 16-bit Instance ID.

Attribute ID The Attribute ID is a unique identification assigned to a Class Attribute

and/or Instance Attribute.

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4-4 Programming Reference

MAC ID #1 MAC ID #2

Instance

Object

MAC ID #4

MAC ID #3

DeviceNet Network

Class #5

Instance

Object Class #3

Instance

Object Class #5

Instance

Attribute #1

Attribute #2

MAC ID #4:

Object Class #5 Instance #2 Attribute #1

DeviceNet Node 1 DeviceNet Node 2

DeviceNet Node 3 DeviceNet Node 4

Figure 4.2 Node Objects

Data Type Definitions

The following mnemonics define the Ultra5000 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

INT Signed Integer (2 bytes)

REAL Floating Point (4 bytes)

SHORT_STRING Character String

SINT Signed Short Integer (1 byte)

UDINT Unsigned Double Integer (4 bytes)

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DeviceNet Path Segments

(1 byte length indicator, 1 byte per character)

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