Rockwell Automation 20-COMM-Q User Manual

PowerFlex ControlNet Adapters

20-COMM-C (Coax) Series A FRN 2.xxx, Series B FRN 3.xxx 20-COMM-Q (Fiber) Series A FRN 3.xxx

User Manual

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at www.rockwellautomation.com/literature) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc. is prohibited.

http://

Throughout this manual, when necessary we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

Important: Identifies information that is critical for successful application and

understanding of the product.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequences.

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

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

Allen-Bradley, Rockwell Software, Rockwell Automation, TechConnect, PowerFlex, SMC Flex, DPI, SCANport, Connected Components

Workbench, DriveExplorer, DriveExecutive, DriveTools, ControlFLASH, RSLogix, RSNetWorx for ControlNet, ControlLogix, PLC-5,

and SLC 500 are trademarks of Rockwell Automation, Inc. ControlNet is a trademark of ControlNet International, Ltd. Windows and Microsoft are registered trademarks of Microsoft Corporation.

20-COMM-C/Q ControlNet Adapter User Manual

Summary of Changes

The information below summarizes the changes made to this manual since its last release (August 2007).

Description of Changes Page

Reformatted document from half size (5.5 x 8.5 in.) to full size (8.5 x 11 in.) Throughout

Added information about the Connected Components Workbench software configuration tool for drives and connected peripherals.

Added information for use with PowerFlex 750-Series drives.

Added information for use with PowerFlex Digital DC drives.

In the Chapter 1 ‘User-Supplied Equipment’ section, added the Connected Components Workbench software tool and related information. Also revised information for DriveExplorer and DriveExecutive software tools.

Revised Figures 2.2 and 2.3 to show PowerFlex 700H/S Frames 9 and larger. Added ground tab details in Figure 2.3.

In Chapter 4, added new ‘Using RSLinx Classic’ section. 4-1

Added titles to the controller I/O image tables (Table 5.A through Table 5.I) for easier referral.

Added footnotes to explicit messaging screen configuration tables for all controller type examples to clarify required settings for the Size in Words/Elements/Bytes fields when reading/writing to 16-bit and 32-bit parameters.

The 20-COMM-C and 20-COMM-Q adapter firmware revision 3.001 added support for use with PowerFlex 750-Series drives (revised DPI Parameter Object, Class Code 0x93, to include Ports 7 through 14).

manual

1-4

2-4 and 2-5

5-3 to 5-8

Throughout

Chapter 6

Throughout

Appendix C

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Notes:

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Preface About This Manual

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Chapter 1 Getting Started

Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Chapter 2 Installing the Adapter

Preparing for an Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Setting the Node Address Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Connecting the Adapter to the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Connecting the Adapter to the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Applying Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

Commissioning the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Chapter 3 Configuring the Adapter

Chapter 4 Configuring the I/O

Configuration Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Using the PowerFlex 7-Class HIM to Access Parameters . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Setting the Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Setting the I/O Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Setting Master-Slave Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Setting the Reference Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Resetting the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Viewing the Adapter Status Using Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Updating the Adapter Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Using RSLinx Classic Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

ControlLogix Controller Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

PLC-5 Controller Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

SLC 500 Controller Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

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Chapter 5 Using the I/O

About I/O Messaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Using Logic Command/Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Using Datalinks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

Example Ladder Logic Program Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

ControlLogix Controller Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

PLC-5 Controller Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23

SLC 500 Controller Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38

Chapter 6 Using Explicit Messaging

About Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Performing Explicit Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

ControlLogix Controller Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

PLC-5 Controller Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

SLC 500 Controller Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40

Chapter 7 Troubleshooting

Understanding the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

NET A and NET B Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Viewing Adapter Diagnostic Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

Chapter 8 Using the Adapter in a DPI External Comms Kit (20-XCOMM-DC-BASE)

Installing the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

I/O Board Option (20-XCOMM-IO-OPT1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

Understanding the I/O Image (Drive + I/O Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

Configuring the Adapter to Use the Optional I/O Data. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

Viewing Optional I/O Diagnostic Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

Appendix A Specifications

Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Mechanical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Appendix B Adapter Parameters

Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

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Appendix C ControlNet Objects

Identity Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Assembly Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3

Register Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4

Parameter Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

Parameter Group Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7

PCCC Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8

DPI Device Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13

DPI Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-16

DPI Fault Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-22

DPI Alarm Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-24

DPI Diagnostic Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-26

DPI Time Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-28

Host DPI Parameter Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-30

Appendix D Logic Command/Status Words

PowerFlex 70/700/700H, and 700L (with 700 Control) Drives . . . . . . . . . . . . . . . . . . . . D-1

PowerFlex 700S (Phase II Control) and 700L (with 700S Control) Drives . . . . . . . . . . . D-3

PowerFlex 750-Series Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5

PowerFlex Digital DC Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-7

Table of Contents iii

Glossary

Index

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Notes:

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Preface

About This Manual

Topic Page

Conventions Used in This Manual

Rockwell Automation Support P-2

Additional Resources P-2

This manual provides information about the adapter and using it with PowerFlex 7-Class (Architecture-Class) drives. The adapter can be used with other products that support a DPI™ adapter, such as the DPI External Comms Kit (20-XCOMM-DC-BASE). See the documentation for your product for specific information about how it works with the adapter.

P-1

Conventions Used in This Manual

The following conventions are used throughout this manual:

• Parameter names are shown in the format Parameter xx - [*]. The xx

represents the parameter number. The * represents the parameter name— for example Parameter 01 - [DPI Port].

• Menu commands are shown in bold type face and follow the format

Menu > Command. For example, if you read ‘Select File > Open’, you should click the File menu and then click the Open command.

• The firmware revision number (FRN) is displayed as FRN X.xxx, where ‘X’ is the major revision number and ‘xxx’ is the minor revision number.

• The screen images in this manual resulted from using the following software:

– RSLinx – RSNetWorx – RSLogix – RSLogix 500 software, version 7.20 – RSLogix 5000 software, version 20.00

Different versions of the software may have screens that vary in appearance, and differences in procedures.

Classic software, version 2.59

™

for ControlNet software, version 11.00

™

5 software, version 7.20

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P-2 About This Manual

Rockwell Automation Support

Rockwell Automation offers support services worldwide, with over 75 sales and support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation representatives are in every major country in the world.

Local Product Support

Contact your local Rockwell Automation, Inc. representative for:

• Sales and order support

• Product technical training

• Warranty support

• Support service agreements

Technical Product Assistance

For technical assistance, please review the information in Chapter 7,

Troubleshooting

Allen-Bradley Technical Support website at www.ab.com/support/abdrives or contact Rockwell Automation.

, first. If you still have problems, then access the

Additional Resources

Resource Description

PowerFlex 7-Class DPI (Drive Peripheral Interface) Network Communication Adapter Installation Instructions, publication 20COMM-IN004

ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002 Information on the required components of a ControlNet

ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001

Connected Components Workbench website http://www.ab.com/support/abdrives/webupdate/

software.html, and online help

DriveExplorer website http://www.ab.com/drives/driveexplorer, and online help

DriveExecutive website http://www.ab.com/drives/drivetools

PowerFlex 20-HIM-A3/-A5/-C3S/-C5S HIM Quick Reference, publication 20HIM-QR001

PowerFlex 20-HIM-A6/C6S HIM (Human Interface Module) User Manual, publication 20HIM-UM001 Information on installing and using PowerFlex 20-HIM-A6 and

PowerFlex 70 User Manual, publication 20A-UM001 PowerFlex 70/700 Reference Manual, publication PFLEX-RM001 PowerFlex 70 Enhanced Control and 700 Vector Control Reference Manual, publication PFLEX-RM004

PowerFlex 700 Series A User Manual, publication 20B-UM001 PowerFlex 700 Series B User Manual, publication 20B-UM002 PowerFlex 70/700 Reference Manual, publication PFLEX-RM001 PowerFlex 70 Enhanced Control and 700 Vector Control Reference Manual, publication PFLEX-RM004

PowerFlex 700H Installation Instructions, publication PFLEX-IN006 PowerFlex 700H Programming Manual, publication 20C-PM001

(1)

These documents contain additional information concerning related products from Rockwell Automation.

Information on installing PowerFlex Communication Adapters.

coax media system, determining your system, and installing the required components.

Basic information for fiber cable planning and installation.

Information on the Connected Components Workbench software tool—and includes a link for free software download.

, and online help

(1)

Information on using PowerFlex 20-HIM-A3, 20-HIM-A5,

Information on using the DriveExplorer™ software tool.

Information on using the DriveExecutive™ software tool.

20-HIM-C3S, and 20-HIM-C5S HIMs.

20-HIM-C6S HIMs.

Information on installing and programming PowerFlex 70 standard control and enhanced control drives.

Information on installing and programming PowerFlex 700 standard control and vector control Series A drives, and PowerFlex 700 vector control Series B drives.

Information on installing and programming PowerFlex 700H drives.

20-COMM-x Network

™

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About This Manual P-3

Resource Description

PowerFlex 700S w/Phase I Control Installation Manual (Frames 1…6), publication 20D-IN024 PowerFlex 700S w/Phase I Control Installation Manual (Frames 9 and 10), publication PFLEX-IN006 PowerFlex 700S w/Phase I Control User Manual (All Frame Sizes), publication 20D-UM001 PowerFlex 700S w/Phase I Control Reference Manual, publication PFLEX-RM002 PowerFlex 700S w/Phase II Control Installation Manual (Frames 1…6), publication 20D-IN024 PowerFlex 700S w/Phase II Control Installation Manual (Frames 9…14), publication PFLEX-IN006 PowerFlex 700S w/Phase II Control Programming Manual (All Frame Sizes), publication 20D-PM001 PowerFlex 700S w/Phase II Control Reference Manual, publication PFLEX-RM003

PowerFlex 700L User Manual, publication 20L-UM001

PowerFlex 750-Series Drive Installation Instructions, publication 750-IN001 PowerFlex 750-Series Drive Programming Manual, publication 750-PM001 PowerFlex 20-750-CNETC Coaxial ControlNet Option Module, publication 750COM-UM003 20-750-20COMM and 20-750COMM-F1 Communication Carrier Cards Installation Instructions,

publication 750COM-IN001

PowerFlex Digital DC Drive User Manual, publication 20P-UM001

Getting Results with RSLinx Guide, publication LINX-GR001

RSLogix Emulate 5/500 Getting Results Guide, publication EMULAT-GR002

RSLogix 500 Getting Results Guide, publication LG500-GR002

RSLogix 5000 PIDE Autotuner Getting Results Guide, publication PIDE-GR001

RSNetWorx for ControlNet Getting Results Guide, publication CNET-GR001

ControlNet Network Configuration User Manual, publication CNET-UM001

ControlNet PLC-5 Programmable Controllers User Manual, publication 1785-UM022 Information on installing 1785-L20C15, 1785-L40C15,

SLC 500 Modular Hardware Style User Manual, publication 1747-UM011

(1)

The online help is installed with the software.

Information on installing and programming PowerFlex 700L

Information on installing and programming PowerFlex Digital

, and online help

(1)

, and online help

(1)

, and online help

Information on using ControlNet communication modules with

Information on installing the controller, and an overview of the

Information on installing and programming PowerFlex 700S drives.

Liquid-Cooled AC drives.

Information on installing and programming PowerFlex 750-Series AC drives.

DC drives.

Information on using RSLinx Classic software.

(1)

Information on installing and navigating the RSLogix Emulate software for ladder logic programming with Allen-Bradley PLC-5 and SLC 500 processors.

Information on using the RSLogix 500 software tool.

(1)

Information on using the RSLogix 5000 software tool.

(1)

Information on installing and navigating the RSNetWorx for ControlNet™ software, effectively using it, and accessing and navigating the online help.

the Logix 5000 controller.

1785-L46C15, and 1785-L80C15 programmable controllers, and configuring and using their features.

SLC 500 programmable controller system.

Documentation can be obtained online at http://

literature.rockwellautomation.com. To order paper copies of technical

documentation, contact your local Rockwell Automation distributor or sales representative.

To find your local Rockwell Automation distributor or sales representative, visit http://www.rockwellautomation.com/locations

For information such as firmware updates or answers to drive-related questions, go to the Drives Service & Support website at http://

www.ab.com/support/abdrives and click on the Downloads or

Knowledgebase link.

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P-4 About This Manual

Notes:

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20-COMM-Q Fiber Adapter20-COMM-C Coax Adapter

Chapter 1

Getting Started

The adapter is intended for installation into a PowerFlex 7-Class drive and is used for network communication. The 20-COMM-C Series B coax adapter, firmware 2.xxx or later, or 20-COMM-Q Series A fiber adapter, firmware 2.xxx or later, can also be installed in an External DPI Comms Kit (20-XCOMM-DC-BASE).

For PowerFlex 750-Series drives, we recommend using the 20-750-CNETC Coaxial ControlNet option module instead of the 20-COMM-C adapter. However, this manual does include information on using the 20-COMM-C or 20-COMM-Q adapter with PowerFlex 750-Series drives—but there are operating limitations. For details, see Compatible Products

Topic Page

Components

Features 1-2

Compatible Products 1-3

Required Equipment 1-3

Safety Precautions 1-5

Quick Start 1-6

1-1

on page 1-3.

Components

Item Part Description

Status Indicators Four status indicators that indicate the status of the DPI, the

➊

DPI Connector A 20-pin, single-row shrouded male header. An Internal Interface

➋

20-COMM-C: Channel A Coax Receptacle Channel A BNC connection to the network.

➌

20-COMM-Q: Channel A Fiber Receptacles Channel A V-pin connection to the network.

20-COMM-C: Channel B Coax Receptacle Channel B (redundant) BNC connection to the network.

➍

20-COMM-Q: Channel B Fiber Receptacles Channel B (redundant) V-pin connection to the network.

Node Address Switches Switches to set the node address. See Setting the Node Address

➎

adapter, and network connection. See Chapter 7

cable is connected to this connector and a connector on the drive.

Switches on page 2-2.

, Troubleshooting.

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1-2 Getting Started

Features

The features of the adapter include the following:

• Typical mounting in a PowerFlex 7-Class drive. The 20-COMM-C Series B coax adapter, firmware 2.xxx or later, or 20-COMM-Q Series A fiber adapter, firmware 2.xxx or later, can also be installed in a DPI External Comms Kit and used with the kit’s optional I/O board. See

Chapter (20-XCOMM-DC-BASE) for more information.

DPI External Comms Kit Compatibility

Adapter Operation With

Type Serie s

20-COMM-C (coaxial)

20-COMM-Q (fiber)

• Captive screws to secure and ground the adapter to the drive or, when mounted in a DPI External Comms Kit, to the kit’s metal enclosure.

8, Using the Adapter in a DPI External Comms Kit

Firmware Revision

A 1.xxx No No

2.xxx Yes No

B 1.xxx No No

2.xxx and later Yes Yes

A 1.xxx No No

2.xxx and later Yes Yes

DPI External Comms Kit (20-XCOMM-DC-BASE)

Optional I/O Board (20-XCOMM-IO-OPT1)

• Compatibility with various configuration tools to configure the adapter and connected host drive, including the following tools:

– PowerFlex HIM (Human Interface Module) on the drive, if available – Connected Components Workbench software, version 1.02 or later – DriveExplorer software, version 2.01 or later – DriveExecutive software, version 3.01 or later

• Switches to set a node address before applying power to the PowerFlex drive, or you can disable the switches and use an adapter parameter to configure the node address.

• Status indicators that report the status of the drive communications, the adapter, and network. They are visible when the drive cover is open or closed.

• Parameter-configured I/O (Logic Command/Reference and up to four pairs of Datalinks) to accommodate application requirements.

• Explicit Messaging support.

• Master-Slave hierarchy that can be configured to transmit data to and

from a controller on the network.

• User-defined fault actions to determine how the adapter and connected PowerFlex drive respond to the following:

– I/O messaging communication disruptions (Comm Flt Action) – Controllers in idle mode (Idle Flt Action)

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• Access to any PowerFlex drive and its connected peripherals on the network to which the adapter is connected.

Getting Started 1-3

Compatible Products

Required Equipment

At the time of publication, the adapter is compatible with the following products:

• PowerFlex 70 drives with standard or enhanced control • PowerFlex 750-Series drives

• PowerFlex 700 drives with standard or vector control • PowerFlex Digital DC drives

• PowerFlex 700H drives • DPI External Comms Kit

• PowerFlex 700S drives with Phase I or Phase II control • SMC™ Flex smart motor controllers

• PowerFlex 700L drives with 700 vector control or 700S control • SMC-50 smart motor controllers

(1)

The 20-COMM-C or 20-COMM-Q adapter can be used with PowerFlex 750-Series drives, but the adapter must have firmware revision 3.001 or later. Also, the adapter has the following limitations and differences:

- Only the first 16 bits of the Logic Command and Logic Status words are used.

- Speed Reference and Feedback scaling are Hz (or RPM) x 1000 (depending on the setting of drive parameter 300 - [Speed Units].

Instead of using the 20-COMM-C adapter with the PowerFlex 750-Series drive, the 20-750-CNETC Coaxial ControlNet option module should be used whenever possible. Please see the PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001, for drive parameter information and the 20-750-CNETC ControlNet Option Module User Manual, publication 750COM-UM003, for network communication module information.

Some of the equipment that is required for use with the adapter is shipped with the adapter, but some you must supply yourself.

(1)

Equipment Shipped with the Adapter

When you unpack the adapter, verify that the package includes the following:

❑ One 20-COMM-C coax or 20-COMM-Q fiber adapter ❑ One 2.54 cm (1 in.) long and one 15.24 cm (6 in.) long Internal

Interface cable (only one cable is needed to connect the adapter to the drive; for which cable to use, see Figure 2.2 on page 2-4

❑ One PowerFlex 7-Class DPI (Drive Peripheral Interface) Network

Communication Adapter Installation Instructions, publication 20COMM-IN004

TIP: When mounting the 20-COMM-C or 20-COMM-Q adapter in a PowerFlex 750-Series drive, you must use a 20-750-20COMM or 20-750-20COMM-F1 Communication Carrier Card, publication 750COM-IN001—and the 20-COMM-C or 20-COMM-Q adapter must have firmware revision 3.001 or later.

User-Supplied Equipment

To install and configure the adapter, you must supply the following:

)

❑ A small flathead screwdriver ❑ ControlNet cable (for details, see to the ControlNet Coax Media

Planning and Installation Guide, publication CNET-IN002, or the ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001)

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1-4 Getting Started

❑ Drive and adapter configuration tool, such as the following:

– PowerFlex 20-HIM-xx HIM – RSNetWorx for ControlNet software, version 6.00 or later – Connected Components Workbench software, version 1.02 or later

Connected Components Workbench is the recommended stand-alone software tool for use with PowerFlex drives. You can obtain a free copy by:

• Internet download at http://www.ab.com/support/abdrives/

webupdate/software.html

• Requesting a DVD at http://www.ab.com/onecontact/controllers/

micro800/

Your local distributor may also have copies of the DVD available. Connected Components Workbench software cannot be used to

configure SCANport-based drives or Bulletin 160 drives.

– DriveExplorer software, version 2.01 or later

This software tool has been discontinued and is now available as freeware at http://www.ab.com/support/abdrives/webupdate/

software.html. There are no plans to provide future updates to this

tool and the download is being provided ‘as-is’ for users that lost their DriveExplorer CD, or need to configure legacy products not supported by Connected Components Workbench software.

– DriveExecutive software, version 3.01 or later

A Lite version of DriveExecutive software ships with RSLogix 5000, RSNetWorx MD, FactoryTalk AssetCentre, and ItelliCENTER software. All other versions are purchasable items:

• 9303-4DTE01ENE Drive Executive software

• 9303-4DTS01ENE DriveTools SP Suite (includes

DriveExecutive and DriveObserver software)

• 9303-4DTE2S01ENE DriveExecutive software upgrade to DriveTools SP Suite (adds DriveObserver software)

DriveExecutive software updates (patches, and so forth) can be obtained at http://www.ab.com/support/abdrives/webupdate/

software.html. It is highly recommended that you periodically check

for and install the latest update.

❑ Controller configuration tool, such as RSLogix 5, RSLogix 500, or

RSLogix 5000 software

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❑ A computer connection to the ControlNet network via a

communication card, such as 1784-PCC, 1784-KTCX, or 1770-KFC

Getting Started 1-5

Safety Precautions

Please read the following safety precautions carefully.

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove all power from the PowerFlex drive, and then verify power has been discharged before installing or removing an adapter.

ATTENTION: Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the associated machinery should plan or implement the installation, start up, configuration, and subsequent maintenance of the product using an adapter. Failure to comply may result in injury and/or equipment damage.

ATTENTION: Risk of equipment damage exists. The adapter contains electrostatic discharge (ESD) sensitive parts that can be damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, see Guarding Against Electrostatic Damage, publication 8000-4.5.2.

ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting an adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action]

let you determine the action of the adapter and connected drive if communication is disrupted or the controller is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run, however, precautions should be taken to verify that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or a controller in idle state).

ATTENTION: Risk of injury or equipment damage exists. When a system is configured for the first time, there may be unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing.

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

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1-6 Getting Started

Quick Start

This section is provided to help experienced users quickly start using the adapter. If you are unsure how to complete a step, refer to the referenced chapter.

Step Action See

1 Review the safety precautions for the adapter. Throughout this manual

2 Verify that the PowerFlex drive is properly installed. Drive User Manual

PowerFlex 7-Class DPI Network Communication Adapter Installation Instructions, publication 20COMM-IN004, and

Chapter 2 Installing the Adapter

Chapter 3 Configuring the Adapter

Chapter 4, Configuring the I/O

Chapter 5, Using the I/O

Chapter 6, Using Explicit Messaging

3 Install the adapter.

a. Verify that the PowerFlex drive is not powered.

b. Connect the adapter to the drive with the Internal Interface

cable.

c. Use the captive screws to secure and ground the adapter to

the drive.

d. Connect the adapter to the network with a ControlNet cable. NOTE: When installing the adapter in either of the following

products, see the listed publication for instructions:

• DPI External Comms Kit—see the 20-XCOMM-DC-BASE Installation Instructions, publication 20COMM-IN001, supplied with the kit.

• PowerFlex 750-Series drive—see the 20-750-20COMM and 20-750-20COMM-F1 Communication Carrier Cards Installation Instructions, publication 750COM-IN001, supplied with the card.

4 Apply power to the adapter.

a. Verify that the adapter is installed correctly.

The adapter receives power from the drive.

b. Apply power to the drive.

The status indicators should be green. If they flash red, there is a problem. See Chapter 7

c. Configure and verify key drive parameters.

5 Configure the adapter for your application.

Set adapter parameters for the following functions as required by your application:

• Node address

• I/O configuration

• Master-Slave hierarchy

• Fault actions

6 Configure the controller to communicate with the adapter.

Use configuration tools, such as RSNetWorx for ControlNet software and RSLogix software, to configure the master on the network to recognize the adapter and drive.

7 Create a ladder logic program.

Use a controller configuration tool, such as RSLogix software, to create a ladder logic program that enables you to do the following:

• Control the connected drive, via the adapter, by using I/O.

• Monitor or configure the drive using explicit messages.

, Troubleshooting.

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Chapter 2

Installing the Adapter

This chapter provides instructions for installing the adapter in a PowerFlex 7-Class drive. The 20-COMM-C Series B coax adapter, firmware revision

2.xxx or later, or 20-COMM-Q Series A fiber adapter, firmware revision

2.xxx or later, can also be installed in a DPI External Comms Kit. In this case, see Chapter 8 publication 20COMM-IN001, supplied with the kit.

Topic Page

Preparing for an Installation

Setting the Node Address Switches 2-2

Connecting the Adapter to the Drive 2-3

Connecting the Adapter to the Network 2-6

Applying Power 2-7

Commissioning the Adapter 2-9

or the 20-XCOMM-DC-BASE Installation Instructions,

2-1

Preparing for an Installation

Before installing the adapter, do the following:

• Read the ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002, or the ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001. These publications provide information on network basics, selecting cables, and setting up a network.

• Verify that you have all required equipment. See Required Equipment

page 1-3.

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2-2 Installing the Adapter

20-COMM-C coax adapter shown

Setting the Node Address Switches

Set the adapter Node Address switches (Figure 2.1) by rotating the switches to the desired value for each digit.

Important:Each node on the ControlNet network must have a unique

address. Set the node address before power is applied because the adapter uses the node address it detects when it first receives power. To change a node address, you must set the new value and then remove and reapply power to (or reset) the adapter.

Figure 2.1 Setting Adapter Node Address Switches

(Tens Digit)S3(Ones Digit)

Setting Description

00 If the Node Address switches are set to ‘00’ (Program), the adapter uses the value

01…99 Node address used by the adapter. The default switch setting is 02.

The Node Address switch settings can be verified by viewing Parameter 04

- [CN Addr Act] or Diagnostic Device Item number 27 (page 7-5

of the following drive configuration tools:

• PowerFlex HIM

• Connected Components Workbench software, version 1.02 or later

• DriveExplorer software, version 2.01 or later

• DriveExecutive software, version 3.01 or later

stored in Parameter 03 - [CN Addr Cfg] for the node address. See Setting the Node

Address on page 3-3.

) with any

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Installing the Adapter 2-3

Connecting the Adapter to the Drive

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove power from the drive, and then verify power has been discharged before installing or removing the adapter.

1. Remove power from the drive.

2. Use static control precautions.

3. Remove the drive cover or open the drive door.

4. Connect the Internal Interface cable to the DPI port on the drive and

then to the DPI connector on the adapter (see Figure 2.2

5. Secure and ground the adapter to the drive (see Figure 2.3

following: – On a PowerFlex 70 drive, fold the Internal Interface cable behind the

adapter and mount the adapter on the drive using the four captive screws.

– On a PowerFlex 700, PowerFlex 700H or PowerFlex 700S drive,

mount the adapter on the drive using the four captive screws.

Important:Tighten all screws to properly ground the adapter.

Recommended torque is 0.9 N•m (8.0 lb•in).

) by doing the

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2-4 Installing the Adapter

20-COMM-C (coaxial)

Adapter shown

PowerFlex 700 Frames 0 and 1

PowerFlex 700S Frames 0 and 1

PowerFlex 70 - All Frames

PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6

HIM panel opens to allow access to DPI interface. To open panel, remove screws on left side of HIM panel and swing open.

PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger

Figure 2.2 DPI Ports and Internal Interface Cables

➊

➋

➌

➍

Item Description

15.24 cm (6 in.) Internal Interface cable

➊

DPI Connector

➋

ControlNet cable(s)

➌

2.54 cm (1 in.) Internal Interface cable

➍

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Drive

Adapter

Internal Interface Cable folded behind the adapter and in front of the drive.

PowerFlex 70 - All Frame Sizes

(Adapter mounts in drive.)

Verify metal ground tab is bent 90° and is under the adapter before tightening screw. After tightening the screw, verify continuity exists between the head of the screw and drive ground.

Ground Tab Detail

PowerFlex 700 Frames 0 and 1

PowerFlex 700S Frames 0 and 1

(Adapter mounts on door.)

PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6

(Adapter mounts in drive.)

0.9 N•m

(8.0 lb•in)

4 Places

Verify metal ground tab is bent 90° and is under the adapter before tightening screw. After tightening the screw, verify continuity exists between the head of the screw and drive ground.

PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger

(Adapter mounts behind HIM panel.)

Ground Tab Detail

0.9 N•m

(8.0 lb•in)

4 Places

0.9 N•m

(8.0 lb•in)

4 Places

Installing the Adapter 2-5

Figure 2.3 Mounting and Grounding the Adapter

NOTE: When installing the adapter in a PowerFlex 750-Series drive, see the 20-750-20COMM and 20-750-20COMM-F1 Communication Carrier Cards Installation Instructions, publication 750COM-IN001, supplied with the card.

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2-6 Installing the Adapter

Controller

(ControlLogix with

1756-CNBR Bridge shown)

PowerFlex 7-Class Drives

(each with a 20-COMM-C Adapter)

(optional redundancy)

Channel A

Channel B

1786-RPA

1786-RPFS

...

PowerFlex 7-Class Drives

(each with 20-COMM-Q

Adapter)

Controller

(ControlLogix with

1756-CNBR Bridge shown)

Star topology shown

NOTE: The 20-COMM-Q is designed for use

with short distance 1786-RPFS repeaters, which use the V-pin type connector.

Connecting the Adapter to the Network

1. Remove power from the drive.

2. Use static control precautions.

3. Connect one end of a ControlNet cable to the network. See Figure 2.4

or Figure 2.5

Figure 2.4 Coax Network Wiring Example

for an example of wiring to a ControlNet network.

Figure 2.5 Fiber Network Wiring Example

4. Route the other end of the ControlNet cable through the bottom of the

drive (Figure 2.3 adapter receptacle. A 1786-TPS (straight tap) is recommended for connection to the 20-COMM-C (coax) adapter.

For information about network system design and component installation, see the following publications:

• ControlNet Coax Media Planning and Installation Guide, publication CNET-IN002

), and insert its ControlNet cable plug into the mating

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• ControlNet Fiber Media Planning and Installation Guide, publication CNET-IN001

Installing the Adapter 2-7

Applying Power

ATTENTION: Risk of equipment damage, injury, or death exists. Unpredictable operation may occur if you fail to verify that parameter settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive.

Install the drive cover or close the drive door, and apply power to the drive. The adapter receives its power from the connected drive. When you apply power to the adapter for the first time, its topmost ‘PORT’ status indicator should be steady green or flashing green after an initialization. If it is red, there is a problem. See Chapter 7

Start-Up Status Indications

Status indicators for the drive and communication adapter can be viewed on the front of the drive (Figure 2.6 start-up status indications are shown in Table 2.A

Figure 2.6 Drive and Adapter Status Indicators (location on drive may vary)

, Troubleshooting.

) after power has been applied. Possible

➋

PORT

MOD

NET A

NET B

➊

STS

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2-8 Installing the Adapter

Table 2.A Drive and Adapter Start-Up Status Indicators

Item Name Color State Description

Drive STS Indicator

STS

➊

(Status)

PORT Green Flashing Normal operation. The adapter is establishing an I/O

➋

MOD Green Flashing Normal operation. The adapter is operating but is not

NET A NET B

Green Flashing Drive ready but not running, and no faults are present.

Steady Drive running, no faults are present.

Yellow Flashing,

Red Flashing A fault has occurred.

Green Flashing A temporary channel error has occurred or the

Red Flashing The channel is not receiving network activity.

Green/ Red

drive stopped

Flashing, drive running

Steady, drive running

Steady A non-resettable fault has occurred.

Adapter Status Indicators

Steady Normal operation. The adapter is properly connected

Steady Normal operation. The adapter is operating and

Steady Normal operation for that channel. The adapter is

Flashing alternately

An inhibit condition exists – the drive cannot be started. Check drive Parameter 214 - [Start Inhibits].

An intermittent type 1 alarm condition is occurring. Check drive Parameter 211 - [Drive Alarm 1].

A continuous type 1 alarm condition exists. Check drive Parameter 211 - [Drive Alarm 1].

connection to the drive. It will turn steady green or red.

and communicating with the drive.

transferring I/O data to a controller.

channel is in listen-only mode.

properly connected and communicating on the network.

There is an invalid link configuration for that channel.

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For more details on status indicator operation, see page 7-2 and page 7-3.

Configuring and Verifying Key Drive Parameters

The PowerFlex 7-Class drive can be separately configured for the control and Reference functions in various combinations. For example, you could set the drive to have its control come from a peripheral or terminal block with the Reference coming from the network. Or you could set the drive to have its control come from the network with the Reference coming from another peripheral or terminal block. Or you could set the drive to have both its control and Reference come from the network.

The following steps in this section assume that the drive will receive the Logic Command and Reference from the network.

1. Use drive Parameter 090 - [Speed Ref A Sel] to set the drive speed

Reference to ‘22’ (DPI Port 5).

Installing the Adapter 2-9

2. If hard-wired discrete digital inputs are not used to control the drive,

verify that unused digital input drive Parameters 361 - [Dig In1 Sel] and 362 - [Dig In2 Sel] are set to ‘0’ (Not Used).

3. Verify that drive Parameter 213 - [Speed Ref Source] is reporting that

the source of the Reference to the drive is ‘22’ (DPI Port 5). This ensures that any Reference commanded from the network can be

monitored by using drive Parameter 002 - [Commanded Speed]. If a problem occurs, this verification step provides the diagnostic capability to determine whether the drive/adapter or the network is the cause.

TIP: For PowerFlex 750-Series drives, use drive Parameter 545 [Speed Ref A Sel] to set the drive speed Reference:

a. Set the Port field to ‘Port 0 - PowerFlex 75x’. b. Set the Parameter field to point to the port (slot) in which the

20-COMM-C adapter/20-750-20COMM Communication Carrier Card are installed (for example, ‘876 - Port 6 Reference’).

The number ‘876’ in the Parameter field of the example is the parameter in the drive that points to the port.

Commissioning the Adapter

To commission the adapter, you must set a unique node address on the network. See Setting the Node Address

Important:New settings for some adapter parameters are recognized only

when power is applied to the adapter or it is reset. After you change parameter settings, cycle power or reset the adapter.

on page 3-3 for details.

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2-10 Installing the Adapter

Notes:

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Chapter 3

Configuring the Adapter

This chapter provides instructions and information for setting the parameters in the adapter.

Topic Page

Configuration Tools

Using the PowerFlex 7-Class HIM to Access Parameters 3-2

Setting the Node Address 3-3

Setting the I/O Configuration 3-3

Setting Master-Slave Hierarchy 3-4

Setting the Reference Adjustment 3-5

Setting a Fault Action 3-5

Resetting the Adapter 3-7

Viewing the Adapter Status Using Parameters 3-7

Updating the Adapter Firmware 3-8

For a list of parameters, see Appendix B definitions of terms in this chapter, see the Glossary

, Adapter Parameters. For

3-1

Configuration Tools

The adapter stores parameters and other information in its own nonvolatile storage (NVS) memory. You must, therefore, access the adapter to view and edit its parameters. The following tools can be used to access the adapter parameters.

Tool See

PowerFlex 7-Class HIM page 3-2

Connected Components Workbench software, version 1.02 or later

DriveExplorer software, version 2.01 or later

DriveExecutive software, version 3.01 or later

http://www.ab.com/support/abdrives/webupdate/ software.html, or online help (installed with the software)

http://www.ab.com/drives/driveexplorer

(installed with the software)

http://www.ab.com/drives/drivetools

(installed with the software)

, or online help

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3-2 Configuring the Adapter

ALT

Sel

F-> Stopped Auto

0.00 Hz

Main Menu: Diagnostics Parameter

Device Select

Port 5 Device 20-COMM-C Main Menu:

Diagnostics

Parameter

Device Select

Using the PowerFlex 7-Class HIM to Access Parameters

If your drive has either an LED or LCD HIM (Human Interface Module), it can be used to access parameters in the adapter as shown below. We recommend that you read through the steps for your HIM before performing the sequence. For additional information, see the drive documentation or the PowerFlex 7-Class HIM Quick Reference, publication 20HIM-QR001.

Using an LED HIM

Step Example Screens

1. Press the key and then the Device (Sel) key to display the Device Screen.

2. Press the or key to scroll to the adapter. Letters represent files in the drive, and numbers represent

ports. The adapter is usually connected to port 5.

3. Press the (Enter) key to enter your selection. A parameter database is constructed, and then the first

parameter is displayed.

4. Edit the parameters using the same techniques that you use to edit drive parameters.

Using an LCD HIM

Step Example Screens

1. In the main menu, press the or key to scroll to Device Select.

2. Press the (Enter) key to enter your selection.

3. Press the or key to scroll to the adapter (20-COMM-C or 20-COMM-Q).

4. Press the (Enter) key to select the adapter. A parameter database is constructed, and then the main

menu for the adapter is displayed.

5. Edit the parameters using the same techniques that you use to edit drive parameters.

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NOTE: All configuration procedures throughout this chapter use the PowerFlex 7-Class LCD HIM to access parameters in the adapter and show example LCD HIM screens.

TIP: When using a PowerFlex 20-HIM-A6 or 20-HIM-C6S HIM, see its User Manual, publication 20-HIM-UM001.

+ 240 hidden pages