Rockwell Automation 2098-IPD-020-DN User Manual

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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.

Publication 2098-RM002A-EN-P – October 2001

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).

Publication 2098-RM002A-EN-P – October 2001

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.

Publication 2098-RM002A-EN-P – October 2001

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]

Publication 2098-RM002A-EN-P – October 2001

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.

Publication 2098-RM002A-EN-P – October 2001

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)

Programming Reference 4-5

Mnemonic Description

UINT Unsigned Integer (2 bytes)

USINT Unsigned Short Integer (1 byte)

WORD Bit String (2 bytes)

Identity Object (Class ID 01

)

This object provides identification and general information about the device. The interface card implements four Identity Objects.

Identity Object, Attribute for Instance ID = 0 (Class Attributes)

AttrIDAccess

Rule

2 Get Max Instance UINT Maximum instance

Identity Object, Instance ID = 1 - 4

Instance ID Description

1 Adapter Main Firmware

2 Ultra5000 Main Firmware

3 Adapter Boot Firmware

4 Ultra5000 Boot Firmware

Attribute Name

Type Description Semantics

of Values

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

number of a created

object at this class

hierarchy level.

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4-6 Programming Reference

Identity Object, Attributes of Instance ID 1

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

Instances 2-4: 105 = Subcomponent

Instance 1: 64 = 2098-IPD-005-DN 65 = 2098-IPD-010-DN 66 = 2098-IPD-020-DN 102 = 2098-IPD-030-DN 103 = 2098-IPD-075-DN 104 = 2098-IPD-150-DN 105 = 2098-IPD-HV030-DN 106 = 2098-IPD-HV050-DN 107 = 2098-IPD-HV100-DN 108 = 2098-IPD-HV150-DN 109 = 2098-IPD-HV220-DN

Instances 2-4: 01 = Firmware

4 Revision

STRUCT

of: Major Minor

USINT

5 Status WORD This attribute

Revision of the item the Identity Object represents.

represents the current status of the entire device.

Major Revision Minor Revision

See table: Identity

Object, Status Description of Attribute ID 5

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

Unique identifier for each device.

Unique identifier for each product.

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

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Programming Reference 4-7

Identity Object, Status Description of Attribute ID 5 (Continued)

Bit (s) Description Semantics of Values

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

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 perform the reset

• responds to the request

• attempts to perform the reset

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4-8 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 drive. (default) 1 = Emulate cycling power as closely as possible. The drive can not be returned to out-of-box configuration without deletion of DeviceNet drivers and files.

Message Router Object (Class ID 02

)

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

Attribute Name

Data Ty pe

of 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

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Message Router Object, Common Services

Service Code

Service Name

Get_Attribute_Single Returns the contents of the specified attribute

Service Description

Programming Reference 4-9

DeviceNet Object (Class ID 03

)

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 Ultra5000 Intelligent Positioning Drive Installation Manual listed on page P-3 for Rotary DIP switch data setting.

2 Set Baud Rate Data Rate 0 = 125K,

Set is only supported if the data rate is programmable. Refer to Ultra5000 Intelligent Positioning Drive Installation Manual for Rotary DIP switch data setting.

3 Set Bus OFF

4Bus OFF

Attribute Name

Interrupt (BOI)

Counter

Data

Description Semantics

Ty pe

Class definition upon which the implementation is based.

Data Type Description Semantics

BOOL Bus-OFF Interrupt Default = 0

USINT Number of times

Controller Area Network (CAN) went to the bus-OFF state

of Values

= 2

of Values

1 = 250K, 2 = 500K

Range 0-255

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4-10 Programming Reference

DeviceNet Object, Attributes of Instance ID = 1 (Continued)

Attr.IDAccess

Rule

5 Get Allocation

Attribute Name

information

Data Type Description Semantics

STRUCT of: BYTE

USINT

6 MAC ID

BOOL The Node Switch Changed

7 Baud Rate

Switch Changed

Allocation choice (1 byte)

+ Master MAC ID (1 byte)

Address switch(es) have changed since last power-up/ reset.

The Baud Rate switch(es) have changed since last power-up/ reset.

of Values

Refer to the DeviceNet Object definition in the DeviceNet Specification.

Range 0-63, 255 Modified via Allocate only.

0 = No change 1 = Change since last reset or power-up

8 MAC ID

Switch Value

9 Baud Rate

Switch Value

DeviceNet Object, Common Services

Service Code

Service Name

Get_Attribute_Single Returns the contents of the

Set_Attribute_Single Modifies the specified attribute.

USINT Actual value of

Node Address switch(es).

Actual value of Baud Rate switch(es), or operating value after an autobaud was completed.

Service Description

specified attribute.

Range 0-63

Range 0-2

Publication 2098-RM002A-EN-P – October 2001

DeviceNet Object,

IMPORTANT

Class Specific Services

Service Code

Service Name

Allocate_Master/Slave_ Connection_Set

Programming Reference 4-11

Service Description

Requests the use of the Predefined Master/Slave Connection Set.

Assembly Object (Class ID 04

)

Release_Group_2_ Identifier_Set

Indicates that the specified Connections within the Predefined Master/Slave Connection Set are no longer desired. These connections are to be released (deleted).

The Ultra5000 with DeviceNet uses Assembly Objects to send generic 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 e scanner and consumed by the Ultra5000.

• Input Assemblies are consumed by the scanner or are the scanner's

input.

The Ultra5000 with DeviceNet allows you to choose between various Input and Output As

semblies, thereby choosing the data format of the messages that are passed back and forth between the Ultra5000 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

8 I/O Receive Select Selects the Assembly Object instance that is

9 I/O Transmit (Xmit)

Refer to the section on the Parameter Object for more information about parameter instances.

Parameter Name Description

updated when a Polled I/O message is received by the drive. See page 4-19 for more information.

Selects the Assembly Object instance that is

Select

transmitted by the drive over a Polled I/O connection. See page 4-19 for more information.

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.

•Power cycle the drive.

•Remove and reapply DeviceNet power to the drive.

•Reset the drive.

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4-12 Programming Reference

The following Assembly Objects are implemented in the drive and buffer I/O in the following fashion:

• RO = Read Only

• R/W = Read/Write Protected.

Assembly Object, Instance ID = 1 - 16

ID Data Type Access Size

Description

(Bytes)

1 Static Output R/W 4 One Integer:

DNetIntArray[2]

2 Static Output R/W 8 Two Integers:

DNetIntArray[2], DNetIntArray[3]

3 Static Output R/W 4 One Float:

DNetFltArray[2]

4 Static Output R/W 8 Two Floats:

DNetFltArray[2], DNetFltArray[3]

5 Static Output R/W 8 One Integer, One Float:

DNetIntArray[2], DNetFltArray[2]

6 Static Output R/W 12 Two Integers, One Float:

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

7 Static Output R/W 12 One Integer, Two Floats:

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

8 Static Output R/W 16 Two Integers, Two Floats:

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

9 Static Input RO 4 One Integer:

DNetIntArray[0]

10 Static Input RO 8 Two Integers:

DNetIntArray[0], DNetIntArray[1]

11 Static Input RO 4 One Float:

DNetFltArray[0]

12 Static Input RO 8 Two Floats:

DNetFltArray[0], DNetFltArray[1]

13 Static Input RO 8 One Integer, One Float:

DNetIntArray[0], DNetFltArray[0]

14 Static Input RO 12 Two Integers, One Float:

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

15 Static Input RO 12 One Integer, Two Floats:

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

16 Static Input RO 16 Two Integers, Two Floats:

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

The arrays are automatically saved in non-volatile storage.

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Programming Reference 4-13

Assembly Object, Attribute of Instances ID 1 - 16

Attr ID Access

Rule

Attribute Name

Data Type

3 Set Data ARRAY

Assembly Object, Common Services

Service Code

10E

Implemented for Service

Class Instance

Name

Service Description

Yes Yes Get_Attribute_Single Returns the contents of the

specified attribute.

No Set_Attribute_Single Modifies an attribute value.

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4-14 Programming Reference

ATTENTION

DeviceNet Comm Fault Action

The Ultra5000 with DeviceNet will fault depending on the Comm Fault Action setting if the Output (command) Assembly is not periodically updated after the Output Assembly has been written to.

You can configure the Ultra5000 with DeviceNet to perform a Comm Fault

Action if the Output Assembly is not periodically updated after the I/O (or explicit) messaging connection has been established. Possible reasons the Output Assembly may not be updated in this way include the following:

e messaging connection is closed

• Th

e DeviceNet cable is unplugged

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.

By default, the Ultra5000 drive with DeviceNet will fault and disable

rive when a DeviceNet Comm Fault is triggered. However, you

the d can configure the drive to ignore the DeviceNet Comm Fault by setting the Ultra5000 DNetConfigData Array Index 4 – DeviceNet Comm Fault Action to 1 (Ignore).

DeviceNet Idle Fault Action

The Ultra5000 with DeviceNet will fault depending on the Idle Fault Action setting if the Master (scanner) sends I/O idle messages (zero-length messages) and the drive expects non-zero length I/O messages.

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.

Publication 2098-RM002A-EN-P – October 2001

By default, the Ultra5000 drive with DeviceNet will fault and disable the

drive when an Idle Fault is triggered. However , no action will be

taken if the Ultra5000 DNetConfigData Array Index 6 – I/O Receive

Programming Reference 4-15

Select, Parameter 8 is set to 0 (No data consumed), or if you configure the drive to ignore Array Index 3 – DeviceNet Idle Fault Action by setting the DNetConfigData array to 1 (Ignore).

Using Explicit Messaging to Control the Ultra5000

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 a user program interfacing with the Assembly Objects for controlling the drive. The guidelines are as follows:

rite to the various Assembly Objects that are buffering the I/O

• W dat

• 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 for Communication Loss over the I/O connection, using Array Index 4 – DeviceNet Comm Fault Action of the DNetConfigData array.

• If a marked explicit connection is deleted, then the fault action will be that configured for Idle over the I/O connection, using Array Index 3 – DeviceNet Idle Fault Action of the DNetConfigData array.

• 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 EPR value reset to zero (0) after being marked, then the connection will become unmarked.

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4-16 Programming Reference

Connection Object

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

(Class ID 05

)

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

Instance IDInstances

1 Group 2 Explicit Message Connection

2 Poll 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

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

Attribute Name

Data Type Description

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

15 Consumed_connection_path_length UINT Number of bytes in the

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

17 Set Production_inhibit_time UINT Defines minimum time between new data

UINT Number of bytes in the

produced_connection_path attribute

to be produced by this Connection object

Consumed_connection_path attribute

receive the data consumed by this Connection

production for COS connections.

Publication 2098-RM002A-EN-P – October 2001

IMPORTANT

DeviceNet Connection Object, Common Services

Service Code Service Name Service Description

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

Programming Reference 4-17

Parameter Object

The DeviceNet Parameter Object provides the interface to the Ultra5000 Drive with DeviceNet configuration data. It supplies a full

(Class ID 0F

)

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

The table Parameter Instance on

page 4-18 lists the parameter instances implemented in the Ultra5000 Drive with DeviceNet. The table Parameter Object Instance Attributes on

page 4-49 lists the instance attributes of the parameter object. A parameter value is accesse

d via Attribute 1 of a parameter instance. Additional information about the parameter object is located beginning on Page 4-51.

Some parameters can not be modified while the Ultra5000 Drive with DeviceNet is enabled. The drive returns the error code, 10

- Device State Conflict, if

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

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4-18 Programming Reference

Parameter Object, Instances ID 1- 340

Note: The Set_Attribute_Single service saves parameter values to RAM,

but not to non-volatile storage. To transfer parameter values from RAM to non-volatile storage, perform one of the following:

• Perform the Save service on the Parameter Object.

• Write the value Execute Command (1) to Parameter 13 - Save

Parameter Values.

Parameter Instance

1 Get DNet Main

2 Get DNet Boot

3 Get Drive Model SHORT_S

4GetDN-SW Node

5 Get DN-SW Data

6 Set DN-NV Node

Access Rule

Parameter Name

Firmware Version

Address

Rate

Address

Data Type

SHORT_S TRING

TRING

USINT 1 DeviceNet Node Address (Mac_ID) switch

USINT 1 DeviceNet Data Rate switch setting.

USINT 1 The programmed nonvolatile DeviceNet Node

Data Size (Bytes)

1 byte length indicator, 1 byte per character

Units / Scale

Description

The version of the main firmware in the DeviceNet adapter. The format is XX.YY.ZZ, where: XX = major revision YY = minor revision ZZ = maintenance revision

The version of the boot firmware in the adapter. The format is XX.YY.ZZ, where: XX = major revision YY = minor revision ZZ = maintenance revision

The model number of the drive.

setting.

0 = 125 kps 1 = 250 kps 2 = 500 kps 3 = Autobaud 4 = Program 5 = Programmable 6 = Programmable 7 = Programmable

Address (Mac_ID). Range: 0 to 63 Default: 63 Automatically saved in non-volatile storage.

7 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 Automatically saved in non-volatile storage.

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Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-19

Description

8 Set I/O Receive

Select

USINT 1 Selects the output (consumed) assembly that is

updated when a polled I/O message is received by the drive. If the value is modified, the user has 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 1 = Assembly Instance 1 (default) 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 Automatically saved in non-volatile storage.

9 Set I/O 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, the user has 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 Produced 1 = Assembly Instance 9 (default) 2 = Assembly Instance 10 3 = Assembly Instance 11 4 = Assembly Instance 12 5 = Assembly Instance 13 6 = Assembly Instance 14 7 = Assembly Instance 15 8 = Assembly Instance 16 Automatically saved in non-volatile storage.

10 Set Axis Enable

Command

USINT 1 Enable the drive.

0 = No Action (default) 1 = Execute Command

11 Set Disable Axis

Command

USINT 1 Disable the drive.

0 = No Action (default) 1 = Execute Command

12 Set Reset Drive USINT 1 Reset the drive.

0 = No Action (default) 1 = Execute Command

13 Set Save Parameter

Values

USINT 1 Save parameters in non-volatile storage.

0 = No Action (default) 1 = Execute Command

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4-20 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

14 Set Control Digital

USINT 1 Select a digital I/O type:

Typ e

0 = Sourcing: Digital Inputs should be connected to a 24 volt power supply, so current flows into the drive when the input is ON. Digital Outputs should be connected to ground, so current flows from the drive when the output is ON. (default)

1 = Sinking: Digital Inputs should be connected to ground, so current flows from the drive when the input is ON. Digital Outputs should be connected to a 24 volt power supply, so current flows into the drive when the output is ON.

15 Get Axis State USINT 1 Indicates if the axis is enabled or disabled.

0 = Disabled 1 = Enabled

16 Get Controller Fault USINT 1 Provides the fault status of the drive.

0 = No Fault 4 = Motor Overtemperature 5 = IPM Fault 9 = Bus Undervoltage 10 = Bus Overvoltage 11 = Bad (Illegal) Hall State 14 = Network Communication 17 = User Current 18 = Overspeed 19 = Position (Following) Error 20 = Motor Encoder Error 21 = Auxiliary Encoder Error 22 = Motor Filter 23 = IPM Filter 24 = Velocity Error 26 = User Velocity 58 = Excess CPU Load

17 Get Controller State USINT 1 Provides the state of the controller.

0 = Idle 1 = Running 2 = Erasing 3 = Programming 4 = FlashFault

18 Get Average Current REAL 4 Amps Average current.

19 Get Torque Command REAL 4 Amps Torque command.

20 Get Torque Feedback REAL 4 Amps Torque feedback.

21 Get Torque Error REAL 4 Amps Torque error.

Publication 2098-RM002A-EN-P – October 2001

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-21

Description

22 Set Enable Position

Limit

23 Set Disable Position

Limit

24 Set Reset Position

Limit

25 Set Position Limit

Decel

USINT 1 Enables the position limits. This causes the drive

to start monitoring the position limits. The Position Limit State - Parameter 34 will transition to “Running”. 0 = No Action (default) 1 = Execute Command

USINT 1 Disables the position limits. This causes the drive

to stop monitoring the position limits. The Position Limit State - Parameter 34 will transition to “Disabled”. 0 = No Action (default) 1 = Execute Command

USINT 1 After a position limit violation, the position limits

will go to the “Stopped” state. The drive will not allow commanded motion in this state. Pressing this button will allow the drive to respond to commanded motion to back off of the limit condition. 0 = No Action (default) 1 = Execute Command

REAL 4

cnts/ sec

When a limit is detected, the drive will use this deceleration rate to bring the axis to a stop, unless doing so would violate the Position Limit Distance - Parameter 26. If necessary to stay within the Position Limit Distance, the drive will calculate a greater deceleration rate. Range: 0 to 3.4e10 Default: 0

26 Set Position Limit

Distance

27 Set Position Soft

Limits

DINT 4 cnts When a limit is detected, the drive will bring the

axis to a stop within this distance. Range: 0 to 2147483647 Default: 0

USINT 1 Enables or disables detection of soft limit

violations. The Position Limits (see Enable Position Limit - Parameter 22) must also be enabled for soft limit violations to be detected. Not saved in non-volatile memory. 0 = Disable (default) 1 = Enable

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4-22 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

28 Set Position Hard

Limits

29 Set Position Motor

Limits

30 Set Position Positive

Soft Limit

USINT 1 Enables or disables detection of hard limit

violations. The Position Limits (see Enable Position Limit - Parameter 22) must also be enabled for hard limit violations to be detected. The inputs to use for positive and negative hard limits must be set (see Parameters 32 and 33 below) for the hard limits to be detected. Not saved in non-volatile memory. 0 = Disable (default) 1 = Enable Note: Hard limits are enabled on power-up if either hard limit is assigned.

USINT 1 Enables or disables detection of motor integral

limit violations. The Position Limits (see Enable Position Limit - Parameter 22) must also be enabled for motor limit violations to be detected. The motor limits will only work when using a motor that supports integral limits (see Parameter

249). Not saved in non-volatile memory. 0 = Disable (default) 1 = Enable Note: Motor limits are enabled on power-up if Integral Limits - Parameter 249 are enabled on the motor.

DINT 4 cnts The position, in counts, when a positive soft limit

violation will be detected by the drive. This is the point where the drive will begin decelerating the axis. Range: -2147483648 to 2147483647 Default: 0

31 Set Position Negative

Soft Limit

Publication 2098-RM002A-EN-P – October 2001

DINT 4 cnts The position, in counts, when a negative soft limit

violation will be detected by the drive. This is the point where the drive will begin decelerating the axis. Range: -2147483648 to 2147483647 Default: 0

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-23

Description

32 Set Position Positive

Hard Limit

33 Set Position Negative

Hard Limit

USINT 1 The selected digital input to use to indicate a

positive hard limit violation. The drive will begin decelerating the axis when the input becomes active. 0 = Unassigned (default) 1 = Input 1 2 = Input 2 3 = Input 3 4 = Input 4 5 = Input 5 6 = Input 6 7 = Input 7 8 = Input 8 9 = Input 9 10 = Input 10 11 = Input 11 12 = Input 12 13 = Input 13 14 = Input 14 15 = Input 15 16 = Input 16

USINT 1 The selected digital input to use to indicate a

negative hard limit violation. The drive will begin decelerating the axis when the input becomes active. 0 = Unassigned (default) 1 = Input 1 2 = Input 2 3 = Input 3 4 = Input 4 5 = Input 5 6 = Input 6 7 = Input 7 8 = Input 8 9 = Input 9 10 = Input 10 11 = Input 11 12 = Input 12 13 = Input 13 14 = Input 14 15 = Input 15 16 = Input 16

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4-24 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

34 Get Position Limit

State

35 Get Position Limit

Flags

36 Set Jog Forward

Command

37 Set Jog Reverse

Command

38 Set Jog Stop

Command

39 Set Jog Abort

Command

40 Set Jog Program

Velocity

USINT 1 State of the position limit function.

0 = Disabled – Position Limits are not being monitored. 1 = Enabling – The drive is transitioning from the Disabled state to Running. 2 = Running – The drive is monitoring position limits. 3 = Stopping – The drive has detected a limit violation and is decelerating the motor. 4 = Stopped – The motor has been stopped in response to a limit violation. The drive will not allow any commanded motion until the Position Limits are reset. 5 = Resetting – The drive is transitioning from the Stopped state to Running.

DWORD 4 Indicates which position limit violation(s) have

been detected. Bit 0 = Positive Soft Limit Bit 4 = Positive Hard Limit Bit 8 = Positive Motor Limit Bit 16 = Negative Soft Limit Bit 20 = Negative Hard Limit Bit 24 = Position Motor Limit

USINT 1 Spins the motor at the Jog Program Velocity -

Parameter 40 in the forward direction. 0 = No Action (default) 1 = Execute Command

USINT 1 Spins the motor at the Jog Program Velocity -

Parameter 40 in the reverse direction. 0 = No Action (default) 1 = Execute Command

USINT 1 Brings the motor to a stop, using the Jog Program

Decel - Parameter 42 rate. 0 = No Action (default) 1 = Execute Command

USINT 1 Brings the motor to an immediate stop.

0 = No Action (default) 1 = Execute Command

REAL 4 cnts/ sec The commanded motor velocity when the drive is

jogging. Not saved in non-volatile memory. Range: -3.4e10 to 3.4e10 Default: 0

41 Set Jog Program

Accel

Publication 2098-RM002A-EN-P – October 2001

REAL 4 cnts/

sec

the Jog Program Velocity. Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

The acceleration rate used when ramping-up to

Programming Reference 4-25

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

42 Set Jog Program

Decel

REAL 4

cnts/ sec

The deceleration rate used when ramping-down from Jog Program Velocity to zero. Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

43 Get Jog State USINT 1 Describes the relation between the Jog Program

Velocity and Jog Current Velocity, as follows: 0 = Locked, when Jog Current Velocity equals Jog Program Velocity. 1 = Seeking, when the jog is accelerating or decelerating.

44 Get Jog Mode USINT 1 Describes the direction of the drive's jog, as

follows: 0 = Stopped, when not jogging 1 = Forward, when jogging forward 2 = Reverse, when jogging in reverse

45 Get Jog Current

Position

46 Get Jog Current

Velocity

47 Get Jog Current

Accel

48 Set Move Start

Command

49 Set Move Stop

Command

50 Set Move Abort

Command

51 Set Move Program

Distance

52 Set Move Program

Velocity

DINT 4 cnts The position generated by the current jog. This

value is automatically re-set to zero at drive power up.

REAL 4 cnts/ sec The velocity command generated by the current

jog.

REAL 4

cnts/ sec

The acceleration command generated by the current jog.

USINT 1 Starts a trapezoidal move defined by the Move

Program Distance, Move Program Velocity, Move Program Accel, and Move Program Decel (see Parameters 51, 52, 53, and 54 below). 0 = No Action (default) 1 = Execute Command

USINT 1 Brings the motor to a stop, using the Move

Program Decel. 0 = No Action (default) 1 = Execute Command

USINT 1 Brings the motor to an immediate stop.

0 = No Action (default) 1 = Execute Command to an immediate stop.

DINT 4 cnts The distance that the motor is to move when a

Move Start Command is executed. Not saved in non-volatile memory. Range: -2147483648 to 2147483647 Default: 0

REAL 4 cnts/ sec The commanded motor velocity during a move.

Range: -3.4e10 to 3.4e10 Not saved in non-volatile memory. Default: 0

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4-26 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

53 Set Move Program

Accel

REAL 4

cnts/ sec

The acceleration rate used when ramping-up to the move's velocity. Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

54 Set Move Program

Decel

REAL 4

cnts/ sec

The deceleration rate used when ramping-down from the move's velocity to zero. Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

55 Get Move State USINT 1 Describes the state of the Move function.

0 = Idle 1 = Profiling 2 = Calculating 3 = Correcting

56 Get Move Floating

Zero

DINT 4 cnts In the event that the Move Current Position value

is changed by the execution of a program (.exe) file, the value of this field will change so that the sum of Move Floating Zero and Move Current Position remains unchanged.

57 Get Move Current

Position

DINT 4 cnts The position generated by the current move. This

value is automatically re-set to zero at drive power up.

58 Get Move Current

Velocity

59 Get Move Current

Accel

60 Get Move Current

Jerk

REAL 4 cnts/ sec The velocity command generated by the current

move

REAL 4

cnts/ sec

The acceleration command generated by the current move.

REAL 4

cnts/ sec

The rate of change of acceleration generated by the current move.

61 Set Camtable Load USINT 1 Loads the cam file specified by Camtable

Filename into memory. 0 = No Action (default) 1 = Execute Command

62 Set Camtable Unload USINT 1 Unloads the cam file from memory. This frees

drive memory. 0 = No Action (default) 1 = Execute Command

Publication 2098-RM002A-EN-P – October 2001

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-27

Description

63 Set Camtable

Filename

SHORT_S TRING

1 byte length

The filename (up to 32 characters) describing the

cam motion. indicator, 1 byte per character

Ultraware generates Cam files when you insert a

cam table under the “Cam” branch in the

workspace. The cam files generated by Ultraware

are always stored in the drives flash file system

under a directory named /Cam.dir. If a cam table

is created in Ultraware with the default name of

Table.cam, and loaded into drive memory, the File

Name will be “/Cam.dir/Table.cam”. User

programs may set the Camtable Filename

attribute to different paths.

64 Set Cam Enable

Command

USINT 1 Causes the cam to begin generating an output

position. A cam table file must be loaded to

enable cam, or an “Invalid State” error occurs.

0 = No Action (default)

1 = Execute Command

65 Set Cam Disable

Command

USINT 1 Causes the cam to stop generating output, but the

Cam Current Position output is held constant at

the current value.

0 = No Action (default)

1 = Execute Command

66 Get Cam State USINT 1 The current state of the cam:

0 = Disabled

1 = Enabled

67 Get Cam Input

Position

DINT 4 cnts The current master position value. This value will

roll over to zero as it passes the Camtable Length

value.

68 Get Cam Input

REAL 4 cnts/ sec The current master velocity value.

Velocity

69 Get Cam Current

Position

DINT 4 cnts The output position of the cam. This position

always corresponds to the output position

defined for the given “Input Position” in the cam

table.

If the cam ends at a non-zero output position, this

value will roll back to zero (where all cams start),

and the Cam Offset status will be incremented by

the difference between the starting and stopping

output positions for the cam table.

The actual position command generated by the

cam is the sum of the Cam Offset and Cam

Current Position.

70 Get Cam Current

Velocity

REAL 4 cnts/ sec The actual velocity command generated by the

cam. This value will be equal to the Cam Input

Velocity multiplied by the instantaneous cam

table velocity, which is the rate of change of the

cam position.

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4-28 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

71 Get Cam Current

Accel

REAL 4

cnts/ sec

The actual acceleration command generated by the cam. This value will be equal to the instantaneous cam table acceleration, which is the rate of change of the cam times the Cam Input Velocity.

72 Get Cam Index DINT 1 The segment of the cam table used to calculate

the cam output. This is determined by the Cam Input Position. The index is zero based.

73 Get Cam Offset DINT 4 cnts The value, in counts, necessary to adjust the cam

between its final output position and the output position for the beginning of the next cam cycle. A cam wraps around to start again at its beginning, if there is a difference between the final and beginning output position of the cam table, the offset is adjusted by the difference, so the Cam Current Position is always the actual output position described by the cam table

74 Get Camtable State USINT 1 The current cam memory load status:

0 = Unloaded - a cam file is not loaded into memory. 1 = Loaded - a cam file has been loaded into memory.

Note: The Camtable Filename attribute can be changed by a user program (or DeviceNet) after a cam file is loaded, so the filename displayed doesn’t have to be the name of the file that is loaded.

75 Get Camtable Mode USINT 1 The current mode of the cam:

0 = Unlocked - the cam table is inactive, and a cam file may be loaded into memory. 1 = Locked - the cam is active, and a different cam file cannot be loaded. The Cam Table is “Locked” whenever the Cam is enabled.

76 Get Camtable Count DINT 4 The number of segments in the loaded cam table.

A cam table is divided into segments that start at each point defined in the cam file (except the final point displayed in the Ultraware Cam table interface, which is only used to define the end of the previous segment, not the start of a segment.)

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Programming Reference 4-29

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

77 Get Camtable Order DINT 4 Each of the segments of an Ultra5000 cam table

is defined by a polynomial equation, such as:

Output position = A + B*(Input Position) + C*(Input

Position)^2 +…

The Camtable Order is the highest order term in

the right side of this equation. All of the

segments in a cam table must have the same

order. When Ultraware generates a cam file it

generates first order equations when the cam

table is a linear type, and 5th order equations

when the cam table is a polynomial type. A 5th

order polynomial provides sufficient

degrees-of-freedom to allow Ultraware to

constrain the positions, velocities, and

accelerations at the ends of each segment.

78 Get Camtable Length DINT 4 cnts The maximum value of Cam Input Position in the

cam table.

79 Get Camtable Offset DINT 4 cnts The ending output position defined in the cam

table.

80 Set Gear Enable

Command

USINT 1 Causes the gear to begin generating output - and

motion - in response to input received from the

Master Encoder (or ratchet).

0 = No Action (default)

1 = Execute Command

81 Set Gear Disable

Command

USINT 1 Causes the gear to stop generating output.

0 = No Action (default)

1 = Execute Command

82 Set Gear Ratio REAL 4 The number of counts the motor should move for

each master encoder count received (in Motor

Counts per Master Count). Not saved in

non-volatile memory.

Range: -2147483520 to 2147483520

Default: 0

83 Set Gear Slew USINT 1 If “Enabled”, the gear ratio will ramp up or down

using the acceleration and deceleration specified

below. If “Disabled” the acceleration and

deceleration are effectively infinite.

0 = Disable (default)

1 = Enable

84 Set Gear Slew Accel REAL 4 ratio/ sec If the gear is enabled while the gear input is in

motion, or the gear ratio is changed to a greater

value. The gear ratio will ramp up to the specified

value at this rate.

Range: 0 to 3.4e10

Default: 0

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4-30 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

85 Set Gear Slew Decel REAL 4 ratio/ sec If the gear is disabled while it is in motion, or the

gear ratio is changed to a smaller value. The gear ratio will ramp down to the specified value (or zero if disabling) at this rate. Range: 0 to 3.4e10 Default: 0

86 Get Gear State USINT 1 Indicates if the gear is enabled and generating

output. 0 = Disable 1 = Enable

87 Get Gear Offset REAL 4 cnts The floating point value of the Gear Current

Position.

88 Get Gear Current

Position

89 Get Gear Current

DINT 4 cnts The position generated by gearing. This value is

automatically re-set to zero at drive power up.

REAL 4 cnts/ sec The velocity command generated by gearing.

Velocity

90 Get Gear Current

REAL 4

cnts/ sec

The acceleration command generated by gearing.

Accel

91 Get Gear Slew State USINT 1 Indicates if the gear ratio is changing.

0 = Locked - The gear ratio has reached the target value. 1 = Seeking - The gear ratio is ramping up or down.

92 Get Current Gear

Ratio

REAL 4 The current gear ratio may not equal the user

entered Gear Ratio when the Gear Slew State = Seeking. The current gear ratio is equal to the user entered Gear Ratio when the Gear Slew State = Locked, or if Gear Slew is Disabled.

93 Set Vreg KP REAL 4 1/sec Proportional gain for the velocity loop. 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 3.4e10 Default: 200

94 Set Vreg KI REAL 4 1/sec Integral gain for the velocity loop. 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 3.4e10 Default: 0

95 Set Vreg KFF REAL 4 Acceleration feedforward gain. FF gain reduces

velocity following error. However, high values can cause velocity overshoot Range: 0 to 3.4e10 Default: 1

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Programming Reference 4-31

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

96 Set Vreg Bandwidth REAL 4 Hertz Lowpass output filter bandwidth. Valid values

range from 0 Hz to 2000 Hz. Bandwidth reduces

noise generated by encoder resolution or

mechanical resonance in the system. Setting to

zero disables filtering

Range: 0 to 2000

Default: 0

97 Set Vreg Upper Limit REAL 4 Amps The maximum positive current the drive may

output to the motor.

Range: 0 to 3.4e10

Default: 30

98 Set Vreg Lower Limit REAL 4 Amps The maximum negative current the drive may

output to the motor.

Range: -3.4e10 to 0

Default: -30

99 Get Vreg Command

REAL 4 cnts/ sec The command velocity input to the velocity loop.

Velocity

100 Get Vreg Command

Accel

REAL 4

cnts/ sec

The command acceleration input to the velocity

loop.

101 Get Vreg Feedback

Velocity

REAL 4 cnts/ sec The feedback velocity returned from the motor to

the velocity loop.

102 Get Vreg Error REAL 4 cnts/ sec The difference between Command Velocity and

Feedback Velocity.

103 Get Vreg Error Sum REAL 4 cnts/ sec The velocity error summation used by integral

gain.

104 Get Vreg Output REAL 4 Amps The generated output from the velocity loop.

105 Get Vreg Tune State USINT 1 Indicates the state of the velocity tuning function.

0 = Idle

1 = Running

2 = Stopping

106 Set Start Vreg Tune USINT 1 Drives the motor with a square (or step) wave, the

shape of which is determined by the commanded

Vreg Tune Step, Vreg Tune Period, and Vreg Tune

Direction.

0 = No Action (default)

1 = Execute Command

107 Set Stop Vreg Tune USINT 1 Stops velocity tuning.

0 = No Action (default)

1 = Execute Command

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4-32 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

108 Set Vreg Tune

Direction

USINT 1 Selects a tuning direction. Not saved in

non-volatile memory. 0 = Bi-Directional (default) - to tune the drive using an alternating step-input to create alternately forward and reverse directional motion. 1 = Forward Only - to tune the drive using a step-input to create forward motion only. 2 = Reverse Only - Only to tune the drive using a step-input to create reverse motion only.

109 Set Vreg Tune Period REAL 4 sec The time the drive will turn at a given velocity.

Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

110 Set Vreg Tune Step REAL 4 cnts/ sec The amplitude of the velocity input sent to the

drive for the given Vreg Tune Period. In Bi-Directional tuning, the amplitude will alternate polarity (+ or - sign). Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

111 Get Vreg Tune

Command

REAL 4 cnts/ sec The velocity command driving the velocity

regulator while the velocity tuning algorithm is running. This signal is only included to be consistent with the Position Regulator Tune Command signal. It is actually the same as the Vreg Command Velocity.

112 Get Vreg Tune

Feedback

REAL 4 cnts/ sec The velocity feedback to the velocity regulator

while the velocity tuning algorithm is running. This signal is only included to be consistent with the Position Regulator Tune Feedback signal. It is actually the same as the Vreg Feedback Velocity.

113 Set Preg Kp REAL 4 1/sec Proportional gain for the position loop. Increasing

the Kp gain improves response time and increases the “stiffness” of the system. Too high a Kp gain value causes instability; too low a Kp gain value results in “loose” or “ sloppy” system dynamics. Range: 0 to 3.4e10 Default: 20

114 Set Preg Kpz REAL 4 1/sec Proportional gain for the position loop, when the

position error falls within the Preg Kpz Zone. Range: 0 to 3.4e10 Default: 0

115 Set Preg Kpz Zone DINT 4 cnts Enter the region, in counts, around Command

Position where Preg Kpz will be used in place of Preg Kp as the position loop proportional gain value. Range: 0 to 2147483647 Default: 0

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Programming Reference 4-33

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

116 Set Preg Ki REAL 4 1/sec Integral gain for the position loop. Ki gain

improves the steady-state positioning

performance of the system and virtually

eliminates steady-state positioning errors.

Increasing the integral gain generally increases

the ultimate positioning accuracy of the system.

However excessive integral gain results in system

instability.

Range: 0 to 3.4e10

Default: 0

117 Set Preg Ki Zone DINT 4 cnts Enter the region, in counts, around Preg

Command Position where integral gain is active.

Range: 0 to 2147483647

Default: 0

118 Set Preg Kff REAL 4 Velocity feedforward gain for the position loop.

Range: 0 to 3.4e10

Default: 1

119 Get Preg Command

DINT 4 cnts The command position input to the position loop.

Position

120 Get Preg Command

REAL 4 cnts/ sec The command velocity input to the position loop.

Velocity

121 Get Preg Command

Accel

122 Get Preg Feedback

Position

REAL 4

cnts/ sec

DINT 4 cnts The feedback position returned from the motor to

The command acceleration input to the position

loop.

the position loop.

123 Get Preg Error DINT 4 cnts The difference between Preg Command Position

and Preg Feedback Position.

124 Get Preg Error Sum DINT 4 cnts The position error summation used by integral

gain.

125 Get Preg Output REAL 4 cnts/ sec The generated output from the position loop.

126 Get Preg Tune State USINT 1 Indicates the state of the position tuning function.

0 = Idle

1 = Running

2 = Stopping

127 Get Preg Command

Offset

DINT 4 cnts Offsets the Command Position value displayed on

Ultraware's Oscilloscope to prevent the command

trace from incrementing ('walking') off the

display.

128 Get Preg Feedback

Offset

DINT 4 cnts Offsets the Feedback Position value displayed on

the Ultraware's Oscilloscope to prevent the

feedback trace from incrementing ('walking') off

the display.

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4-34 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

129 Set Start Preg Tune USINT 1 Drives the motor with a square (or step) wave, the

shape of which is determined by the commanded Preg Tune Step, Preg Tune Period, and the selected Preg Tune Direction. 0 = No Action (default) 1 = Execute Command

130 Set Stop Preg Tune USINT 1 Stops position tuning.

0 = No Action (default) 1 = Execute Command

131 Set Preg Tune

Direction

USINT 1 Selects a tuning direction. Not saved in

132 Set Preg Tune Period REAL 4 sec The time the drive will hold its present step

position. Not saved in non-volatile memory. Range: 0 to 3.4e10 Default: 0

133 Set Preg Tune Step DINT 4 cnts The number of counts the drive will move in a

single direction. In Bi-Directional tuning, the direction will alternate. Not saved in non-volatile memory. Range: 0 to 2147483647 Default: 0

134 Get Preg Tune

Command

DINT 4 cnts The position command driving the position

regulator while the position tuning algorithm is running. If the Preg Tune Direction is set to c or Reverse Only, this signal is adjusted after each period of the tuning signal to remove the offset that is accumulating in the position of the motor. This allows the uni-directional signal to be displayed in Ultraware's oscilloscope without having to constantly adjust the offset.

135 Get Preg Tune

Feedback

DINT 4 cnts The position feedback to the position regulator

while the position tuning algorithm is running. If the Preg Tune Direction is set to Forward Only or Reverse Only, this signal is adjusted after each period of the tuning signal to remove the offset that is accumulating in the position of the motor. This allows the uni-directional signal to be displayed in Ultraware's oscilloscope without having to constantly adjust the offset.

Publication 2098-RM002A-EN-P – October 2001

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-35

Description

136 Set Motor Encoder

Interpolation

137 Set Motor Encoder

Polarity

138 Set Motor Encoder

Filter

UINT 2 The amount of interpolation to be used with sine/

cosine encoders. For example, if the interpolation

is set to x256, the drive will interpolate 256

counts for every 1/4 line of the input sinusoid.

Valid values are:

4 = x4 (default)

8 = x8

16 = x16

32 = x32

64 = x64

128 = x128

256 = x256

512 = x512

1024 = x1024

USINT 1 Select the motor encoder's polarity.

0 = Positive (default) - Turning the motor in a

clockwise direction (as viewed from the shaft

end) increases the feedback position (in counts).

1 = Negative - turning the motor in a clockwise

direction (as viewed from the shaft end)

decreases the feedback position (in counts).

USINT 1 Select the state of the motor encoder filer. The

filter reduces the upper limit of the rate at which

feedback pulses will be recognized. You may

need to enable feedback in a noisy environment,

or when a long encoder cable is used.

0 = Disable (default)

1 = Enable

139 Set Master Encoder

Polarity

140 Set Master Encoder

Filter

USINT 1 Select the master encoder's polarity.

0 = Positive (default) - Turning the motor in a

clockwise direction (as viewed from the shaft

end) increases the feedback position (in counts).

1 = Negative

USINT 1 Select the state of the master encoder filter. The

filter reduces the upper limit of the rate at which

feedback pulses will be recognized. You may

need to enable feedback in a noisy environment,

or when a long encoder cable is used.

0 = Disable (default)

1 = Enable

Publication 2098-RM002A-EN-P – October 2001

4-36 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

141 Set Ratchet Negative

Mode

BYTE 1 Bit 0 = Ignore Negative Input - Negative direction

master encoder input will generate NO motor movement

Bit 1 = Negate Negative Input - Master encoder input in a negative direction will generate motor movement in a positive direction.

Note: Selecting "Ignore Negative Input", above, overrides this selection

Bit 2 = Buffer Negative Input - Negative direction master encoder input is accumulated in a buffer without generating motor movement.

Note: This selection will often be used together with "Unbuffer Positive Input", below

Bit 3 = Unbuffer Negative Input - Negative direction master encoder input will be used first to reduce the accumulated positive directional buffer then, only after this buffer is reduced to zero, will generate motor movement in the negative direction.

Note: This assumes "Buffer Negative Input", above, is not selected.

Default = 0

Publication 2098-RM002A-EN-P – October 2001

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-37

Description

142 Set Ratchet Positive

Mode

BYTE 1 Bit 0 = Ignore Positive Input - Positive direction

master encoder input will generate NO motor

movement.

Bit 1 = Negate Positive Input - Master encoder

input in a positive direction will generate motor

movement in a negative direction.

Note: Selecting "Ignore Positive Input", above,

overrides this selection.

Bit 2 = Buffer Positive Input - Positive direction

master encoder input is accumulated in a buffer

without generating motor movement.

Note: This selection will often be used together

with "Unbuffer Negative Input", above.

Bit 3 = Unbuffer Positive Input - Positive direction

master encoder input will be used first to reduce

the accumulated negative directional buffer then,

only after this buffer is reduced to zero, will

generate motor movement in the positive

direction.

Note: This assumes "Buffer Positive Input",

above, is not selected

Default = 0.

143 Get Motor Encoder

DINT 4 cnts The motor encoder's output.

Output

144 Get Master Encoder

DINT 4 cnts The master encoder's output.

Output

145 Get Ratchet State USINT 1 Provides the state of the ratchet.

0 = Disable

1 = Enable

146 Get Ratchet Buffer DINT 4 cnts The accumulated value stored in the buffer when

negative or positive input is set to buffer and/or

unbuffer. This value is automatically re-set to zero

at drive power up.

147 Get Ratchet Output DINT 4 cnts The position generated by the ratchet. This value

is automatically re-set to zero at drive power up.

148 Get Ratchet Position DINT 4 cnts The position generated by the ratchet. This value

is automatically reset to zero at power up.

149 Get Ratchet Velocity REAL 4 cnts/ sec The velocity command generated by the ratchet.

150 Get Input 1 State USINT 1 The current state, or condition, of the digital

input.

0 = Off

1 = On

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4-38 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

151 Get Input 2 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

152 Get Input 3 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

153 Get Input 4 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

154 Get Input 5 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

155 Get Input 6 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

156 Get Input 7 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

157 Get Input 8 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

158 Get Input 9 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

159 Get Input 10 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

160 Get Input 11 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

161 Get Input 12 State USINT 1 The current state, or condition, of the digital

input. 0 = Off 1 = On

Publication 2098-RM002A-EN-P – October 2001

Programming Reference 4-39

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

162 Get Input 13 State USINT 1 The current state, or condition, of the digital

input.

0 = Off

1 = On

163 Get Input 14 State USINT 1 The current state, or condition, of the digital

input.

0 = Off

1 = On

164 Get Input 15 State USINT 1 The current state, or condition, of the digital

input.

0 = Off

1 = On

165 Get Input 16 State USINT 1 The current state, or condition, of the digital

input.

0 = Off

1 = On

166 Set Output 1 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

167 Set Output 2 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

168 Set Output 3 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

169 Set Output 4 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

170 Set Output 5 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

171 Set Output 6 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

172 Set Output 7 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory.

0 = Off (default)

1 = On

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4-40 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

173 Set Output 8 State USINT 1 The current state, or condition, of the digital

output. Not saved in non-volatile memory. 0 = Off (default) 1 = On

174 Set ADC 1 Scale REAL 4 A multiplier applied to the voltage read at analog

input 1. Range: -3.4e10 to 3.4e10 Default: 1

175 Set ADC 1 Offset REAL 4 Volts A value added to the multiplied ADC 1 input.

Range: -3.4e10 to 3.4e10 Default: 0

176 Get ADC 1 Input REAL 4 Volts The scaled value of analog input 1. This value

equals the voltage read at the analog input multiplied by the gain value, summed with the offset.

177 Get ADC 1 Output REAL 4 Volts The unscaled value of analog input 1. This value

equals the voltage read at the analog input.

178 Set ADC 2 Scale REAL 4 A multiplier applied to the voltage read at analog

input 2. Range: -3.4e10 to 3.4e10 Default: 1

179 Set ADC 2 Offset REAL 4 Volts A value added to the multiplied ADC 2 input.

Range: -3.4e10 to 3.4e10 Default: 0

180 Get ADC 2 Input REAL 4 Volts The scaled value of analog input 2. This value

equals the voltage read at the analog input multiplied by the gain value, summed with the offset.

181 Get ADC 2 Output REAL 4 Volts The unscaled value of analog input 2. This value

equals the voltage read at the analog input.

182 Set DAC 1 Mode USINT 1 Selects on the following:

0 = Manual (default) - The voltage at the output is determined by the Manual DAC 1 Value setting of the output, along with its scale and offset. 1 = Auto - The voltage at the output is determined by the DAC 1 Source setting along with its scale and offset.

Publication 2098-RM002A-EN-P – October 2001

Programming Reference 4-41

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

183 Set DAC 1 Source USINT 1 Selects the signal used for the DAC 1 output

voltage when DAC 1 Mode is set to Auto mode.

0 = Unassigned (default)

1 = Preg Command Pos

2 = Preg Command Vel

3 = Preg Feedbck Pos

4 = Preg Error

5 = Preg Output

6 = Preg Tune Cmd

7 = Preg Tune Fdbck

8 = Vreg Command Vel

9 = Vreg Command Acc

10 = Vreg Fdbk Vel

11 = Vreg Error

12 = Vreg Output

13 = Vreg Tune Cmd

14 = Vreg Tune Fdbk

15 = Shaft Position

16 = Shaft Angle

17 = Sine (Ireg)

18 = Cosine (Ireg)

19 = Ireg Loop Gain

20 = Average Current

21 = U Phase Current

22 = W Phase Current

23 = U Phase Voltage

24 = V Phase Voltage

25 = W Phase Voltage

26 = Torque Command

27 = Torque Feedback

28 = Torque Error

29 = Torque Output

30 = Field Feedback

31 = Field Error

32 = Field Output

184 Set DAC 1 Scale REAL 4 A multiplier applied to signal selected by the DAC

1 Source to obtain a scaled voltage value that is

added to the DAC 1 Offset to obtain the DAC 1

output voltage.

Range: -3.4e10 to 3.4e10

Default: 1

185 Set DAC 1 Offset REAL 4 Volts A value added to the scaled voltage value.

Range: -3.4e10 to 3.4e10

Default: 0

186 Set Manual DAC 1

Value

REAL 4 Volts The voltage value input to the Analog Output 1

when in Manual mode before the Scaled and

Offset values are applied. Not saved in

non-volatile memory.

Range: -3.4e10 to 3.4e10

Default: 0

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4-42 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

187 Get DAC 1 Output REAL 4 Volts The Analog Output 1 output voltage value after

the DAC 1 Scale and DAC 1 Offset values are applied.

188 Set DAC 2 Mode USINT 1 Selects on the following:

0 = Manual (default) - The voltage at the output is determined by the Manual DAC 2 Value setting of the output, along with its scale and offset. 1 = Auto - The voltage at the output is determined by the DAC 2 Source along with its scale and offset.

189 Set DAC 2 Source USINT 1 Selects the signal used for the DAC 2 output

voltage when DAC 2 Mode is set to Auto mode. 0 = Unassigned (default) 1 = Preg Command Pos 2 = Preg Command Vel 3 = Preg Feedbck Pos 4 = Preg Error 5 = Preg Output 6 = Preg Tune Cmd 7 = Preg Tune Fdbck 8 = Vreg Command Vel 9 = Vreg Command Acc 10 = Vreg Fdbk Vel 11 = Vreg Error 12 = Vreg Output 13 = Vreg Tune Cmd 14 = Vreg Tune Fdbk 15 = Shaft Position 16 = Shaft Angle 17 = Sine (Ireg) 18 = Cosine (Ireg) 19 = Ireg Loop Gain 20 = Average Current 21 = U Phase Current 22 = W Phase Current 23 = U Phase Voltage 24 = V Phase Voltage 25 = W Phase Voltage 26 = Torque Command 27 = Torque Feedback 28 = Torque Error 29 = Torque Output 30 = Field Feedback 31 = Field Error 32 = Field Output

190 Set DAC 2 Scale REAL 4 A multiplier applied to signal selected by the DAC

2 Source to obtain a scaled voltage value that is added to the DAC 2 Offset to obtain the DAC 2 output voltage. Range: -3.4e10 to 3.4e10 Default: 1

Publication 2098-RM002A-EN-P – October 2001

Programming Reference 4-43

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size

Units / Scale

Description

(Bytes)

191 Set DAC 2 Offset REAL 4 Volts A value added to the scaled voltage value.

Range: -3.4e10 to 3.4e10

Default: 0

192 Set Manual DAC 2

Value

REAL 4 Volts The voltage value input to the Analog Output 2

when in Manual mode before the Scaled and

Offset values are applied. Not saved in

non-volatile memory.

Range: -3.4e10 to 3.4e10

Default: 0

193 Get DAC 2 Output REAL 4 Volts The Analog Output 2 output voltage value after

the DAC 2 Scale and DAC 2 Offset values are

applied.

194 Set Clear Faults USINT 1 Clears all drive faults.

0 = No Action (default)

1 = Execute Command

195 Set User Current

Fault Limit

REAL 4 Amps The current level that will generate a fault when

exceeded by the average current level. The drive

always protects itself and the motor from average

currents that exceed their ratings. This value is

only needed if a lower average current fault is

desired (For example, if another part of a machine

would overheat).

Range: 0 to 3.4e10

Default: 0

196 Set User Current

Fault

USINT 1 Determines if the User Current fault detection is

enabled (turned on) or disabled.

0 = Disable (default)

1 = Enable

197 Set User Velocity

Fault Limit

198 Set User Velocity

Fault

199 Set Velocity Error

Limit

200 Set Velocity Error

Delay

REAL 4 cnts/ sec The minimum velocity which causes the User

Velocity fault. The drive always protects the

motor from exceeding its ratings. This value is

only needed if a lower velocity fault is desired.

(For example, if another part of a machine could

be damaged.)

Range: 0 to 3.4e10

Default: 0

USINT 4 Determines if the User Velocity fault detection is

enabled (turned on) or disabled.

0 = Disable (default)

1 = Enable

REAL 4 cnts/ sec The minimum velocity error that triggers the

Velocity Error fault.

Range: 0 to 3.4e10

Default: 80000

REAL 4 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 3.4e10

Default: 1000

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4-44 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

201 Set Position

(Following) Error Limit

DINT 4 cnts The minimum position error that triggers the

Position (Following) Error fault Range: 0 to 2147483647 Default: 8000

202 Set Position

(Following) Error Delay

REAL 4 msec The minimum time during which the position error

must be greater than the Position (Following) Error Limit to cause a Position (Following) Error fault. Range: 0 to 3.4e10 Default: 100

203 Get Fault Status DWORD 4 The Controller Fault Status provides the present

state of the possible fault conditions. Bit 3 = Motor Overtemperature Bit 4 = IPM Fault Bit 8 = Bus Undervoltage Bit 9 = Bus Overvoltage Bit 10 = Bad (Illegal) Hall State Bit 13 = Network Communication Bit 16 = User Current Bit 17 = Overspeed Bit 18 = Position (Following) Error Bit 19 = Motor Encoder Error Bit 20 = Auxiliary Encoder Error Bit 21 = Motor Filter Bit 22 = IPM Filter Bit 23 = Velocity Error Bit 25 = User Velocity

204 Get Fault Count DINT 4 Displays the number of faults recorded since

power-up of the drive.

205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224

Get Fault History 1

through

Fault History 20

USINT 1 Returns the most recent faults detected in the

drive. Fault History 1 is the most recent, Fault History 20 is the oldest. 0 = No Fault 4 = Motor Overtemperature 5 = IPM Fault 9 = Bus Undervoltage 10 = Bus Overvoltage 11 = Bad (Illegal) Hall State 14 = Network Communication 17 = User Current 18 = Overspeed 19 = Position (Following) Error 20 = Motor Encoder Error 21 = Auxiliary Encoder Error 22 = Motor Filter 23 = IPM Filter 24 = Velocity Error 26 = User Velocity 58 = Excess CPU Load

Publication 2098-RM002A-EN-P – October 2001

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-45

Description

225 Get Controller Drive

USINT 1 The type of Ultra5000 drive.

Typ e

226 Get PICS Number SHORT_S

TRING

227 Get Controller

Firmware Version

228 Get Controller Boot

Version

SHORT_S TRING

1 byte length indicator, 1 byte per character

0 = Invalid

1 = 2098-IPD-005-DN

2 = 2098-IPD-010-DN

3 = 2098-IPD-020-DN

4 = 2098-IPD-030-DN

5 = 2098-IPD-075-DN

6 = 2098-IPD-150-DN

7 = 2098-IPD-HV030-DN

8 = 2098-IPD-HV050-DN

9 = 2098-IPD-HV100-DN

10 = 2098-IPD-HV150-DN

11 = 2098-IPD-HV220-DN

A unique identifier assigned to each drive.

The version of the drive's main firmware in the

format XX.YY.ZZ, where:

XX = major revision

YY = minor revision

ZZ = maintenance revision

The version of the drive's boot firmware in the

format XX.YY.ZZ, where:

XX = major revision

YY = minor revision

ZZ = maintenance revision

229 Get Controller FPGA

Version

SHORT_S TRING

1 byte length indicator, 1 byte per character

The version of the firmware containing the FPGA

image and the burn in self test code. The format

is XX.YY.ZZ, where:

XX = major revision

YY = minor revision

ZZ = maintenance revision

230 Get Controller Rated

Current

231 Get Controller Peak

Current

REAL 4 Amps The maximum current the drive can continuously

produce without faulting.

REAL 4 Amps The maximum current the drive can produce on an

intermittent basis.

232 Get Service Clock DINT 4 secs The seconds the drive has been powered up.

233 Get Controller Info

Version

DINT 4 The info version is the revision of the structure

that was used to store the manufacturing data. If

this value is greater then zero, the manufacturing

data is valid. Otherwise, the data is invalid and

has not been loaded.

234 Get Date Code DINT 4 The date code indicates when the control was

manufactured. If the info version is zero, this

value will also be zero

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4-46 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

235 Get Controller Create

Version

DINT 4 The create version indicates the version of

firmware that was installed when the control was manufactured. If the info version is zero, this value will also be zero.

236 Get Controller

Assembly Revision

SHORT_S TRING

1 byte length indicator, 1 byte per

The assembly rev is a string indicating the revision of the hardware that was installed when the control was manufactured. If the info rev is zero, this value will be a blank string.

character

237 Set Auto Motor

Identification

USINT 1 Specifies if the drive should read the motor

parameters from an intelligent encoder or from non-volatile RAM. 0 = Disable - read motor parameters from non-volatile RAM. 1 = Enable (default) - read motor parameters from an intelligent encoder.

238 Get Motor Model SHORT_S

TRING

1 byte length

The model name for the motor being used by the

drive. indicator, 1 byte per character

239 Get Reserved USINT 1 Default: 0

240 Set Total Linear Mass REAL 4 kg (Only for linear motors.) The moving mass of

linear motor and load combined.

241 Get Motor Flag USINT 1 Indicates if the drive is configured for a standard

or custom motor.

0 = Invalid (default)

1 = Standard Motor - indicates a motor that is

pre-configured in Ultraware.

2 = Custom - indicates a user-configured motor

which was added to Ultraware Motor database

using a utility that ships with Ultraware.

242 Get Motor Type USINT 1 The type of motor selected.

0 = Rotary (default)

1 = Linear

243 Get Motor Rotary

REAL 4 N-m/A The sinusoidal torque constant for a rotary motor.

Torque Constant

244 Get Motor Rotary

REAL 4

kg-cm

Rotor inertia for a rotary motor.

Inertia

245 Get Motor Rotary

Pole Count

246 Get Motor Linear

Force Constant

247 Get Motor Linear

Mass

Publication 2098-RM002A-EN-P – October 2001

DINT 4 The number of motor poles per revolution (only for

a rotary motor).

REAL 4 N/A The sinusoidal force constant for a linear motor.

REAL 4 kg The mass of the moving part (rotor) of a linear

motor.

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Programming Reference 4-47

Description

248 Get Motor Linear

Cycle Length

REAL 4 meter The distance between motor poles for a linear

motor.

249 Get Integral Limits USINT 1 Indicates whether the motor provides built in

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

250 Get Motor Rated

REAL 4 Volts Voltage rating of the motor.

Voltage

251 Get Motor Resistance REAL 4 Ohms The phase-to-phase resistance of the motor

stator.

252 Get Motor Inductance REAL 4 mH The phase-to-phase inductance of the motor

stator.

253 Get Flux Saturation 0 REAL 4 The motor flux saturation value at 12.5% of motor

peak current. A value of one (1) indicates no saturation.

254 Get Flux Saturation 1 REAL 4 The motor flux saturation value at 25% of motor

peak current. A value of one (1) indicates no saturation.

255 Get Flux Saturation 2 REAL 4 The motor flux saturation value at 37.5% of motor

peak current. A value of one (1) indicates no saturation.

256 Get Flux Saturation 3 REAL 4 The motor flux saturation value at 50% of motor

peak current. A value of one (1) indicates no saturation.

257 Get Flux Saturation 4 REAL 4 The motor flux saturation value at 62.5% of motor

peak current. A value of one (1) indicates no saturation.

258 Get Flux Saturation 5 REAL 4 The motor flux saturation value at 75% of motor

peak current. A value of one (1) indicates no saturation.

259 Get Flux Saturation 6 REAL 4 The motor flux saturation value at 87.5% of motor

peak current. A value of one (1) indicates no saturation.

260 Get Flux Saturation 7 REAL 4 The motor flux saturation value at 100% of motor

peak current. A value of one (1) indicates no saturation.

261 Get Motor Rotary

REAL 4 RPM Maximum speed of a rotary motor.

Maximum Speed

262 Get Motor Linear

REAL 4 m/sec Maximum speed of a linear motor.

Maximum Speed

263 Get Motor Peak

REAL 4 Amps Maximum intermittent current of the motor.

Current

264 Get Motor Rated

REAL 4 Amps Continuous current rating of the motor.

Current

Publication 2098-RM002A-EN-P – October 2001

4-48 Programming Reference

Parameter Object, Instances ID 1- 340

Parameter Instance

Access Rule

Parameter Name

Data Type

Data Size (Bytes)

Units / Scale

Description

265 Get Motor Encoder

Typ e

USINT 1 Type of motor encoder.

0 = None

1 = Incremental

2 = Sine/Cosine

3 = Intelligent

266 Get Motor

Commutation Typ e

USINT 1 The type of motor commutation.

0 = Brush

1 = Trapezoidal

2 = Sinusoidal

267 Get Motor Startup

Typ e

USINT 1 The type of motor startup for sinusoidal

commutation.

0 = Self-Sensing

1 = Hall Inputs

268 Get Motor Hall Offset REAL 4 degs Hall Input offset in units of electrical degrees.

269 Get Motor Rotary

Line Count

270 Get Motor Linear Line

Count

271 Get Motor

Thermostat

DINT 4 lines/ rev The number of encoder lines per revolution on a

rotary motor encoder.

DINT 4 lines/m The number of encoder lines per meter of travel

on a linear motor encoder.

USINT 1 Indicates whether the motor has a built-in

thermostat.

0 = Not Present

1 = Present

272 Get Motor Soft

Protection

USINT 1 Determines whether the motor thermal protection

software is activated.

0 = Disabled

1 = Enabled

273 Get Motor Rth(w-e) REAL 4 C/W Thermal resistance from the winding to the

encoder.

274 Get Motor Cth(w-e) REAL 4 W-s/C Thermal capacitance from the winding to the

encoder.

275 Get Motor Rth(w-a) REAL 4 C/W Thermal resistance from the winding to ambient.

276 Get Motor Cth(w-a) REAL 4 W-s/C Thermal capacitance from the winding to

ambient.

277 308

Set Integer Data

0 - 31

DINT 4 Range: -2147483648 to 2147483647

Default: 0

Automatically saved in non-volatile storage.

309 340

Set Float Data 0 - 31 REAL 4 Range: -3.4e10 to 3.4e10

Default: 0

Automatically saved in non-volatile storage.

Publication 2098-RM002A-EN-P – October 2001

Programming Reference 4-49

Parameter Object Instance Attributes

Attr ID Access

Rule

2 Get Link Path Size USINT Size of Link Path attribute. If this attribute

3 Link Path ARRAY of DeviceNet path Path to the object from where this

4 Descriptor WORD Descriptor of parameter. Bit Definitions for

Stub/

Name Data Type Description

Full

Stub Parameter

Value

Segment Type/Port

Segment Address

Data type specified in Descriptor, Data Type and Data Size

Actual value of parameter. It can be read from or written to. This attribute is read-only if bit 4 of Attribute 4 is TRUE.

is 0, then no link is specified. Number of BYTEs in attribute 3.

parameter value is retrieved. The link path is limited to 255 BYTEs.

BYTE Refer to the DeviceNet Specification listed

in Related Documentation on page P-3 for a description of the data type: Segment Type/Port.

EPATH Path (format depends on data contained in

segment type/port)

Instance Attribute 4 on page 4-51

5 Data Type USINT Data type code. Data Types for Instance

Attribute 5 on page 4-51

6 Data Size USINT Number of BYTEs in Attribute 1, Parameter

Value

Publication 2098-RM002A-EN-P – October 2001

4-50 Programming Reference

Parameter Object Instance Attributes (Continued)

Attr ID Access

Rule

7 Get Full Parameter

Stub/ Full

Name Data Type Description

Name

SHORT_ STRING

A human readable string representing the parameter name. For example, “Vel Loop P-Gain” The maximum number of characters is 16. (The first byte is a length code.)

8 Units String Engineering unit string. The maximum

number of characters is 4. (The first byte is a length code.)

9 Help String The maximum number of characters is 64.

(The first byte is a length code.)

10 Minimum

Value

11 Maximum

Value

Data type specified in Descriptor, Data type and Data Size

The minimum valid actual value to which attribute 1, Parameter Value can be set.

The maximum valid actual value to which attribute 1, Parameter Value can be set

12 Default Value The actual value attribute 1, Parameter

Value should be set to when you want the default for the parameter.

13 Scaling

UINT

Multiplier for scaling formula

Multiplier

14 Scaling

Divisor for scaling formula

Divisor

15 Scaling Base Base for scaling formula

16 Scaling Offset Offset for scaling formula

17 Multiplier

Link

Parameter object instance number of multiplier source.

18 Divisor Link Parameter object instance number of

divisor source.

19 Base Link Parameter object instance number of base

source.

20 Offset Link Parameter object instance number of offset

source.

21 Decimal

Precision

USINT

Specifies number of decimal places to use when displaying the scaled engineering value. Also used to determine actual increment value so that incrementing a value causes a change in scaled engineering value to this precision.

1 The access rule is defined in Bit Definitions for Instance Attribute 4 on page 4-31:

If bit 4 is 0 the access rule is Set and the Parameter Value can be read and written. If bit 4 is 1, the access rule is Get and the Parameter Value can only be read.

Data type specified in Data Type Definitions on page 4-4.

Publication 2098-RM002A-EN-P – October 2001

Parameter Object Bit Definitions for Instance Attribute 4

Bit Definition Value

Programming Reference 4-51

0 Supports settable

path

1 Supports

enumerated strings

2 Supports scaling 0 = Scaling not supported.

3 Supports scaling

links

4 Read only parameter 0 = Parameter value attribute can be written (set) and read

5 Monitor parameter 0 = Parameter value attribute is not updated in real time by

6 Supports extended

precision scaling

0 = Link path can not be set. 1 = Link path can be set.

0 = Enumerated strings are not supported. 1 = Enumerated strings are supported and may be read with the Get_Enum_String service.

1 = Scaling is supported. The scaling attributes are implemented and the value presented is in engineering units.

0 = Scaling links not supported. 1 = The values for the scaling attributes may be retrieved from other parameter object instances.

(get). Access rule is set. 1 = Parameter value attribute can only be read. Access rule is get.

the device. 1 = Parameter value attribute is updated in real time by the device.

0 = Extended precision scaling is not supported. 1 = Extended precision scaling should be implemented and the value is presented in engineering units.

Parameter Object Data Types for Instance Attribute 5

Data Type Name Data Type Code

(in Hex)

SINT C2 Signed 8-bit integer value

INT C3 Signed 16-bit integer value

DINT C4 Signed 32-bit integer value

USINT C6 Unsigned 8-bit integer value

UINT C7 Unsigned 16-bit integer value

UDINT C8 Unsigned 32-bit integer value

REAL CA 32-bit floating point value

BYTE D1 bit string, 8-bit

WORD D2 bit string, 16-bit

DWORD D3 bit string, 32-bit

SHORT_STRING DA Character string

Data Type Description

(1 byte per character, 1 byte length indicator)

Publication 2098-RM002A-EN-P – October 2001

4-52 Programming Reference

Parameter Object Common Services

Service Code Implemented for: Service Name

Class Instance

0x01 No Yes Get_Attribute_All

0x0E Yes Yes Get_Attribute_Single

0x10 No Yes Set_Attribute_Single

0x16 Yes No Save

Get_Attribute_All Response

At the instance level, the order of attributes returned in the Get_Attribute_All Response is as follows:

Class Attribute ID Attribute Name and Default Value

1 Parameter Value

2 Link Path Size

3 Link Path

4 Descriptor

5 Data Type

6 Data Size

7 Parameter Name String, default character count = 0

8 Units String, default character count = 0

9 Help String, default character count = 0

10 Minimum Value default = 0

11 Maximum Value default = 0

12 Default Value default = 0

13 Scaling Multiplier Default = 1

14 Scaling Divisor Default = 1

15 Scaling Base Default = 1

16 Scaling Offset Default = 0

17 Multiplier Link Default = 0

18 Divisor Link Default = 0

19 Base Link Default = 0

Publication 2098-RM002A-EN-P – October 2001

20 Offset Link Default = 0

21 Decimal Precision Default = 0

Programming Reference 4-53

Parameter Object Specific Services

Service Code

Service Name

Get_Enum_String Use this service to read enumerated strings from

Service Description

the Parameter Instance. See DeviceNet Specification Vol 2: Object Library, Parameter Object referenced on page P-3.

Enumerated strings are human-readable strings that describe either a bit or a value depending on the data type of instance attribute 1, the Parameter Value. If the data type is a BYTE, WORD, or DWORD the enumerated string is a bit enumerated string. If the data type is INT, USINT,

or UINT the enumerated string is a value enumerated string.

Any other data type does not have enumerated strings.

The table below describes the Get_Enum_String request service attribute.

Name Data Type Description of Attribute

Enumerated String Number USINT Number of enumerated string to retrieve

(MAX value is 255).

• If the string to be returned is a bit enumerated string, then the en

umerated string number represents a bit position and the

Get_Enum_String service returns a string describing that bit.

• If the string to be returned is a value enumerated string, then the enumerated string number represents a value and the Get_Enum_String service returns a string for that value.

The enumerated string is returned in the form of a SHORT_STRING with a

maximum number of characters of 16.

Publication 2098-RM002A-EN-P – October 2001

4-54 Programming Reference

Publication 2098-RM002A-EN-P – October 2001

Troubleshooting DeviceNet Drives

Chapter

Chapter Objectives

This chapter provides a description of maintenance and troubleshooting activities for the DeviceNet interface to the Ultra5000. This chapter includes the following sections.

• Module Status

• Network S

• Node Problems

• Device Failure - LED Status Check

• Scanner Problems

• Power Supply Problems

• Cable Installation and Design Problems

• Adjusting the Physical Network Configuration

For maintenance and troubleshooting information specific to the

tra5

000 drive, refer to the Ultra5000 Intelligent Positioning Drive

Ul Installation Manual (2098-IN001x-EN-P).

LED

tatus LED

Publication 2098-RM002A-EN-P – October 2001

5-2 Troubleshooting DeviceNet Drives

Module Status LED

If the Module Status LED is:

Off Not powered No power Provide power to the device.

Flashing-red Recoverable

Steady-red Unrecoverable

Flashing-red/ green

Flashing-green Device is in

Steady-green Operational Normal operation Normal operation - no action needed.

Network Status LED

Use the table below for troubleshooting the Module Status LED on the DeviceNet interface to the Ultra5000.

Status is: Potential Cause is: Possible Resolution is:

Not operational Power cycle or reset the drive.

fault

Drive problem Check drive for power-up error.

fault

Self testing Self-test or

initialization in progress

Processing or waiting

stand-by

for input

Replace drive.

The DeviceNet interface is being initialized or in self-test — wait.

Normal operation - no action needed.

Use the table below for troubleshooting the Network Status LED on the DeviceNet interface to the Ultra5000.

If the Network Status LED is:

Off Not powered

Flashing-red On-line

Steady-red Network failure Failed Duplicate MAC ID

Flashing-green On-line

Status is: Potential Cause is: Possible Resolution is:

No power going to the

Not on-line

Time-out

Not connected

device. Failed Duplicate MAC ID check. No network (24V) power Network miswired.

I/O connection timed out. 1. Re-initiate I/O messaging by the master controller.

check. Bus off.

Passed Duplicate MAC ID check. No connection established.

1. Check the Module Status LED to verify that the drive is powered.

2. Check that one or more nodes are communicating on the network.

3. Check that at least one other node on the network is operational and the data rate is the same as the drive.

4. Provide network (24V) power.

5. Check that the DeviceNet connector is correctly wired.

2. Reduce traffic or errors on the network so that messages can get through within the necessary time frame.

1. Ensure that all nodes have unique addresses.

2. If all node addresses are unique, examine network for correct media installation.

3. Ensure that all nodes have the same Data Rate.

No action is needed. The LED is flashing to signify that there are no open communication connections between the drive and any other device. Any connection (I/O or explicit message) made to the drive over DeviceNet will cause the LED to stop flashing and remain Steady-ON for the duration of any open connection.

Steady-green On-line

Connected

Publication 2098-RM002A-EN-P – October 2001

One or more connections established.

No action needed. This condition is normal.

Troubleshooting DeviceNet Drives 5-3

Node Problems

Device Failure - LED Status Check

Give particular attention to the task of setting initial addresses and data rates. Survey the network to ensure all assignments are known. Some nodes can be logically assigned to a group of devices, but physically located away from those devices. One incorrect node can cause other nodes to appear to be bus-off (steady-red Network Status LED). If a node goes bus-off and the device is reset but bus-off faults again, the problem is likely not with the device. The problem is likely to be the setting of the address, data rate, or a network-wide problem related to topology, grounding, intermittent power/data connections, or electrical noise. In the event that a scanner goes bus-off, nodes will not reallocate (flashing-green or red) even if they are functioning correctly.

A steady-red Module Status LED can mean an error. If the Network Status LED goes steady-red at power-up, it could mean there is a Duplicate MAC ID. The user response is to test all devices for unique addresses. If a steady-red LED remains on after the Duplicate MAC ID test shows all devices to have a unique node address, it means a Bus-off error. Do the following:

• Check data r

te settings.

• If symptom persists, replace node address (with another address and correct data rate).

• If symptom persists, replace tee tap.

• If symptom persists, check topology.

• If symptom persists, check power for noise with oscilloscope or

power disturbance analyzer.

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5-4 Troubleshooting DeviceNet Drives

Scanner Problems

Power Supply Problems

If using a scanner, check the scan list, data rate, and addresses of devices. Verify series and revision of the scanner is the latest. If the scanner is Bus-off, recycle the 24V supply and then reset the scanner. If the scanner goes Bus-off again, the problem is some combination of:

efective node device

• D

• Incorr

• Bad network topology

• Faulty wiring

• Faulty scanner

• Faulty power supply

• Bad grounding

• Electrical noise

If a single power supply is used, add up the current requirements of all devices drawing power from the network. This total should be considered the minimum current rating in selecting the power supply used. In addition check the:

ect node data rate

• Len

• Siz

• Voltage measured at the middle and ends of the network

• Noise in network power measured with an oscilloscope

gth and current level in trunk and drop cables

e and length of the cable supplying power to the trunk

Publication 2098-RM002A-EN-P – October 2001

Troubleshooting DeviceNet Drives 5-5

Cable Installation and Design Problems

Cable installation and design refers to the physical layout and connections on the network. Walk the network if possible to determine the actual layout and connections. Network management software displays only a logical record of the network. Ensure that you have a diagram of the physical layout and a record of the information from the tables below.

Cable Checks Power Checks

Number of nodes Break the earth ground of the V- and Shield and verify

>1.0 Mohm to frame ground with power supply off

Individual drop lengths Use a multi-meter to check for short circuit between

CAN_H and CAN_L, or CAN (H or L) to Shield, V- or V+

Branched drop length Total power load and at its distribution points

Cumulative drop length Spot check power for noise

Total trunk length

Power supply cable length and gauge

Terminator locations and size

Adjusting the Physical Network Configuration

Ways to improve the efficiency of your physical network configuration include:

ortening the overall length of the cable system

• Sh

• Movi

• Moving devices from an overloaded cable section to a less loaded

• Moving higher current loads closer to the power supply

• Adding another power supply to an overloaded network

• Moving the power supply from the end to the middle of the

ng the power supply in the direction of an overloaded cable

section

network

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5-6 Troubleshooting DeviceNet Drives

Publication 2098-RM002A-EN-P – October 2001

Index

address

logically assigned 5-3 physically assigned 5-3

addressing

attributes instances media access control (MAC) 4-3 nodes (drives) 1-5 object classes

ARRAY 4-4 assembly object 4-1, 4-11 attribute

addressing definition 4-1

attributes

assembly object

connection object

DeviceNet object

identity object

message router

parameter object

4-3

attribute of instances 1-18 instance ID = 1-18

instance ID = 1 - 10 4-16

class specific services instance ID = 0 4-9 instance ID = 1

instance ID = 0 4-5 instance ID = 1 instance ID = 5 4-6 instance IDs 1-4 4-5 status description

instance ID = 1 4-8

instance attribute 4 instance attribute 5 4-51 instance attributes instance ID = 0 instance ID = 1 - 996 4-18

4-12

4-11

4-9

4-6

4-51

4-49

4-17

baud rate, see data rate BOOL

4-4

bus-off

example LED red

BYTE

5-3 5-3

4-4

class attributes

DeviceNet object identity object parameter object

class ID

01 - identity object 02 - message router object 03 - DeviceNet object 4-9

4-9

4-5

4-17

4-5

4-8

4-13

04 - assembly object 4-11 05 - connection object 4-16 0F - parameter object 4-17

common services

assembly object DeviceNet connection object 4-17 DeviceNet object identity object message router parameter object 4-52 reset identity object 4-8

configuring

drive with DeviceNet

connection object 4-1, 4-16 connector conventions used in this manual P-3 cumulative drop length 5-5

1-1

4-13

4-10

4-7

4-8

1-5

data rate

rotary switch 1-6 setting 1-5 switch location

data type

ARRAY 4-4 BOOL BYTE 4-4 DINT 4-4 DWORD EPATH 4-4 INT 4-4 SHORT_STRING SINT 4-4 UDINT 4-4

4-5

UINT USINT 4-5 WORD 4-5

DeviceNet

1-3

cable configuration 1-5 connector module status LED 1-6 network status LED node objects object

4-9

parameter object DeviceNet object DeviceNet object class

instance ID = 0 4-9

4-4

DINT drive configuration drop length design DWORD

1-1

4-4

1-4

1-6

4-4

4-17

4-1

4-17

5-5

4-4

efficiency, network 5-5 electrical noise EPATH

5-3, 5-4, 5-5

4-4

Publication 2098-RM002A-EN-P – October 2001

I-2 Index

fault

device state conflict 4-17

help, see technical assistance

identity object 4-1, 4-5 instance

addressing definition 4-1

INT 4-4 intermittent data connections intermittent power 5-3 I/O messaging 4-11

4-3

LED

module status 1-6, 5-2 network status 1-6, 5-2 status check

5-3

MAC addressing 4-3 MAC ID 5-3

4-3

defined

message router object 4-1 messaging

4-11

I/O router object 4-8

module status LED 1-6, 5-2 MSD and LSD

rotary switch

1-5

network connector 1-1 network status LED network, efficiency node address

example with DeviceNet objects switch locations

1-6, 5-2, 5-3

5-5

1-1

object

definition

object class

addressing assembly connection DeviceNet effect on drive operation

4-1

4-3

4-1

4-2

5-3

4-4

identity

4-1

message router 4-1 number of instances 4-1 parameter

object description

assembly (04) 4-11 connection (05) DeviceNet object (03) identity object (01) message router (02) 4-8 parameter (0F) 4-17

object model

description illustration 4-2

output assemblies

4-1

4-16

4-9

4-5

4-1

4-18

parameter object 4-1, 4-17

get attribute all response 4-52 specific services

parameter objects 4-17

4-53

related documentation P-2 reset services

identity object

rotary switch

data rate MSD and LSD 1-5

4-8

1-6

scanner

5-4

faulty grounding 5-4 troubleshooting

service

definition

service code

assembly object DeviceNet connection object DeviceNet object identity object message router object parameter object

setting

data rate

general information switch location troubleshooting 5-3

node address

general information switch location troubleshooting

SHORT_STRING

4-4

SINT

5-4

4-1

4-13

4-10

4-7

4-8

4-52

5-3

1-5

1-1

1-5

1-1

5-3

4-4

4-17

Publication 2098-RM002A-EN-P – October 2001

Index I-3

technical assistance P-4, back cover-2 tee tap 5-3 tee tap, see also

connector

terminology

4-1

attribute instance 4-1 object 4-1

4-1

service

troubleshooting

cable installation and design 5-5 device failure drop length 5-5 electrical noise 5-5 grounding module status LED 5-2 network efficiency 5-5 network status LED node address problems 5-3 number of nodes 5-5

5-3

5-2

physical network configuration 5-5

power supply 5-4

scanner 5-4

trunk length

trunk length 5-5 trunk wiring 5-4

5-5

UDINT 4-4 UINT 4-5

4-5

USINT

WORD 4-5

Publication 2098-RM002A-EN-P – October 2001

I-4 Index

Publication 2098-RM002A-EN-P – October 2001

Notes

Publication 2098-RM002A-EN-P – October 2001

Rockwell Automation Support

Rockwell Automation provides technical information on the Web to assist you in using its products. At http://www.rockwellautomation.com/support code and links to software service packs, and a MySupport feature that you can customize to make the best use of these tools. You can also visit our Knowledgebase at http://www.rockwellautomation.com/knowledgebase information, support chat and forums, software updates, and to sign up for product notification updates.

, you can find technical manuals, technical and application notes, sample

for FAQs, technical

For an additional level of technical phone support for installation, configuration, and troubleshooting, we offer

Te c h C o n n e c t representative, or visit http://www.rockwellautomation.com/support/

support programs. For more information, contact your local distributor or Rockwell Automation

Installation Assistance

If you experience a problem within the first 24 hours of installation, review the information that is contained in this manual. You can contact Customer Support for initial help in getting your product up and running.

United States or Canada 1.440.646.3434

Outside United States or Canada

Use the Wor ldwi de Lo cator at http://www.rockwellautomation.com/rockwellautomation/support/overview.page, or contact your local Rockwell Automation representative.

New Product Satisfaction Return

Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.

United States

Outside United States Please contact your local Rockwell Automation representative for the return procedure.

Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process.

Documentation Feedback

Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document, complete this form, publication RA-DU002

Publication 2098-RM002A-EN-P - October 2001 0013-1090-001-01

, available at http://www.rockwellautomation.com/literature/.

Rockwell Automation 2098-IPD-020-DN User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Table of Contents

Preface

Introduction

Who Should Use this Manual

Purpose of this Manual

Contents of this Manual

Related Documentation

Conventions Used in this Manual

Allen-Bradley Support

Local Product Support

Technical Product Assistance

The DeviceNet Interface

Installing, Connecting, & Commissioning Your Ultra5000 with DeviceNet

DeviceNet Connector Pins and Signals (P2)

Planning Your DeviceNet Network

Connecting Your DeviceNet Cable

Configuring Your Ultra5000 with DeviceNet

DeviceNet Driver Installation

Configuring Ultra5000 DeviceNet Using the DNetConfigData Array

Array Index 0 – PGM MAC ID

Array Index 1 – PGM Baudrate

Array Index 2 – DeviceNet Module Fault Action

Array Index 3 – DeviceNet Idle Fault Action

Array Index 4 – DeviceNet Comm Fault Action

Array Index 5 – I/O Transmit Select

Array Index 6 – I/O Receive Select

Array Index 7 – DeviceNet Modules Status

Array Index 8 – DeviceNet Loader Version

Array Index 9 – DeviceNet Server Version

DeviceNet Overview

Introduction

Features

Parameters and Electronic Data Sheet

DeviceNet Messaging

Predefined Master/Slave Connection Set

Explicit Response/Request Messages

Polled I/O Command/Response Messages

I/O Messaging and Explicit Messaging with DeviceNet

Selecting Input and Output Assemblies for I/O Messages

Programming Reference

Object Model

How Objects Affect Behavior

The Defined Object Interface

Object Addressing

Data Type Definitions

Reset Service

DeviceNet Comm Fault Action

DeviceNet Idle Fault Action

Using Explicit Messaging to Control the Ultra5000

Get_Attribute_All Response

Troubleshooting DeviceNet Drives

Chapter Objectives

Module Status LED

Network Status LED

Node Problems

Device Failure - LED Status Check

Scanner Problems

Power Supply Problems

Cable Installation and Design Problems

Adjusting the Physical Network Configuration

Index