Rockwell Automation 22-COMM-D User Manual

ControlNet Adapter

22-COMM-C FRN 1.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 http://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.

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 the hazard

• 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, PowerFlex, ControlLogix, PLC-5, DriveExplorer, DriveExecutive, DriveTools SP, and ControlFLASH are

either registered trademarks or trademarks of Rockwell Automation, Inc. RSLogix, RSLinx, and RSNetWorx are trademarks of Rockwell Software. ControlNet is a trademark of ControlNet International. Windows and Microsoft are registered trademarks of Microsoft Corporation.

Summary of Changes

The information below summarizes the changes made to this manual since its last release (May 2005):

Description of New or Updated Information Page(s)

In the Chapter 4 introduction, added an Important paragraph about I/O connections.

In the “About Explicit Messaging” section, added an Important paragraph about “unconnected” and “connected” messages.

In the “Configuring the RS-485 Network” section, corrected the Important paragraph text. The daisy-chained drive(s) parameter A106 - [Comm Loss Time] is not used in Multi-Drive mode.

In the “ControlLogix Explicit Messaging” section, corrected these drive parameter subheading names:

• Parameter D003 from [Current Output] to [Output Current]

• Parameter P039 from [Current Output] to [Accel Time 1]

In the “Environmental” specifications section, corrected the maximum Farenheit Operating Temperature value from 149°F to 122°F.

4-1

6-1

7-7

7-22

A-2

soc-ii Summary of Changes

Preface About This Manual

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . P-2

Rockwell Automation Support. . . . . . . . . . . . . . . . . . . . . . . . P-3

Chapter 1 Getting Started

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

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

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

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

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Chapter 2 Installing the Adapter

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

Setting Operating Mode and Node Address Switches . . . . . . 2-1

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

Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . . 2-4

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

Chapter 3 Configuring the Adapter

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

Using the PowerFlex 4-Class HIM . . . . . . . . . . . . . . . . . . . . 3-2

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

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

Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Resetting the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Viewing the Adapter Configuration . . . . . . . . . . . . . . . . . . . . 3-7

Chapter 4 Configuring the I/O

Chapter 5 Using the I/O

ControlLogix Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

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

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

Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Example Ladder Logic Program Information . . . . . . . . . . . . 5-4

ControlLogix Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

ii Table of Contents

Chapter 6 Using Explicit Messaging

About Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Performing Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . 6-2

ControlLogix Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

Chapter 7 Using Multi-Drive Mode

Single Mode vs. Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . 7-1

System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Understanding the I/O Image . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Configuring the RS-485 Network . . . . . . . . . . . . . . . . . . . . . 7-7

Example Configuration Settings . . . . . . . . . . . . . . . . . . . . . . 7-8

ControlLogix I/O Example . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

ControlLogix Explicit Messaging . . . . . . . . . . . . . . . . . . . . 7-22

PLC-5 I/O Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24

Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36

Chapter 8 Troubleshooting

Locating the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . 8-1

PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

Net A and B Status Indicators Together. . . . . . . . . . . . . . . . . 8-4

Net A or B Status Indicators Independently . . . . . . . . . . . . . 8-4

Adapter Diagnostic Items in Single Mode . . . . . . . . . . . . . . 8-5

Adapter Diagnostic Items in Multi-Drive Mode . . . . . . . . . . 8-6

Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . 8-7

Appendix A Specifications

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

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

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

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

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

Appendix B Adapter Parameters

About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

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

Appendix C ControlNet Objects

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

Assembly Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4

Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-9

Parameter Group Object (Single Mode only) . . . . . . . . . . . C-12

PCCC Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14

DSI Device Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-20

DSI Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-23

DSI Fault Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-27

DSI Diagnostic Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-29

Appendix D Logic Command/Status Words

PowerFlex 4/40/400 Drives . . . . . . . . . . . . . . . . . . . . . . . . . D-1

Glossary

Index

Table of Contents iii

iv Table of Contents

Preface

About This Manual

Topic Page

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, and the * represents the parameter name — for example, Parameter 01 - [Mode].

• 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 release is displayed as FRN X.xxx. The “FRN” signifies Firmware Release Number. The “X” is the major release number. The “xxx” is the minor update number.

• RSNetWorx for ControlNet (version 5.11), RSLinx (version 2.43), RSLogix 5000 (version 13.03) and RSLogix 5 (version 6.30) were used for the screen shots in this manual. Different versions of the software may differ in appearance and procedures.

• This manual provides information about the 22-COMM-C ControlNet adapter and using it with PowerFlex 4-Class drives. The adapter can be used with other products that support a DSI adapter, such as the DSI External Comms Kit (22-XCOMM-DC-BASE). Refer to the documentation for your product for specific information about how it works with the adapter.

About This Manual P-3

Rockwell Automation Support

Rockwell Automation, Inc. offers support services worldwide, with over 75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation, Inc. 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

If you need to contact Rockwell Automation, Inc. for technical assistance, please review the information in Chapter 8 first. If you still have problems, then call your local Rockwell Automation, Inc. representative.

, Troubleshooting

U.S. Allen-Bradley Drives Technical Support:

E-mail: support@drives.ra.rockwell.com Tel: (1) 262.512.8176 Fax (1) 262.512.2222 Online: www.ab.com/support/abdrives

UK Customer Support Center:

E-mail: esupport2@ra.rockwell.com Tel: +44 (0) 870 2411802 Fax: +44 (0) 1908 838804

Germany Customer Service Center:

E-mail: ragermany-csc@ra.rockwell.com Tel: +49 (0) 2104 960-630 Fax: +49 (0) 2104 960-501

P-4 About This Manual

Notes:

Chapter 1

Getting Started

The 22-COMM-C ControlNet adapter is a communication option intended for installation into a PowerFlex 40 or PowerFlex 400 drive. It can also be used with other Allen-Bradley products that support a DSI communication adapter, such as the DSI External Comms Kit (22-XCOMM-DC-BASE). The External Comms Kit enables PowerFlex 4 drives (which cannot support an internally-mounted adapter) to connect to a ControlNet network.

Topic Page Topic Page

Components

Features 1-2 Quick Start 1-5

Compatible Products 1-3 Modes of Operation 1-6

Required Equipment 1-3

1-1 Safety Precautions 1-4

Components

Figure 1.1 Components of the Adapter

➊

➋

LEDs are located on bottom side of adapter board

➏

➌➍

Item Component Description

Status Indicators Four LEDs that indicate the status of the ControlNet connection,

➊

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

➋

Channel A Coax Receptacle Channel A BNC connection for the ControlNet cable.

➌

Channel B Coax Receptacle Channel B BNC connection for the ControlNet cable.

➍

1x/5x Operating Mode

➎

Jumper (J7)

ControlNet Node Address

➏

Switches

DSI, and the adapter. Refer to Chapter 8, Troubleshooting.

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

Selects Single (1x) or Multi-Drive (5x) mode of operation. Refer to

Setting Operating Mode and Node Address Switches

Sets a unique node address for the adapter. Refer to Setting

Operating Mode and Node Address Switches on page 2-1.

➎

on page 2-1.

1-2 Getting Started

Features

The ControlNet adapter features the following:

• The adapter is normally installed in a PowerFlex 40 or PowerFlex 400 drive. It can also be used in a DSI External Comms Kit (22-XCOMM-DC-BASE).

• A jumper lets you select between Single or Multi-Drive mode of operation. In Single mode (default), the adapter represents a single drive on one node. In Multi-Drive mode, the adapter represents up to 5 drives on one node.

• A number of configuration tools can be used to configure the adapter and connected drive. The tools include an external PowerFlex 4-Class HIM (22-HIM-*) or drive-configuration software such as DriveExplorer (version 3.01 or higher) or DriveExecutive (version

3.01 or higher).

• Status indicators report the status of drive communications, the adapter, and network.

• Supports I/O, including Logic Command/Reference, for all drives connected in Single or Multi-Drive mode.

• The following table shows the various controllers that can be used with the 22-COMM-C adapter and whether they support explicit messaging (parameter read/write, etc.) on a ControlNet network:

Supports Explicit Messaging

Controller Used With 22-COMM-C

ControlLogix 1756-L55/L61/L62/L63 ✔✔ FlexLogix 1794-L33/L34 ✔✔ CompactLogix 1769-L20/L30/L35E ✔✔ MicroLogix1000 1761-L10/L16/L20/L32 ✔✔ MicroLogix1200 1762-L24/L40 ✔✔ MicroLogix1500 1764-LSP/LRP ✔✔ PLC-5 1785-L20C/L40C/L46C/L80C ✔ SoftLogix 1789-L10/L30/L60 ✔✔

(1)

Due to controller limitations, explicit messaging can only be performed on drive parameters up to Parameter 256.

• User-defined fault actions determine how the adapter and drive (or DSI External Comms Kit) respond to communication disruptions on the network and controllers in program mode.

Single Mode Multi-Drive

Yes N o Yes No

(1)

✔

Getting Started 1-3

Compatible Products

The adapter is compatible with Allen-Bradley PowerFlex 4-Class (Component-Class) drives and other products that support an internal DSI adapter. At the time of publication, compatible products include:

• PowerFlex 4 drives with DSI External Comms Kit

• PowerFlex 40 drives

• PowerFlex 400 drives

Required Equipment

Equipment Shipped with the Adapter

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

❑ One ControlNet adapter ❑ One 15.24 cm (6 in.) Internal Interface Cable ❑ This manual

User-Supplied Equipment

To install and configure the adapter, you must supply:

❑ A small flathead screwdriver ❑ Appropriate ControlNet cables (refer to the ControlNet Fiber Media

Planning and Installation Guide, Publication CNET-IN001…, for details.)

❑ A configuration tool, such as:

– PowerFlex 4-Class HIM (22-HIM-*) – DriveExplorer (version 3.01 or higher) – DriveExecutive stand-alone software (version 3.01 or higher) or

bundled with the DriveTools SP suite (version 1.01 or higher)

– RSNetWorx for ControlNet

❑ Controller configuration software (Example: RSLogix 5000) ❑ A PC connection to the ControlNet network

1-4 Getting Started

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

power from the PowerFlex drive, and then verify power has been discharged before installing or removing the 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 the adapter. Failure to comply may result in injury and/or equipment damage.

ATTENTION: Risk of equipment damage exists. The adapter contains ESD (Electrostatic Discharge) 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, refer to 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 the adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameters 08 - [Comm Flt Action] and 09 - [Idle Flt Action] let you determine the

action of the adapter and connected PowerFlex drive if communications are disrupted. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure 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 faulted controller).

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, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

Getting Started 1-5

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 Refer to …

1 Review the safety precautions for the adapter. Throughout this

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

3 Install the adapter.

Verify that the PowerFlex drive is not powered. Then, connect the adapter to the network using a ControlNet cable and to the drive using the Internal Interface cable. Use the captive screw to secure and ground the adapter to the drive.

When installing the adapter in a DSI External Comms Kit, refer to the 22-XCOMM-DC-BASE Installation Instructions (Publication No. 22COMM-IN001…) supplied with the kit.

4 Apply power to the adapter.

The adapter receives power from the drive. Apply power to the drive. The status indicators should be green. If they flash red, there is a problem. Refer to Chapter 8

5 Configure the adapter for your application.

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

• I/O configuration

• Fault actions

6 Apply power to the ControlNet scanner and other

devices on the network.

Verify that the scanner and network are installed and functioning in accordance with ControlNet standards, and then apply power to them.

7 Configure the scanner or bridge to communicate with

the adapter.

Use a network tool such as RSNetWorx for ControlNet to configure the scanner or bridge on the network.

8 Create a ladder logic program.

Use a programming tool such as RSLogix to create a ladder logic program that enables you to:

• Control the adapter and connected drive using I/O.

• Monitor or configure the drive using Explicit Messages.

, Troubleshooting.

manual

Chapter 2 Installing the Adapter

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

1-6 Getting Started

Modes of Operation

The adapter uses four status indicators to report its operating status. They can be viewed on the adapter or through the drive cover (Figure 1.2).

Figure 1.2 Status Indicators (location on drive may vary)

Bottom side

of adapter board

➊ ➋ ➌

➍

➊ ➋ ➌ ➍

Status

Item

Indicator

PORT Green Normal Operation. The adapter is properly connected and

➊

MOD Green Normal Operation. The adapter is operational and is

➋

NET A or

➌

NET B

➍

(1)

If all status indicators are off, the adapter is not receiving power. Refer to Chapter 2, Installing the

Adapter, for instructions on installing the adapter.

If any other conditions occur, refer to Chapter 8, Troubleshooting.

Normal Status

Flashing Green

Green Normal Operation. The adapter channel is properly

Flashing Green

Off Normal Operation. The adapter channel is disabled or not

Description

(1)

is communicating with the drive.

transferring I/O data.

Normal Operation. The adapter is operational but is not transferring I/O data.

connected and communicating on the network.

Normal Operation. The adapter channel has a temporary error, or is in listen-only mode.

supported.

Chapter 2

Installing the Adapter

Chapter 2 provides instructions for installing the adapter in a PowerFlex 40 or PowerFlex 400 drive. This adapter can also be installed in a DSI External Comms Kit. In this case, refer to the 22-XCOMM-DC-BASE Installation Instructions (Publication No. 22COMM-IN001…) supplied with the kit.

Topic Page

Preparing for an Installation

Setting Operating Mode and Node Address Switches 2-1

Connecting the Adapter to the Network 2-3

Connecting the Adapter to the Drive 2-4

Applying Power 2-7

2-1

Preparing for an Installation

Before installing the adapter, verify that you have all required equipment. Refer to Chapter 1

, Getting Started.

Setting Operating Mode and Node Address Switches

Before installing the adapter, you must set its Operating Mode Jumper for Single or Multi-Drive operation, and its Node Address Switches to a unique ControlNet node address.

Important: New settings are recognized only when power is applied to

the adapter, or the adapter is reset. If you change a setting, cycle power or reset the adapter to invoke the change.

ATTENTION: Risk of equipment damage exists. The adapter contains ESD (Electrostatic Discharge) sensitive parts that can be

2-2 Installing the Adapter

1. Set the adapter Operating Mode Jumper (J7) for Single (1x) or

Multi-Drive (5x) operation (see Figure 2.1 below). For complete details on Multi-Drive mode operation, see

Chapter 7, Using Multi-Drive Mode.

Figure 2.1 Setting Single/Multi-Drive Operation and Node Address Switches

and setting descriptions

Node Address Switches

Operating Mode Jumper

S2 S3

(Tens Digit) (Ones Digit)

5x 1x

Mode

Jumper Setting Description

Right (1x) position or jumper missing

Left (5x) position Sets the adapter for Multi-Drive mode using up to 5 different

Sets the adapter for Single mode (default setting) using a single drive connection.

Important: In this mode, connections to multiple drives must be removed since all powered and connected hosts will respond to any message sent by the adapter.

drives. DSI peripherals (22-HIM-*, 22-SCM-*, etc.) do not operate with the adapter in this mode.

Single ModeMulti-Drive

2. Set the adapter node address by rotating the Node Address Switches

to the desired value for each digit.

Important: Each node on the network must have a unique address.

The node address must be set 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. Then remove and reapply power to the adapter, or reset the adapter.

Switch Settings Description

00-99 Node address used by the adapter if switches are enabled. The

default switch setting is 02.

Important: If the address switches are set to “00,” the adapter will use the setting of Parameter 02 - [CN Addr Cfg] for the node address. Refer to Setting the Node Address

on page 3-3.

The node address switch settings can be verified using a PowerFlex 4-Class HIM, DriveExplorer, or DriveExecutive to view Diagnostic Item number 28 (listed on page 8-5

or page 8-6).

Installing the Adapter 2-3

Connecting the Adapter to the Network

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove

power from the PowerFlex drive, and then verify power has been discharged before installing or removing an adapter.

1. Remove power from the drive.

2. Use static control precautions.

3. Remove the drive cover.

4. Connect a ControlNet cable to the ControlNet network. See

Figure 2.2

Figure 2.2 Connecting the ControlNet Cable to the Network

for an example of wiring to a ControlNet network.

ControlLogix Controller

with 1756-CNB/R

ControlNet Network

5. Route the ControlNet cable through the bottom of the PowerFlex

drive (Figure 2.3), and insert the cable plug into the adapter’s mating receptacle.

PowerFlex 40 or PowerFlex 400 Drives

(each with a 22-COMM-C ControlNet Adapter)

(optional redundancy)

2-4 Installing the Adapter

Connecting the Adapter to the Drive

PowerFlex 40 Frames B and C, and PowerFlex 400 Frame C

1. Remove power from the drive.

2. Use static control precautions.

3. Mount the adapter on the required special drive cover (ordered

separately — see Figure 2.4

• Frame C: Use the adapter screw to secure the adapter to the cover.

• Frame B: Disregard the screw and snap the adapter in place.

Important: For Frame C drives, tighten the adapter’s lower left

screw to ground the adapter (see Figure 2.4 B drives, install the special drive cover onto the drive using both cover fasteners to ground the adapter.

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

then to the mating DSI connector on the adapter.

Figure 2.3 Connecting DSI Ports with Internal Interface Cable

for part numbers).

). For Frame

PowerFlex 40 Drive

(Frame C shown

with cover removed)

Item Description

DSI connector

➊

15.24 cm (6 in.) Inter nal Interface cable

➋

ControlNet cable

➌

22-COMM-C Adapter

➊

➋

➌

Back of Required

Special Drive Cover

Installing the Adapter 2-5

Figure 2.4 Mounting and Grounding the Adapter – PowerFlex 40 Frames B and C, and

PowerFlex 400 Frame C

Adapter Mounted on Back of Required Special Drive Cover

(Frame C cover shown)

PowerFlex 40 Frame B -- Part Number 22B-CCB

PowerFlex 40 Frame C -- Part Number 22B-CCC

PowerFlex 400 Frame C -- Part Number 22C-CCC

PowerFlex 40 Drive

(Frame C shown

with cover removed)

Ground for Frame C Drives

For Frame B drives, the lower left

NOTE:

adapter screw does not ground the adapter. To ground the adapter, install the special drive cover onto the drive using both cover fasteners.

2-6 Installing the Adapter

PowerFlex 400 Frames D, E, and F

1. Remove power from the drive.

2. Use static control precautions.

3. Remove the drive cover.

4. With the adapter board right side up, remove its mounting screw

from the lower left hole. Save the screw for mounting in Step 7.

5. Connect the Internal Interface cable to the DSI port on the drive (see

Figure 2.5

6. With the adapter board oriented bottom side up, route the Internal

Interface cable under the adapter, and then to the mating DSI connector on the adapter.

7. Install the adapter, bottom side up, to the right side of the display

board by snapping it into place. Then insert the adapter mounting screw into the lower left hole on the board.

Important: Tighten the mounting screw in the adapter’s lower left

hole to ground the adapter to the drive.

Figure 2.5 Mounting and Connecting the Adapter – PowerFlex 400 Frame D, E,

and F Drives

PowerFlex 400

(Frame D shown

with cover removed)

Adapter Installation

(Side View)

Bottom of

Adapter Board

Internal Interface Ribbon Cable

LEDs

Connector

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 and switch settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive.

1. Install the drive cover. The status indicators can be viewed on the

front of the drive after power has been applied.

2. Apply power to the PowerFlex drive. The adapter receives its power

from the connected drive. When you apply power to the adapter for the first time, the status indicators should be green or off after an initialization. If the status indicators are red, there is a problem. Refer to Chapter 8

, Troubleshooting.

2-8 Installing the Adapter

Notes:

Chapter 3

Configuring the Adapter

Chapter 3 provides instructions and information for setting the parameters in the adapter.

Topic Page

Configuration Tools

Using the PowerFlex 4-Class HIM 3-2

Setting the Node Address 3-3

Setting the I/O Configuration 3-3

Setting a Fault Action 3-4

Resetting the Adapter 3-6

Viewing the Adapter Configuration 3-7

For a list of parameters, refer to Appendix B, Adapter Parameters. For definitions of terms in this chapter, refer to the Glossary

3-1

Configuration Tools

The adapter stores parameters and other information in its own non-volatile 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 Refer to…

PowerFlex 4-Class HIM (22-HIM-*)

DriveExplorer Software (version 3.01 or higher)

DriveExecutive Software (version 3.01 or higher)

page 3-2

http://www.ab.com/drives/driveexplorer, and DriveExplorer online help (installed with the software)

http://www.ab.com/drives/drivetools, and DriveExecutive online help (installed with the software)

3-2 Configuring the Adapter

Using the PowerFlex 4-Class HIM

The PowerFlex 4-Class HIM (Human Interface Module) can be used to access parameters in the adapter (see basic steps shown below). It is recommended that you read through the steps for your HIM before performing the sequence. For additional HIM information, refer to the HIM Quick Reference card.

Note: The HIM will only work when the adapter is set to Single mode.

Using the HIM

Step Key(s) Example Screens

1. Power up the drive. Then plug the HIM into the drive. The Parameters menu for

will be

the drive displayed.

2. Press Sel key once to display the Device Select menu.

Sel

Parameters

Groups

Linear List Changed Params

DIAG PA R A M DSEL MEM SEL !

Device Select

DSI Devices

3. Press Enter to display the DSI Devices menu. Press Down Arrow to scroll to 22-COMM-C.

4. Press Enter to select the adapter. The Parameters menu for the adapter displayed.

5. Press Enter to access the parameters. Edit the adapter parameters using the same techniques that you use to edit drive parameters.

will be

and

DIAG PARAM DSEL MEM SEL !

DSI Devices

Powe rF lex 4 0

22-COMM-C

Parameters

Linear List

Changed Params

DIAG PA R A M DSEL MEM SEL !

Mode RO

Parameter: #

Single Drv 0

VAL UE LIMITS SEL !

001

Configuring the Adapter 3-3

Setting the Node Address

If the Node Address Switches on the adapter are set to a node address of “00,” the value of Parameter 02 - [CN Addr Cfg] determines the ControlNet node address.

1. Set the value of Parameter 02 - [CN Addr Cfg] to a unique node

address.

Figure 3.1 Node Address Screen on PowerFlex 4-Class HIM (22-HIM-*)

CN Addr Cfg

Param ete r: #

VAL UE LIMITS SEL !

2. Reset the adapter (see Resetting the Adapter on Page 3-6).

002

Default = 2

Setting the I/O Configuration

The I/O configuration determines the number of drives that will be represented on the network as one node by the adapter. If the Operating Mode Jumper (J7 in Figure 2.1 position, only one drive is represented by the adapter and Parameter 12

- [DSI I/O Cfg] has no effect. If the Operating Mode Jumper is set to the “5x” (Multi-Drive) position, up to five drives can be represented as one node by the adapter.

1. Set the value in Parameter 12 - [DSI I/O Cfg].

) is set to the “1x” (Single mode) default

Figure 3.2 I/O Configuration Screen on Powerflex 4-Class HIM (22-HIM-*)

DSI I/O Cfg

Param ete r: #

Drive 0 0

VALU E LIMITS SEL !

Value Description

012

0 Drive 0 (Default) ✓✓ 1Drives 0-1 ✓ 2Drives 0-2 ✓ 3Drives 0-3 ✓ 4Drives 0-4 ✓

Mode Jumper Position

Single Multi-Drive

When the adapter is internally mounted in a PowerFlex 40 or 400 drive, this drive is always Drive 0. Drives 1 through 4 are PowerFlex

3-4 Configuring the Adapter

4-Class drives that are daisy-chained to the RJ45 (RS-485) port on Drive 0. When the adapter is externally mounted in a DSI External Comms Kit, Drives 0 through 4 are daisy-chained to the RJ45 (RS-485) port on the Comms Kit. Refer to Chapter 7

Multi-Drive Mode for more information.

2. If a drive is enabled, configure the parameters in the drive to accept

the Logic Command and Reference from the adapter. For example, set a PowerFlex 40 drive’s parameter P036 - [Start Source] and parameter P038 - [Speed Reference] both to “5” (Comm Port). When using the adapter in Multi-Drive mode, each daisy-chained drive requires that additional parameters be set. See Configuring the

RS-485 Network on page 7-7 for these parameters and their settings.

3. Reset the adapter (see Resetting the Adapter on page 3-6).

Setting a Fault Action

By default, when communications are disrupted (for example, a cable is disconnected) or the controller is in program mode, the drive responds by faulting if it is using I/O from the network. You can configure a different response to communication disruptions using Parameter 08 - [Comm Flt Action] and a different response to a controller in program mode using Parameter 09 - [Idle Flt Action].

, Using

ATTENTION: Risk of injury or equipment damage exists. Parameters 08 - [Comm Flt Action] and 09 - [Idle Flt Action] let you

determine the action of the adapter and connected drive if communications are disrupted or the controller is in program mode. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Some ControlNet scanners may operate differently when a controller is in program mode which could limit the Idle Fault Action’s operating states. Precautions should be taken to ensure 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 faulted controller).

Configuring the Adapter 3-5

To change the fault action

Set the values of Parameters 08 - [Comm Flt Action] and 09 - [Idle Flt Action] to the desired responses:

Value Action Description

0 Fault The drive is faulted and stopped. (Default)

1 Stop The drive is stopped, but not faulted.

2 Zero Data The drive is sent 0 for output data. This does not command

3 Hold Last The drive continues in its present state.

4 Send Flt Cfg The drive is sent the data that you set in the fault

Figure 3.3 Fault Action Screens on PowerFlex 4-Class HIM (22-HIM-*)

a stop.

configuration parameters (Parameter 10 - [Flt Cfg Logic] and Parameter 11 - [Flt Cfg Ref]).

Comm Flt Action

Para meter : #

Fault 0

Idle Flt Action

008

Para meter : #

009

Faul t 0

VALU E LIMITS SEL !

Changes to these parameters take effect immediately. A reset is not required.

If Multi-Drive mode is used, the same fault action is used by the adapter for all of the drives (Drive 0 - Drive 4) it controls.

To set the fault configuration parameters

If you set Parameter 08 - [Comm Flt Action] or 09 - [Idle Flt Action] to “Send Flt Cfg,” the values in the following parameters are sent to the drive after a communications fault and/or idle fault occurs. You must set these parameters to values required by your application:

Parameter Name Description

10 Flt Cfg Logic A 16-bit value sent to the drive for Logic Command.

11 Flt Cfg Ref A 16-bit value (0 – 65535) sent to the drive as a

Changes to these parameters take effect immediately. A reset is not required.

Reference.

VAL UE LIMITS SEL !

3-6 Configuring the Adapter

Resetting the Adapter

Changes to switch settings and some adapter parameters require that you reset the adapter before the new settings take effect. You can reset the adapter by cycling power to the drive or by using the following parameter:

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 a connected adapter.

Set Parameter 07 - [Reset Module] to Reset Module.

Figure 3.4 Reset Screen on PowerFlex 4-Class HIM (22-HIM-*)

Reset Module

Param ete r: #

VAL UE LIMITS SEL !

When you enter 1 = Reset Module, the adapter will be immediately reset. When you enter 2 = Set Defaults, the adapter will set all adapter parameters to their factory-default settings. After performing a Set Defaults, enter 1 = Reset Module so that the new values take effect. The value of this parameter will be restored to 0 = Ready after the adapter is reset.

Ready 0

Value Description

007

0 Ready (Default)

1 Reset Module

2 Set Defaults

Configuring the Adapter 3-7

Viewing the Adapter Configuration

The following parameters provide information about how the adapter is configured. You can view these parameters at any time.

Number Name Description

01 Mode The operating mode in which the adapter is set:

Values 0 = Single Drv 1 = Multiple Drv

03 CN Addr Act The node address used by the adapter. This will be one of the

13 DSI I/O Act Indicates the drives that are active in the Multi-Drive mode:

following values:

• The address set by the adapter Node Address switches.

• The value of Parameter 02 - [CN Addr Cfg] if the switches

are set to 0.

• An old address of the switches or parameter if they have

been changed and the adapter has not been reset.

Bit Definitions 0 = Drive 0 Active 1 = Drive 1 Active 2 = Drive 2 Active 3 = Drive 3 Active 4 = Drive 4 Active

3-8 Configuring the Adapter

Notes:

Chapter 4

Configuring the I/O

Chapter 4 provides instructions on how to configure a ControlLogix controller with 1756-CNB/R bridge or PLC-5 controller to communicate with the adapter and connected PowerFlex drive.

Topic Page

ControlLogix Example

PLC-5 Example 4-12

Important: The I/O consumes only one connection between the

controller and drive(s) regardless of whether the adapter is in Single or Multi-Drive mode. When using DriveExecutive to configure/monitor the drive, an additional I/O connection will be consumed between the computer and controller. When using Explicit Messaging for time-critical messages, you can create additional dedicated message connections to ensure the timing of their transactions. For more details, see the Important statement in About Explicit Messaging

Page 6-1.

4-1

ControlLogix Example

Example Network

After the adapter is configured, the connected drive and adapter will be a single node on the network. This section provides the steps that are needed to configure a simple network like the network in Figure 4.1 our example, we will configure a 1756-CNB/R bridge to communicate with a drive using Logic Command/Status and Reference/Feedback over the network.

. In

4-2 Configuring the I/O

Figure 4.1 Example ControlNet Network

Node 1

ControlLogix Controller with 1756-CNB/R Bridge

Adding the Bridge to the I/O Configuration

To establish communications over a ControlNet network, you must first add the ControlLogix controller and its bridge to the I/O configuration.

Node 2

PowerFlex 40 Drive with 22-COMM-C ControlNet Adapter

ControlNet Network

(optional redundancy)

Node 99

Computer with 1784-PCC Network Interface Card and RSNetWorx for ControlNet

1. Start RSLogix 5000. The RSLogix 5000 window appears. Select File > New to display the New Controller screen (Figure 4.2

Figure 4.2 New Controller Screen

Select the appropriate choices for the fields in the screen to match your application. Then click OK. The RSLogix 5000 window reappears with the project tree in the left pane.

Configuring the I/O 4-3

2. In the project tree, right-click the I/O Configuration folder and select New Module. The Select Module Type screen (Figure 4.3

Figure 4.3 Select Module Type Screen

Step 4

3. In the list, select the ControlNet bridge used by your controller. In this example (Figure 4.3), we use a 1756-CNBR/D ControlNet Bridge (Series D), so the 1756-CNBR/D option is selected.

) appears.

Step 3

4. Click OK. The Module Properties screen (Figure 4.4

Figure 4.4 Module Properties Screen

) appears.

5. Edit the following:

Box Setting

Name A name to identify the bridge.

Node Select the node address setting of the ControlNet bridge (default = 1).

Slot The slot of the ControlNet bridge in the rack.

Revision The minor revision of the firmware in the bridge. (You already set the

major revision by selecting the bridge series in Step 3.)

4-4 Configuring the I/O

Box Setting

Electronic Keying

6. Click Finish>>. The bridge is now configured for the ControlNet

network. It appears in the I/O Configuration folder. In our example, a 1756-CNBR/D bridge appears under the I/O Configuration folder (Figure 4.5

Figure 4.5 RSLogix 5000: I/O Configuration Folder

Adding the Adapter and Drive to the I/O Configuration

To transmit data between the bridge and the adapter, you must add the 22-COMM-C adapter as a child device to the parent bridge.

1. In the project tree, right-click on the bridge and select New Module

to display the Select Module Type screen (Figure 4.6 example, right-click on the 1756-CNBR/D bridge.

Compatible Module. The “Compatible Module” setting for Electronic Keying ensures that the physical module is consistent with the software configuration before the controller and bridge make a connection. Therefore, ensure that you have set the correct revision in this screen. Refer to the online help if the controller and bridge have problems making a connection and you want to change this setting.

) with its assigned name.

). For this

Figure 4.6 Select Module Type Screen

2. Select CONTROLNET-MODULE (Figure 4.6) to configure the 22-COMM-C adapter, and then click OK. The Module Properties screen (Figure 4.7

) appears.

Configuring the I/O 4-5

Figure 4.7 Module Properties Screen

3. Edit the following information about the adapter:

Box Setting

Name A name to identify the adapter and drive.

Comm Format Data - INT (This setting formats the data in 16-bit words.)

Node The node address setting of the adapter.

4. Under Connection Parameters, edit the following:

Box Assembly Instance Size

Input 1 (This value is

required.)

Output 2 (This value is

required.)

Configuration 6 (This value is

required.)

The value will vary based on your application (setting of Parameter 12 - [DSI I/O Cfg]). It will contain 2 additional words for ControlNet bridge overhead. Refer to Table 4.A

The value will vary based on your application (setting of Parameter 12 - [DSI I/O Cfg]). Refer to Tabl e 4 . A

0 (This value is required.)

Enter the number of words that are required for your I/O in the Input Size and Output Size boxes. The size will depend on the I/O that you enabled in the adapter. This information can be found in Parameter 12 - [DSI I/O Cfg] in the adapter. Table 4.A configuration Input/Output sizes.

In our example, we entered “4” in the Input Size and “2” in the Output Size boxes because the Operating Mode Jumper on the adapter is set to “1x” (Single mode, which is the default). Logic Status/Feedback uses 2 words of input and an additional 2 words of input are reserved for ControlNet bridge overhead. Logic Command/ Reference uses 2 words of output.

shows common

4-6 Configuring the I/O

Table 4.A ControlLogix Input/Output Size Configurations

Input

Output

Size

42 ✔✔Drive 0 Single 64 ✔✔Drives 0-1 86 ✔✔Drives 0-2 10 8 ✔✔Drives 0-3 12 10 ✔✔Drives 0-4

TIP: For instructions on configuring the I/O for the adapter (Parameter 12 - [DSI I/O Cfg]), see Setting the I/O

Configuration on page 3-3.

5. Click Next > to display the Requested Packet Interval screen (Figure 4.8).

Figure 4.8 Requested Packet Interval Screen

Logic Command/ Status

Reference/ Feedback

Parameter 12 [DSI I/O Cfg]

Parameter 01 [Mode]

Multi-Drive

6. In the Requested Packet Interval (RPI) box, set the value to 5.0 milliseconds or greater. This value determines the maximum interval that a controller should use to move data to and from the adapter. To conserve bandwidth, use higher values for communicating with low priority devices.

7. Click Finish >>. The new node (“PowerFlex_40_Drive” in this example) now appears under the bridge (“1756-CNBR/D” in this example) in the I/O Configuration folder. If you double-click on the Controller Tags (Figure 4.9 types and tags have been automatically created. After you save and download the configuration, these tags allow you to access the Input and Output data of the adapter via the controller’s ladder logic.

), you will see that module-defined data

Figure 4.9 Controller Tags Overview Window

Configuring the I/O 4-7

4-8 Configuring the I/O

Saving the I/O Configuration to the Controller

After adding the bridge and the adapter to the I/O configuration, you must download the configuration to the controller. You should also save the configuration to a file on your computer.

1. Select Communications > Download. The Download dialog box (Figure 4.10

Figure 4.10 Download Dialog Box

TIP: If a message box reports that RSLogix 5000 is unable to go online, select Communications > Who Active to try to find your controller in the Who Active screen. After finding the controller, click the Set Project Path button to establish the path. If your controller does not appear, you need to add or configure the ControlNet driver in RSLinx. Refer to the RSLinx online help.

) appears.

2. Click Download to download the configuration to the controller. When the download is completed successfully, click Ye s . RSLogix 5000 enters the Rem Prog (Remote Program) mode.

3. Select File > Save. If this is the first time that you saved the project, the Save As dialog box appears. Navigate to a folder, type a file name, and click Save to save the configuration to a file on your computer.

Configuring the I/O 4-9

Saving the I/O Configuration to the Bridge

You also need to download the I/O configuration to the bridge. You should also save the configuration to a file on your computer.

1. Launch RSNetWorx for ControlNet. In the RSNetWorx for ControlNet window, select File > New to display the New File screen. Then select “ControlNet Configuration” as the network configuration type, and click OK.

2. Select Network > Online to display the Browse for Network screen (Figure 4.11

Figure 4.11 Browse for Network Screen

3. Expand the communications path from your computer to the ControlNet bridge. Figure 4.12 devices that are on a ControlNet network. Depending on the communication link you are using, the navigation path may be different. After selecting a valid ControlNet path (for this example, A, ControlNet), click OK.

shows our example navigating to

4-10 Configuring the I/O

Figure 4.12 Expanded Browse for Network Screen

4. As the selected ControlNet path is browsed, RSNetWorx for

ControlNet creates a graphical representation of the devices on the network (Figure 4.13

Figure 4.13 RSNetWorx for ControlNet Graph View Screen

Configuring the I/O 4-11

5. Select Network > Enable Edits. If the bridge has a different I/O configuration than the configuration now being saved, the Online / Offline mismatch dialog box (Figure 4.14

Figure 4.14 Online / Offline mismatch Dialog Box

When both radio button choices are available, use the preselected default “Use online data (upload).” When this choice is unavailable (grayed out), you must select “Use offline data (download).” Then click OK.

6. Select File > Save to save the I/O configuration file to the computer. If this is the first time that you saved the project, the Save As dialog box appears. Navigate to a folder, type a file name, and click Save to save the configuration to a file on your computer. The Save Configuration dialog box (Figure 4.15 download the I/O configuration to the bridge.

) will appear.

) appears. Then click OK to

Figure 4.15 Save Configuration Dialog Box

TIP: If both Save Type choices are available, it is recommended to select the “Optimize and re-write schedule for all connections” radio button.

4-12 Configuring the I/O

PLC-5 Example

Example Network

After the adapter is configured, the connected drive and adapter will be a single node on the network. This section provides the steps that are needed to configure a simple network like the network in Figure 4.16. In our example, we will configure a PLC-5/40C controller to communicate with a drive using Logic Command/Status and Reference/Feedback over the network.

Figure 4.16 Example ControlNet Network

Node 1

PLC-5/40C Controller

Node 2

PowerFlex 40 Drive with 22-COMM-C ControlNet Adapter

ControlNet Network

(optional redundancy)

Node 99

Computer with 1784-PCC Network Interface Card and RSNetWorx for ControlNet

Adding the Drive and Adapter I/O to the Controller

To establish an I/O configuration that can be used between the controller and drive over a ControlNet network, you must first create an I/O image for the PLC-5/40C controller’s built-in scanner.

1. Launch RSNetWorx for ControlNet. In the RSNetWorx for ControlNet window, select File > New to display the New File screen. Then select ControlNet Configuration as the network configuration type, and click OK.

2. Select Network > Online to display the Browse for Network screen (Figure 4.17

Configuring the I/O 4-13

Figure 4.17 Browse for Network Screen

3. Expand the communications path from your computer to the

ControlNet scanner. Figure 4.18 devices that are on a ControlNet network. Depending on the communication link you are using, the navigation path may be different. After selecting a valid ControlNet path (for example, A, ControlNet), click OK.

shows our example navigating to

Figure 4.18 Expanded Browse for Network Screen

4-14 Configuring the I/O

4. As the selected ControlNet path is browsed, RSNetWorx for ControlNet creates a graphical representation of the devices on the network (Figure 4.19

Figure 4.19 RSNetWorx for ControlNet Graph View Screen

5. Select Network > Enable Edits. If the scanner has a different I/O configuration than the configuration now being saved, the Online / Offline mismatch dialog box (Figure 4.20

Figure 4.20 Online / Offline mismatch Dialog Box

) will appear.

Configuring the I/O 4-15

6. In the RSNetWorx for ControlNet graph view screen, right-click the PLC-5/40C icon and select Scanlist Configuration to display the Scanlist Configuration screen (Figure 4.21

Figure 4.21 Scanlist Configuration Screen

7. Right-click on the PowerFlex 40 drive row in the screen and select Insert Connection… to display the Connection Properties screen

(Figure 4.22

Figure 4.22 Connection Properties Screen

In this screen, leave the Connection Name box at the default value shown. Choose a Requested Packet Interval that is suitable for your application, but is at least 5 ms. Use the pull-down lists to select the

4-16 Configuring the I/O

number of words that are required for your I/O in the Input Size and Output Size boxes. The size will depend on the I/O that you enabled in the adapter. This information can be found in Parameter 12 - [DSI I/O Cfg] in the adapter. Table 4.B configuration Input/Output sizes.

Table 4.B PLC-5/40C Input/Output Size Configurations

Input

Output

Size

22 ✔✔Drive 0 Single 44 ✔✔Drives 0-1 66 ✔✔Drives 0-2 88 ✔✔Drives 0-3 10 10 ✔✔Drives 0-4

TIP: If necessary, the N9:0, N10:0, and N11:0 address defaults can be changed to meet processor address requirements or eliminate address conflicts.

8. Then click OK. An address row (in blue text) will be added below

the PowerFlex 40 drive row.

9. Select File > Save to save the I/O configuration file to the computer.

If this is the first time that you saved the project, the Save As dialog box appears. Navigate to a folder, type a file name, and click Save to save the configuration to a file on your computer. The Save Configuration dialog box (Figure 4.23 download the I/O configuration to the scanner.

Logic Command/ Status

shows common

Reference/ Feedback

Parameter 12 [DSI I/O Cfg]

) appears. Then click OK to

Parameter 01 [Mode]

Multi-Drive

Figure 4.23 Save Configuration Dialog Box

TIP: If both Save Type choices are available, it is recommended to select the “Optimize and re-write schedule for all connections” radio button.

10. A warning will appear about communication and I/O disruption on the network. Click Ye s .

Chapter 5

Using the I/O

Chapter 5 provides information and examples that explain how to use the I/O to control, configure, and monitor a PowerFlex 4-Class drive.

Topic Page

About I/O Messaging

Understanding the I/O Image 5-2

Using Logic Command/Status 5-3

Using Reference/Feedback 5-3

Example Ladder Logic Program Infor mation 5-4

ControlLogix Example 5-5

PLC-5 Example 5-8

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of

5-1

About I/O Messaging

On ControlNet, I/O messaging is used to transfer the data which controls the PowerFlex drive and sets its Reference.

The adapter provides many options for configuring and using I/O, including configuring the size of I/O by selecting the number of attached drives (Single or Multi-Drive mode).

Chapter 3

discuss how to configure the adapter and controller on the network for these options. The Glossary defines the different options. This chapter discusses how to use I/O after you have configured the adapter and controller.

, Configuring the Adapter, and Chapter 4, Configuring the I/O,

5-2 Using the I/O

Understanding the I/O Image

The terms input and output are defined from the controller’s point of view. Therefore, output I/O is data that is produced by the controller and consumed by the adapter. Input I/O is status data that is produced by the adapter and consumed as input by the controller. The I/O image table will vary based on the configuration of the adapter:

• Operating Mode Jumper J7 (Figure 2.1

• Parameter 12 - [DSI I/O Cfg]

The image table always uses consecutive words starting at word 0.

Figure 5.1

(16-bit words) for ControlLogix and PLC-5 controllers respectively.

Figure 5.1 Single Drive Example of I/O Image for ControlLogix

Controller

)

and Figure 5.2 illustrate examples of a Single drive I/O image

Scanner

Output Image (Write)

Input Image (Read)

ControlNet

Adapter

Word and I/O

0 Logic Command 1 Reference

0 Pad Word 1 Pad Word 2 Logic Status 3 Feedback

DSI

PowerFlex 40 Drive

Logic Command Reference

Logic Status Feedback

Message

Handler

Figure 5.2 Single Drive Example of I/O Image for PLC-5

ControlNet

Controller

Single mode is the typical configuration, where one node consists of a PowerFlex 40 or PowerFlex 400 drive with a 22-COMM-C adapter. For Multi-Drive mode, where one node can consist of up to 5 drives, refer to

Chapter 7

Scanner

Output Image (Write)

Input Image (Read)

Message

Handler

, Using Multi-Drive Mode.

Message

Buffer

Adapter

Word and I/O

0 Logic Command 1 Reference

0 Logic Status 1 Feedback

Message

Buffer

DSI

Message

Handler

PowerFlex 40 Drive

Logic Command Reference

Logic Status Feedback

Message

Handler

Using the I/O 5-3

Using Logic Command/Status

The Logic Command word is always word 0 in the output image. The Logic Command is a 16-bit word of control produced by the controller and consumed by the adapter. The Logic Status word is input word 2 for ControlLogix or input word 0 for PLC-5. The Logic Status is a 16-bit word of status produced by the adapter and consumed by the controller.

This manual contains the bit definitions for compatible products available at the time of publication in Appendix

Status Words. For other products, refer to their documentation.

Using Reference/Feedback

The Reference word is always word 1 in the output image. The Reference (16 bits) is produced by the controller and consumed by the adapter. The Feedback word begins at input word 3 for ControlLogix or input word 1 for PLC-5. The Feedback (16 bits) is produced by the adapter and consumed by the controller.

D, Logic Command/

Size Drive Valid Values

PowerFlex 4 -240.0 to +240.0 Hz

16-bit

(1)

PowerFlex 40 -400.0 to +400.0 Hz

PowerFlex 400 -320.00 to +320.00 Hz

The Reference/Feedback for a PowerFlex 4, PowerFlex 40 or Powerflex 400 drive is set in Hz and not in engineering units like PowerFlex 7-Class drives. For example, “300” equates to 30.0 Hz (the decimal point is always implied) for PowerFlex 4/40, and “3000” equates to 30.00 Hz for PowerFlex 400. Also, a minus value equates to reverse motor direction, and a plus value equates to forward motor direction.

(1)

Example

Figure 5.1 Figure 5.2

5-4 Using the I/O

Example Ladder Logic Program Information

The example ladder logic programs in the ControlLogix Example and

PLC-5 Example sections of this chapter are intended for and operate

PowerFlex 4-Class drives.

Functions of the Example Programs

The example programs enable an operator to perform the following:

• Obtain status information from the drive.

• Use the Logic Command to control the drive (for example, start, stop).

• Send a Reference to the drive and receive Feedback from the drive.

Adapter Settings for the Example Programs

• Node address 2 is set using parameters.

• The adapter is configured for Single mode operation (Operating Mode

Jumper J7 is set to “1x”).

Scanner Settings for the ControlLogix Example Program

• The scanner is in slot 1 and is node 1 on the ControlNet network.

• Output to the adapter is mapped in word 0 and word 1, and input from

the adapter is in words 2 and 3 (0 and 1 are pad words).

Scanner Settings for the PLC-5 Example Program

• The scanner is node 1 on the ControlNet network.

• Output to the adapter is mapped in N10:0 and N10:1, and input from

the adapter is in N9:0 and N9:1.

Logic Command/Status Words

These examples use the Logic Command word and Logic Status word for PowerFlex 40 drives. Refer to Appendix

Wor ds to view these. The definition of the bits in these words may vary if

you are using a different DSI product. Refer to the documentation for your product.

D, Logic Command/Status

Using the I/O 5-5

ControlLogix Example

The Drive I/O Control program (Figure 5.3) defines the I/O needed to control the drive.

The following program tags are used for the Drive I/O Control Routine:

Tag Name Type Description

Status_Ready BOOL Ready bit

Status_Active BOOL Active bit

Status_Forward BOOL Forward bit

Status_Reverse BOOL Reverse bit

Status_Faulted BOOL Faulted bit

Status_At_Speed BOOL At speed bit

Speed_Feedback INT Speed feedback word

Command_Stop BOOL Stop bit

Command_Start BOOL Start bit

Command_Jog BOOL Jog bit

Command_Clear_Faults BOOL Clear faults bit

Command_Forward_Reverse BOOL Forward/reverse bit

Speed_Reference INT Speed reference word

5-6 Using the I/O

Figure 5.3 ControlLogix Ladder Logic Example for Drive I/O Control

PowerFlex 40 ControlNet Single Mode Example

This ControlLogix example system consists of a 1756-CNBR/D in Slot 4 communicating on a ControlNet network with a

This ControlLogix example system consists of a 1756-CNBR/D in Slot 4 communicating on a ControlNet network with a PowerFlex 40 drive with an installed 22-COMM-C ControlNet adapter. You may substitute the "PowerFlex 40" for a

PowerFlex 40 drive with an installed 22-COMM-C ControlNet adapter. You may substitute the "PowerFlex 40" for a PowerFlex 400, or a PowerFlex 4 using an External DSI Communicaitons Kit (22-XCOMM-DC-BASE).

PowerFlex 400, or a PowerFlex 4 using an External DSI Communicaitons Kit (22-XCOMM-DC-BASE).

The I/O image is as follows:

INPUT (4 INT words)

INPUT (4 INT words) PowerFlex_40_Drive:I.Data[0] = 1756-CNBR Overhead (Not Used)

PowerFlex_40_Drive:I.Data[0] = 1756-CNBR Overhead (Not Used) PowerFlex_40_Drive:I.Data[1] = 1756-CNBR Overhead (Not Used)

PowerFlex_40_Drive:I.Data[1] = 1756-CNBR Overhead (Not Used) PowerFlex_40_Drive:I.Data[2] = PowerFlex 40 Logic Status

PowerFlex_40_Drive:I.Data[2] = PowerFlex 40 Logic Status PowerFlex_40_Drive:I.Data[3] = PowerFlex 40 Speed Feedback

PowerFlex_40_Drive:I.Data[3] = PowerFlex 40 Speed Feedback

OUTPUT (2 INT words)

OUTPUT (2 INT words) PowerFlex_40_Drive:O.Data[0] = PowerFlex 40 Logic Command

PowerFlex_40_Drive:O.Data[0] = PowerFlex 40 Logic Command PowerFlex_40_Drive:O.Data[1] = PowerFlex 40 Speed Reference

PowerFlex_40_Drive:O.Data[1] = PowerFlex 40 Speed Reference

Logic Status information rungs are provided for display purposes only. The PowerFlex_40_Drive:I.Data[2].x bits could be

Logic Status information rungs are provided for display purposes only. The PowerFlex_40_Drive:I.Data[2].x bits could be used directly elsewhere in the ladder program.

used directly elsewhere in the ladder program.

PowerFlex_40_Drive:I.Data[2].0

Status_Ready

PowerFlex_40_Drive:I.Data[2].1

PowerFlex_40_Drive:I.Data[2].3

3 /

PowerFlex_40_Drive:I.Data[2].7

PowerFlex_40_Drive:I.Data[2].8

This rung displays the Speed Feedback word from the PowerFlex 40. Note that it is set in Hz and not in engineering units

This rung displays the Speed Feedback word from the PowerFlex 40. Note that it is set in Hz and not in engineering units like PowerFlex 7-Class drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

like PowerFlex 7-Class drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

Logic Command bit control rungs are provided for display purposes only. The PowerFlex_40_Drive:O.Data[0].x bits could be

Logic Command bit control rungs are provided for display purposes only. The PowerFlex_40_Drive:O.Data[0].x bits could be used directly elsewhere in the ladder program.

used directly elsewhere in the ladder program.

Command_Stop

Command_Start

Move Source PowerFlex_40_Drive:I.Data[3] 0 Dest Speed_Feedback 0

PowerFlex_40_Drive:O.Data[0].0

PowerFlex_40_Drive:O.Data[0].1

Status_Reverse

Status_At_Speed

MOV

Status_Active

Status_Forward

Status_Faulted

Using the I/O 5-7

Figure 5.3 ControlLogix Ladder Logic Example for Drive I/O Control (Continued)

Command_Jog

Command_Clear_Faults

Command_Forward_Reverse

12 /

This rung provides the Speed Reference word to the PowerFlex 40. Note that it is set in Hz and not in engineering units like

This rung provides the Speed Reference word to the PowerFlex 40. Note that it is set in Hz and not in engineering units like PowerFlex 7-Class drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

PowerFlex 7-Class drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

(End)

PowerFlex_40_Drive:O.Data[0].2

PowerFlex_40_Drive:O.Data[0].3

PowerFlex_40_Drive:O.Data[0].4

PowerFlex_40_Drive:O.Data[0].5

Move Source Speed_Reference 600 Dest PowerFlex_40_Drive:O.Data[1] 0

MOV

For a ControlLogix controller explicit message ladder example program, see Figure 6.4

5-8 Using the I/O

PLC-5 Example

The Drive I/O Control program (Figure 5.4) defines the I/O needed to control the drive.

Figure 5.4 PLC-5 Ladder Logic Example for Drive I/O Control

In this example, an operator station is wir ed into the local PLC-5/40C rack as fol lows:

O:000/0 Drive Ready O:000/1 Drive Active O:000/2 Drive Forward O:000/3 Drive Reverse O:000/4 Drive Faulted O:000/5 Drive At Speed O:001 Operator Speed Feedback

I:000/0 Stop (Normally I:000/1 Start (Normally Open Pushbutton) I:000/2 Jog (Normally Open Pushbutton) I:000/3 Clear Faults (Normally Open Pushbutton) I:000/4 Forward / Reverse Selector Switch I:001 Operator Speed Reference

In this example, a PowerFlex 40 drive with instal led 22-COMM-C ControlNet adapter is mapped as follows:

N9:0 Logic Status N10:0 Logic Command N9:1 Speed Feedback N10:1 Speed Reference

Rungs 0000 through 0005 move the Logic Status fr om the drive to the operator st ation.

Drive Logic Status READY

0000

0001

0002

0003

0004

0005

N9:0

Drive Logic Status ACTIVE

N9:0

Drive Logic Status ACTUAL FORWARD / REVERSE DIRECTION

Drive Logic Status FAULTED

N9:0

Drive Logic Status AT SPEED

N9:0

Open Pushbutton)

N9:0

Operator Drive Ready Status Display

O:000

Operator Drive Active Status Display

O:000

Operator Drive Actual Forward Status Display

O:000

Operator Drive Actual Reverse Status Display

O:000

Operator Drive Fault Status Display

O:000

Operator Drive At Speed Status Display

O:000

Using the I/O 5-9

Figure 5.4 PLC-5 Ladder Logic Example for Drive I/O Control (Continued)

Rung 0006 moves the Speed Feedback from the drive to the operator s tation.

0006

Rungs 0007 through 0012 move the Logic Command from the operator stati on to the drive.

Operator Stop Pushbutton

0007

0008

0009

0010

0011

0012

0013

I:000

Operator Start Pushbutton

I:000

Operator Jog Pushbutton

I:000

Operator Clear Faults Pushbutton

I:000

Operator Forward / Reverse Selector Switch

I:000

Operator Forward / Reverse Selector Switch

I:000

Rung 0013 moves the Speed Reference from the operator st ation to the drive.

Drive Speed Feedback

MOV

MOV Move Source N9:1 0< Dest O:001 0<

Drive Logic Command STOP

N10:0

Drive Logic Command START

N10:0

Drive Logic Command JOG

N10:0

Drive Logic Command CLEAR FAULTS

N10:0

Drive Logic Command FORWARD

N10:0

Drive Logic Command REVERSE

N10:0

Drive Speed Reference

MOV

MOV Move Source I:001 0< Dest N10:1 0<

0014

END

For a PLC-5 controller explicit message ladder example program, see

Figure 6.5

5-10 Using the I/O

Notes:

Chapter 6

Using Explicit Messaging

Chapter 6 provides information and examples that explain how to use Explicit Messaging to configure and monitor the 22-COMM-C adapter and PowerFlex 4-Class drive to which it is connected.

Topic Page Topic Page

About Explicit Messaging

Performing Explicit Messages 6-2 PLC-5 Example 6-6

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of

ATTENTION: Risk of equipment damage exists. If Explicit Messages are programmed to write parameter data to Non-Volatile Storage (NVS)

frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses Explicit Messages to write parameter data to NVS.

6-1 ControlLogix Example 6-3

Refer to Chapter 5 for information about the I/O image, using Logic Command/Status and Reference/Feedback.

About Explicit Messaging

Explicit Messaging is used to transfer data that does not require continuous updates. With Explicit Messaging, you can configure and monitor a slave device’s parameters on the ControlNet network.

Important: When an explicit message is performed, by default no I/O

connection is made since it is an “unconnected” message. When timing of the message transaction is important, you can create a dedicated message connection between the controller and drive by checking the “Connected” box on the Communications tab message configuration screen

6-2 Using Explicit Messaging

during message setup. These message connections are in addition to the I/O connection. However, the tradeoff for more message connections is decreased network performance. If your application cannot tolerate this, do not check the “Connected” box.

Performing Explicit Messages

There are five basic events in the Explicit Messaging process. The details of each step will vary depending on the type of controller being used. Refer to the documentation for your controller.

Important: There must be a request message and a response message

for all Explicit Messages, whether you are reading or writing data.

Figure 6.1 Explicit Message Process

Complete Explicit

➎

➍

Message

Retrieve Explicit

Message Response

Set up and send Explicit

➊

Message Request

➋

➌

Event

1. You format the required data and set up the ladder logic program to

send an Explicit Message request to the scanner or bridge module (download).

2. The scanner or bridge module transmits the Explicit Message

Request to the slave device over the ControlNet network.

3. The slave device transmits the Explicit Message Response back to

the scanner or bridge. The data is stored in the scanner buffer.

4. The controller retrieves the Explicit Message Response from the

scanner’s buffer (upload).

5. The Explicit Message is complete. Note: When using a PLC-5

controller, delete the transaction ID so that it can be reused.

For information on the maximum number of Explicit Messages that can be executed at a time, refer to the user manual for the bridge or scanner and/or controller that is being used.

Using Explicit Messaging 6-3

ControlLogix Example

TIP: To display the Message Configuration screen in RSLogix 5000, add a message instruction (MSG), create a new tag for the message (Properties: Base tag type, MESSAGE data type, controller scope), and click the button in the message instruction.

Formatting a Message to Read a Parameter

A Get Attribute Single message is used to read a single parameter. This example read message is for parameter d003 - [Output Current] for a PowerFlex 4-Class drive.

Figure 6.2 Get Attribute Single Message Configuration Screens

Configuration Tab Example Value Description

Message Type

Service Type Service Code Class Instance

Attribute Destination

Communication Tab Example Value Description

(2)

Path

(1)

The default setting for Service Type is “Custom,” enabling entry of a Service Code not available from the Service Type pull-down menu. When selecting a Service Type other than “Custom” from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which grays out (unavailable).

(2)

Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder.

CIP Generic

(1)

Get Attribute Single

(1)

e (Hex.) f (Hex.) 3 (Dec.)

1 (Hex.) Output_Current

PowerFlex_40… The path is the route that the message will follow.

CIP messages are used to access the Parameter object

in the 22-COMM-C. This service is used to read a parameter value. The code for the requested service. The Class ID for the CIP Parameter object. The instance number is the same as the parameter

number in Single mode operation. The attribute number for the Parameter Value attribute. The tag where the data that is read is stored.

6-4 Using Explicit Messaging

For supported classes, instances, and attributes, refer to Appendix C,

ControlNet Objects

Formatting a Message to Write to a Parameter

A Set Attribute Single message is used to write to a single parameter. This example write message is for parameter P039 - [Accel Time 1] for a PowerFlex 4-Class drive.

Figure 6.3 Set Attribute Single Message Configuration Screens

Configuration Tab Example Value Description

Message Type

Service Type Service Code Class Instance

Attribute Source Element Source Length

Communication Tab Example Value Description

(2)

Path

(1)

(2)

Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder.

For supported classes, instances, and attributes, refer to Appendix C,

ControlNet Objects

CIP Generic

(1)

Set Attribute Single

(1)

10 (Hex.) f (Hex.) 39 (Dec.)

1 (Hex.) Accel_Time_1 2 bytes

PowerFlex_40… The path is the route that the message will follow.

CIP messages are used to access the Parameter object

in the 22-COMM-C. This service is used to write a parameter value. The code for the requested service. The Class ID for the CIP Parameter object. The instance number is the same as the parameter

number in Single mode operation. The attribute number for the Parameter Value attribute. The tag where the data that is written is stored. The size of a parameter value in a PowerFlex 4-Class

drive is always 2 bytes.

Using Explicit Messaging 6-5

Table 6.A Tags for the ControlLogix Example Explicit Messaging Program

Tag N ame s for Read Message Type

Perform_Parameter_Read BOOL Perform_Parameter_Write BOOL

Parameter_Read_Message MESSAGE Parameter_Write_Message MESSAGE

Output_Current INT Accel_Time_1 INT

Tag N ame s for Write Message Type

Ladder Logic Program

Figure 6.4 Example ControlLogix Ladder Logic Explicit Messaging Program

Explicit Messaging Examples

Reading a single parameter (Get Attribute Single command)

This message example reads from Parameter d003 - [Output Current] and stores its value in the "Output_Current" controller

This message example reads from Parameter d003 - [Output Current] and stores its value in the "Output_Current" controller tag.

tag.

Perform_Parameter_Read

Writing a single parameter (Set Attribute Single command)

This message example writes to Parameter P039 - [Accel Time 1] and stores its value in the "Accel_Time_1" controller tag.

Perform_Parameter_Write

Type - CIP Generic Message Control Parameter_Read_Message

Type - CIP Generic Message Control Parameter_Write_Message

MSG

EN DN

...

EN DN

...

(End)

For a ControlLogix controller I/O ladder example program, see

Figure 5.3

6-6 Using Explicit Messaging

PLC-5 Example

Important: Due to controller limitations, explicit messaging can only

be performed on drive parameters up to Parameter 256.

The ControlNet I/O Transfer (CIO) instruction is used for PLC-5 controllers to send explicit messages.

Formatting a Message to Read a Parameter

This read message example is for parameter d003 - [Output Current] for a PowerFlex 4-Class drive.

Configuration Box Example Value Description

Communication

Command Service Code Class Number Instance Number

Attribute Number PLC-5 Data Table

Address Size in Elements Por t Numb er Local ControlNet Node

CIP Generic

e (Hex.) f (Hex.) 3 (Hex.)

1 (Hex.) N7:2

1 2 2

For supported classes, instances, and attributes, refer to Appendix

ControlNet Objects

CIP messages are used to access the Parameter object in

the 22-COMM-C. The code for the Get_Attribute_Single service. The Class ID for the CIP Parameter object. The instance number is the same as the parameter number

in Single mode operation. The attribute number for the Parameter Value attribute. The user-defined address for any response service data

received by the controller. The number of elements in the response data. The channel on the PLC-5 used for the ControlNet network. The node address of the 22-COMM-C adapter.

Formatting a Message to Write to a Parameter

This write message example is for parameter P039 - [Accel Time 1] for a PowerFlex 4-Class drive.

Configuration Box Example Value Description

Communication

Command Service Code Class Number Instance Number

Attribute Number PLC-5 Data Table

Address Size in Elements Por t Numb er Local ControlNet Node

CIP Generic

10 (Hex.) f (Hex.) 27 (Hex.)

1 (Hex.) N7:3

1 2 2

CIP messages are used to access the Parameter object in

the 22-COMM-C. The code for the Set_Attribute_Single service. The Class ID for the CIP Parameter object. The instance number is the same as the parameter number

in Single mode operation. The attribute number for the Parameter Value attribute. The user-defined address for any request service data sent

by the controller. The number of elements in the request data. The channel on the PLC-5 used for the ControlNet network. The node address of the 22-COMM-C adapter.

Using Explicit Messaging 6-7

For supported classes, instances, and attributes, refer to Appendix

ControlNet Objects.

6-8 Using Explicit Messaging

Ladder Logic Program

Figure 6.5 Example PLC-5 Ladder Logic Explicit Messaging Program

Rung 0000 enables the user to initiate an explicit message to read from Parameter d003 [Output Current] in the drive.

Initiate Explicit Message Parameter Read

0000

Rung 0001 enables the user to initiate an explicit message to write to Parameter P039 [Accel Time 1] in the drive.

0001

0002

B3:0

Initiate Explicit Message Parameter Write

B3:0

For a PLC-5 controller I/O ladder example program, see Figure 5.4.

Explicit Message Parameter Read

CIO

CIO ControlNet I/O Transfer Control CT12:0

Setup Screen

Explicit Message Parameter Write

CIO

CIO ControlNet I/O Transfer Control CT12:1

Setup Screen

EN DN ER

END

Chapter 7

Using Multi-Drive Mode

Chapter 7 provides information on how to use Multi-Drive mode and includes ControlLogix and PLC-5 ladder examples.

Topic Page

Single Mode vs. Multi-Drive Mode

System Wiring 7-4

Understanding the I/O Image 7-5

Configuring the RS-485 Network 7-7

Example Configuration Settings 7-8

ControlLogix I/O Example 7-9

ControlLogix Explicit Messaging 7-22

PLC-5 I/O Example 7-24

Additional Information 7-36

7-1

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of

Single Mode vs. Multi-Drive Mode

Single mode is a typical network installation, where a single ControlNet node consists of a single drive with a 22-COMM-C adapter (Figure 7.1

7-2 Using Multi-Drive Mode

Figure 7.1 Single Mode Example for Network

ControlNet Network

PowerFlex 40 or 400 Drive

with 22-COMM-C Adapter

Multi-Drive mode is an alternative to the typical network installation, where a single ControlNet node can consist of one to five drives. In

Figure 7.2

PowerFlex 40/400 drive, and the remaining PowerFlex 4-Class drives are daisy-chained from the RS-485 port on the first drive. In Figure 7.3, the 22-COMM-C adapter is externally mounted in a DSI External Comms Kit, and all PowerFlex 4-Class drives are daisy-chained from it.

Figure 7.2 Multi-Drive Mode Example for Network - PowerFlex 40 Mounting

Terminating Resistor

, the 22-COMM-C adapter is internally mounted in a

ControlNet Network

PowerFlex 40

or 400 Drive

AK-U0-RJ45-TB2P

Connector with

1 drive per node

PowerFlex 40 or 400 Drive with 22-COMM-C Adapter

up to 5 drives per node

Up to 4 Additional PowerFlex 4-Class Drives

22-COMM-C

Adapter

AK-U0-RJ45-TB2PRS-485

PowerFlex 40 or 400 Drive with 22-COMM-C Adapter

AK-U0-RJ45-TB2P

Connector with

Terminating Resistor

Figure 7.3 Multi-Drive Mode Example for Network - External Comms Kit Mounting

ControlNet Network

DSI External Comms Kit (22-XCOMM-DC-BASE)

NOTE: A terminating resistor is not required for this end of of the wiring. The resistor is built into the circuitry of the DSI External Comms Kit.

up to 5 drives per node

PORT

MOD

NET A

NET B

22-COMM-C

Adapter

Up to 5 PowerFlex 4-Class Drives

AK-U0-RJ45-TB2PRS-485

AK-U0-RJ45-TB2P

Connector with

Terminating Resistor

Using Multi-Drive Mode 7-3

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one adapter is needed for up to five drives. Any PowerFlex 4-Class drive can be daisy-chained.

• Reduces the network node count. For example, in Single mode 30 drives would consume 30 nodes. In Multi-Drive mode, 30 drives can be connected in 6 nodes.

• Provides a convenient way to put more than one PowerFlex 4 drive on the network using only one adapter (PowerFlex 4 drives do not have an internal communications adapter slot).

• Controller can control, monitor, and read/write parameters for all five drives.

Trade-offs of Multi-Drive mode include:

• When a PowerFlex 40/400 drive with an internal-mounted adapter is powered down, communications with the daisy-chained drives is disrupted and the drives will take the appropriate communications loss action set in each drive. However, communications will not be disrupted when the adapter is used in a DSI External Comms Kit and a daisy-chained drive is powered down.

• Communications throughput to the daisy-chained drives will be slower than if each drive was a separate node on the network (Single mode). This is because the adapter must take the network data for the other drives and sequentially send the respective data to each drive over RS-485. The approximate additional throughput time for Logic Command/Reference to be transmitted and received by each drive in Multi-Drive mode is:

Adapter Mounted In

PowerFlex 40/400 or DSI External Comms Kit

• Since the RS-485 ports are used for daisy-chaining the drives, there is no connection for a peripheral device such as a HIM. The AK-U0-RJ45-SC1 DSI Splitter cable cannot be used to add a second connection for a peripheral device.

Drives per Node

1 drive 0 milliseconds

2 drives +24 milliseconds

3 drives +48 milliseconds

4 drives +72 milliseconds

5 drives +96 milliseconds

Additional Throughput Time versus Single Mode

7-4 Using Multi-Drive Mode

System Wiring

The AK-U0-RJ45-TB2P two-position terminal block connector (Figure 7.4) can be used to conveniently daisy-chain the PowerFlex 4-Class drives. Two terminating resistors are also included with terminal block connectors in the AK-U0-RJ45-TB2P kit.

Figure 7.4 AK-U0-RJ45-TB2P Terminal Block Connector

Figure 7.5 and Figure 7.6 show wiring diagrams for using the

AK-U0-RJ45-TB2P terminal block connectors.

Figure 7.5 Connector Wiring Diagram - Adapter Mounted in PowerFlex 40/400

To PowerFlex 40 or PowerFlex 400 Drive

(with 22-COMM-C adapter)

Ω

120 ¼ Watt

Resistor

Figure 7.6 Connector Wiring Diagram - Adapter Mounted in DSI External Comms Kit

To DSI External Comms Kit (with 22-COMM-C adapter)

NOTE: A terminating resistor is not required for this end of of the wiring. The resistor is built into the circuitry of the DSI External Comms Kit.

Drive 1

Drive 0

Drive 1

Drive 2

Drive 3

Drive 4

120

¼ Watt

Resistor

Drive 4

Ω

120

¼ Watt

Resistor

Using Multi-Drive Mode 7-5

Understanding the I/O Image

The terms input and output are defined from the scanner’s point of view. Therefore, output I/O is data that is output from the scanner and consumed by the adapter. Input I/O is status data that is produced by the adapter and consumed as input by the scanner. The I/O image table will vary based on the configuration of the adapter:

• Operating Mode Jumper J7 (Figure 2.1

• Parameter 12 - [DSI I/O Cfg]

The image table always uses consecutive words starting at word 0.

Figure 7.7

image with 16-bit words for ControlLogix and PLC-5 controllers respectively.

Figure 7.7 Multi-Drive Example of I/O Image for ControlLogix

Controller

and Figure 7.8 illustrate examples of the Multi-Drive I/O

ControlNet

Scanner

Bridge

Output

Image

(Write)

Input

Image

(Read)

Word and I/O

0 Logic Command 1 Reference

2 Logic Command 3 Reference

4 Logic Command 5 Reference

6 Logic Command 7 Reference

8 Logic Command 9 Reference

0 Pad Word 1 Pad Word 2 Logic Status 3 Feedback

4 Logic Status 5 Feedback

6 Logic Status 7 Feedback

8 Logic Status 9 Feedback

10 Logic Status 11 Feedback

)

DSI

Adapter

PowerFlex Drive 0

Power Flex Dr ive 1

PowerFlex Drive 2

PowerFlex Drive 3

PowerFlex Drive 4

PowerFlex Drive 0

PowerFlex Drive 1

PowerFlex Drive 2

Power Flex Dr ive 3

PowerFlex Drive 4

Message

Handler

Message

Buffer

7-6 Using Multi-Drive Mode

Figure 7.8 Multi-Drive Example of I/O Image for PLC-5

Controller

Scanner

Bridge

Output

Image

(Write)

Input

Image

(Read)

Message

Handler

ControlNet

Adapter

Word and I/O

0 Logic Command 1 Reference

2 Logic Command 3 Reference

4 Logic Command 5 Reference

6 Logic Command 7 Reference

8 Logic Command 9 Reference

0 Logic Status 1 Feedback

2 Logic Status 3 Feedback

4 Logic Status 5 Feedback

6 Logic Status 7 Feedback

8 Logic Status 9 Feedback

Message

Buffer

DSI

PowerFlex Drive 0

Power Flex Dr ive 1

PowerFlex Drive 2

PowerFlex Drive 3

PowerFlex Drive 4

PowerFlex Drive 0

PowerFlex Drive 1

PowerFlex Drive 2

Power Flex Dr ive 3

PowerFlex Drive 4

Note: If a daisy-chained drive is disconnected from the RS-485 (DSI) network or powered down, the Logic Status and Feedback words for the affected drive will be set to 0.

Using Multi-Drive Mode 7-7

Configuring the RS-485 Network

The following parameters in each daisy-chained drive must be set to these values:

Parameter Value

P36 - [Start Source] 5 (Comm Port)

P38 - [Speed Reference] 5 (Comm Port)

A103 - [Comm Data Rate] 4 (19.2K)

A104 - [Comm Node Addr] 1-247 (must be unique)

A107 - [Comm Format] 0 (RTU 8-N-1)

Note that the RS-485 network is fixed at 19.2K baud, 8 data bits, no parity, and 1 stop bit.

Important: Parameter A105 - [Comm Loss Action] in the drives that

are daisy chained is still used in Multi-Drive mode. If the RS-485 cable is disconnected or broken, the disconnected drive(s) will immediately take the corresponding Comm Loss Action(s). Drive parameter A106 - [Comm Loss Time] is not used in Multi-Drive mode. For a network disruption, adapter Parameters 08 - [Comm Flt Action] and 09 - [Idle Flt Action] determine the action taken for ALL of the drives on the Multi-Drive node.

The following Multi-Drive parameters must be set in the 22-COMM-C:

Parameter Value

12 - [DSI I/O Cfg] 0 = Drive 0 connected

14 - [Drv 0 Addr] Equal to Drive 0 parameter A104 - [Comm Node Address]

15 - [Drv 1 Addr] Equal to Drive 1 parameter A104 - [Comm Node Address]

16 - [Drv 2 Addr] Equal to Drive 2 parameter A104 - [Comm Node Address]

17 - [Drv 3 Addr] Equal to Drive 3 parameter A104 - [Comm Node Address]

18 - [Drv 4 Addr] Equal to Drive 4 parameter A104 - [Comm Node Address]

After setting the 22-COMM-C parameters, set the Operating Mode Jumper (J7) from “1x” (Single mode) to “5x” (Multi-Drive) operation, and reset the adapter or cycle power to invoke the change. Refer to

Setting Operating Mode and Node Address Switches

Important: The 22-COMM-C parameters can be set using a DSI

peripheral (HIM, DriveExplorer with 22-SCM-232, etc.) ONLY when the Operating Mode Jumper is in the “1x” (Single mode) position.

1 = Drives 0-1 connected 2 = Drives 0-2 connected 3 = Drives 0-3 connected 4 = Drives 0-4 connected

on page 2-1.

7-8 Using Multi-Drive Mode

Example Configuration Settings

Adapter Settings

• The adapter Operating Mode Jumper (J7 in Figure 2.1) is set to the “5x” (Multi-Drive) position.

• The 22-COMM-C adapter parameters are set as follows:

Parameter Value Description

12 - [DSI I/O Cfg] 4 “Drives 0-4” (5 drives on 1 node)

14 - [Drv 0 Addr]

15 - [Drv 1 Addr]

16 - [Drv 2 Addr]

17 - [Drv 3 Addr]

18 - [Drv 4 Addr]

(1)

The settings for these parameters must match the parameter A104 - [Comm Node Addr] settings in the respective drives.

(1)

Drive Settings

Parameters for the five drives are set as follows:

1 Address of Drive 0

2 Address of Drive 1

3 Address of Drive 2

4 Address of Drive 3

5 Address of Drive 4

Parameter

P36 - [Start Source] 5 5 5 5 5

P38 - [Speed Reference] 5 5 5 5 5

A103 - [Comm Data Rate]

A104 - [Comm Node Addr]

A105 - [Comm Loss Action] 0 0 0 0 0

A106 - [Comm Loss Time] 5 5 5 5 5

A107 - [Comm Format]

(1)

The drive must be reset for a change to this parameter to take effect.

(2)

The settings for these parameters must match the respective parameter settings in the adapter (Parameter 14 - [Drv 0 Addr] through Parameter 18 - [Drv 4 Addr]).

Drive 0 Drive 1 Drive 2 Drive 3 Drive 4

(1)

44444

(1)(2)

12345

(1)

00000

Val ue

Using Multi-Drive Mode 7-9

ControlLogix I/O Example

This example ladder logic program demonstrates using Multi-Drive mode with five drives. See Figure 7.2 or Figure 7.3 for a system layout diagram.

Function of the Example Program

This example program enables you to:

• View status information from the drives such as Ready, Faulted, At Speed, and Feedback.

• Control the drives using various Logic Command bits (Stop, Start, etc.) and Reference.

• Perform a single parameter read of drive parameter d003 - [Output Current] and a single parameter write to drive parameter P039 [Accel Time 1].

Main Routine

The Main Routine reads the network Input Image from the scanner, initiates Drive 0 through Drive 4 control subroutines, and writes the network Output Image to the scanner. See Figure 7.9. The Generic Controller Module is configured for an Input Size of 12 words and an Output Size of 10 words. For additional information about I/O connection sizes, see Table 4.A

The following controller tags are used:

Tag Name Type Description

Drive_Input_Image INT [10] Input Image Table

Drive_Output_Image INT [10] Output Image Table

7-10 Using Multi-Drive Mode

Figure 7.9 ControlLogix Main Routine

PowerFlex 40 ControlNet Multi-Drive Mode Example

ControlLogix Multi-Drive Mode example program with a PowerFlex 40 on ControlNet (22-COMM-C adapter). In this example,

ControlLogix Multi-Drive Mode example program with a PowerFlex 40 on ControlNet (22-COMM-C adapter). In this example, Four (4) PowerFlex 4 drives are daisy-chained to the main PowerFlex 40 (with installed 22-COMM-C adapter) via their RJ-45

Four (4) PowerFlex 4 drives are daisy-chained to the main PowerFlex 40 (with installed 22-COMM-C adapter) via their RJ-45 ports (RS-485). In this mode, a total of up to five (5) PowerFlex 4/40/400's can exist as one (1) ControlNet node on the

ports (RS-485). In this mode, a total of up to five (5) PowerFlex 4/40/400's can exist as one (1) ControlNet node on the network.

network.

This rung retrieves the Logic Status and Speed Feedback data for all five (5) drives from the scanner (array of INTs), and

This rung retrieves the Logic Status and Speed Feedback data for all five (5) drives from the scanner (array of INTs), and moves them to specific INT tags for use elsewhere in the ladder program. The input image is as follows:

moves them to specific INT tags for use elsewhere in the ladder program. The input image is as follows:

Drive_Input_Image[0] and Drive_Input_Image[1] = Drive 0 Logic Status and Speed Feedback

Drive_Input_Image[0] and Drive_Input_Image[1] = Drive 0 Logic Status and Speed Feedback Drive_Input_Image[2] and Drive_Input_Image[3] = Drive 1 Logic Status and Speed Feedback

Drive_Input_Image[2] and Drive_Input_Image[3] = Drive 1 Logic Status and Speed Feedback Drive_Input_Image[4] and Drive_Input_Image[5] = Drive 2 Logic Status and Speed Feedback

Drive_Input_Image[4] and Drive_Input_Image[5] = Drive 2 Logic Status and Speed Feedback Drive_Input_Image[6] and Drive_Input_Image[7] = Drive 3 Logic Status and Speed Feedback

Drive_Input_Image[6] and Drive_Input_Image[7] = Drive 3 Logic Status and Speed Feedback Drive_Input_Image[8] and Drive_Input_Image[9] = Drive 4 Logic Status and Speed Feedback

Drive_Input_Image[8] and Drive_Input_Image[9] = Drive 4 Logic Status and Speed Feedback

Drive 0 control subroutine.

Drive 1 control subroutine.

Drive 2 control subroutine.

Copy File Source Dest Drive_Input_Image[0] Length 10

COP

5_PowerFlex_4_Class_Drives:I.Data[2]

JSR Jump To Subroutine Routine Name Drive_0

JSR Jump To Subroutine Routine Name Drive_1

JSR Jump To Subroutine Routine Name Drive_2

Drive 3 control subroutine.

Drive 4 control subroutine.

This rung writes the output image to the scanner. The output image is as follows:

Drive_Output_Image[0] and Drive_Output_Image[1] = Drive 0 Logic Command and Speed Reference

Drive_Output_Image[0] and Drive_Output_Image[1] = Drive 0 Logic Command and Speed Reference Drive_Output_Image[2] and Drive_Output_Image[3] = Drive 1 Logic Command and Speed Reference

Drive_Output_Image[2] and Drive_Output_Image[3] = Drive 1 Logic Command and Speed Reference Drive_Output_Image[4] and Drive_Output_Image[5] = Drive 2 Logic Command and Speed Reference

Drive_Output_Image[4] and Drive_Output_Image[5] = Drive 2 Logic Command and Speed Reference Drive_Output_Image[6] and Drive_Output_Image[7] = Drive 3 Logic Command and Speed Reference

Drive_Output_Image[6] and Drive_Output_Image[7] = Drive 3 Logic Command and Speed Reference Drive_Output_Image[8] and Drive_Output_Image[9] = Drive 4 Logic Command and Speed Reference

Drive_Output_Image[8] and Drive_Output_Image[9] = Drive 4 Logic Command and Speed Reference

(Note the length of the COP instruction is "10" because the Destination address is an INT)

(End)

Copy File Source Drive_Output_Image[0]

5_PowerFlex_4_Class_Drives:O.Data[0]

Dest Length 10

JSR Jump To Subroutine Routine Name Drive_3

JSR Jump To Subroutine Routine Name Drive_4

COP

Using Multi-Drive Mode 7-11

Drive 0 - Drive 4 Control Subroutines

The following Drive Control subroutines provide status information (Logic Status and Feedback), control (Logic Command and Reference), and parameter read/write for each of the respective drives:

Control Subroutine Refer to…

Drive 0 Figure 7.10

Drive 1 Figure 7.11

Drive 2 Figure 7.12

Drive 3 Figure 7.13

Drive 4 Figure 7.14

The following program tags are used for the Drive 0 Control Subroutine:

Tag Name Type Description

Drive_0_Status_Ready BOOL Drive 0 ready bit

Drive_0_Status_Active BOOL Drive 0 active bit

Drive_0_Status_Forward BOOL Drive 0 forward bit

Drive_0_Status_Reverse BOOL Drive 0 reverse bit

Drive_0_Status_Faulted BOOL Drive 0 faulted bit

Drive_0_Status_At_Speed BOOL Drive 0 at speed bit

Drive_0_Speed_Feedback INT Drive 0 speed feedback word

Drive_0_Command_Stop BOOL Drive 0 stop bit

Drive_0_Command_Start BOOL Drive 0 start bit

Drive_0_Command_Jog BOOL Drive 0 jog bit

Drive_0_Command_Clear_Faults BOOL Drive 0 clear faults bit

Drive_0_Command_Forward_Reverse BOOL Drive 0 forward/reverse bit

Drive_0_Speed_Reference INT Drive 0 speed reference word

Drive_0_Parameter_Read_Message MESSAGE Get_Attribute_Single (Read)

Drive_0_Parameter_Write_Message MESSAGE Set_Atrribute_Single (Write)

Drive 1 through Drive 4 program tags are identical except for the naming convention. For example, “Drive_0_Status_Ready” for Drive 0 would be “Drive_1_Status_Ready” for Drive 1.

7-12 Using Multi-Drive Mode

Figure 7.10 ControlLogix Drive 0 Control Subroutine

Drive 0 Control Subroutine

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback)

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback) for use elsewhere in the ladder program.

for use elsewhere in the ladder program.

Drive_Input_Image[0].0

Drive_0_Status_Ready

Drive_Input_Image[0].1

3 /

6 Copy File

12 /

Drive_Input_Image[0].3

Drive_Input_Image[0].7

Drive_Input_Image[0].8

Source Drive_Input_Image[1]

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output image area for transmission to the scanner.

image area for transmission to the scanner.

Drive_0_Command_Stop

Drive_0_Command_Start

Drive_0_Command_Jog

Drive_0_Command_Clear_Faults

Drive_0_Command_Forward_Reverse

Dest Drive_0_Speed_Feedback Length 1

Drive_0_Command_Forward_Reverse

Drive_0_Status_Active

Drive_0_Status_Forward

Drive_0_Status_Reverse

Drive_0_Status_Faulted

Drive_0_Status_At_Speed

COP

Drive_Output_Image[0].0

Drive_Output_Image[0].1

Drive_Output_Image[0].2

Drive_Output_Image[0].3

Drive_Output_Image[0].4

Drive_Output_Image[0].5

Using Multi-Drive Mode 7-13

Figure 7.10 ControlLogix Drive 0 Control Subroutine (Continued)

13 Copy File

Explicit Messaging Example

Drive 0 parameters are accessed by adding 17408 decimal (4400 hex) to the desired parameter number. This example

Drive 0 parameters are accessed by adding 17408 decimal (4400 hex) to the desired parameter number. This example reads data from Parameter d003 - [Output Current] by using an Instance of 17411 (17408 + 3).

reads data from Parameter d003 - [Output Current] by using an Instance of 17411 (17408 + 3).

Drive_0_Perform_Parameter_Read

Drive 0 parameters are accessed by adding 17408 decimal (4400 hex) to the desired parameter number. This example

Drive 0 parameters are accessed by adding 17408 decimal (4400 hex) to the desired parameter number. This example writes data to Parameter P039 - [Accel Time 1] by using an Instance of 17447 (17408 + 39).

writes data to Parameter P039 - [Accel Time 1] by using an Instance of 17447 (17408 + 39).

Drive_0_Perform_Parameter_Write

Type - CIP Generic Message Control Drive_0_Parameter_Read_Message

Type - CIP Generic Message Control Drive_0_Parameter_Write_Message

Source Drive_0_Speed_Reference Dest Drive_Output_Image[1] Length 1

MSG

COP

(End)

Return

RET

EN DN

...

EN DN

...

7-14 Using Multi-Drive Mode

Figure 7.11 ControlLogix Drive 1 Control Subroutine

Drive 1 Control Subroutine

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback)

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback) for use elsewhere in the ladder program.

for use elsewhere in the ladder program.

Drive_Input_Image[2].0

Drive_1_Status_Ready

Drive_Input_Image[2].1

3 /

6 Copy File

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output image area for transmission to the scanner.

image area for transmission to the scanner.

12 /

Drive_Input_Image[2].3

Drive_Input_Image[2].7

Drive_Input_Image[2].8

Drive_1_Command_Stop

Drive_1_Command_Start

Drive_1_Command_Jog

Drive_1_Command_Clear_Faults

Drive_1_Command_Forward_Reverse

Source Drive_Input_Image[3] Dest Drive_1_Speed_Feedback Length 1

Drive_1_Status_Active

Drive_1_Status_Forward

Drive_1_Status_Reverse

Drive_1_Status_Faulted

Drive_1_Status_At_Speed

COP

Drive_Output_Image[2].0

Drive_Output_Image[2].1

Drive_Output_Image[2].2

Drive_Output_Image[2].3

Drive_Output_Image[2].4

Drive_Output_Image[2].5

Using Multi-Drive Mode 7-15

Figure 7.11 ControlLogix Drive 1 Control Subroutine (Continued)

13 Copy File

Explicit Messaging Example

Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the desired parameter number. This example

Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the desired parameter number. This example reads data from Parameter d003 - [Output Current] by using an Instance of 18435 (18432 + 3).

reads data from Parameter d003 - [Output Current] by using an Instance of 18435 (18432 + 3).

Drive_1_Perform_Parameter_Read

Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the desired parameter number. This example

Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the desired parameter number. This example writes data to Parameter P039 - [Accel Time 1] by using an Instance of 18471 (18432 + 39).

writes data to Parameter P039 - [Accel Time 1] by using an Instance of 18471 (18432 + 39).

Drive_1_Perform_Parameter_Write

Type - CIP Generic Message Control Drive_1_Parameter_Read_Message

Type - CIP Generic Message Control Drive_1_Parameter_Write_Message

Source Drive_1_Speed_Reference Dest Drive_Output_Image[3] Length 1

MSG

COP

(End)

Return

RET

EN DN

...

EN DN

...

7-16 Using Multi-Drive Mode

Figure 7.12 ControlLogix Drive 2 Control Subroutine

Drive 2 Control Subroutine

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback)

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback) for use elsewhere in the ladder program.

for use elsewhere in the ladder program.

Drive_Input_Image[4].0

Drive_2_Status_Ready

Drive_Input_Image[4].1

3 /

6 Copy File

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output image area for transmission to the scanner.

image area for transmission to the scanner.

12 /

Drive_Input_Image[4].3

Drive_Input_Image[4].7

Drive_Input_Image[4].8

Drive_2_Command_Stop

Drive_2_Command_Start

Drive_2_Command_Jog

Drive_2_Command_Clear_Faults

Drive_2_Command_Forward_Reverse

Source Drive_Input_Image[5] Dest Drive_2_Speed_Feedback Length 1

Drive_2_Status_Active

Drive_2_Status_Forward

Drive_2_Status_Reverse

Drive_2_Status_Faulted

Drive_2_Status_At_Speed

COP

Drive_Output_Image[4].0

Drive_Output_Image[4].1

Drive_Output_Image[4].2

Drive_Output_Image[4].3

Drive_Output_Image[4].4

Drive_Output_Image[4].5

Using Multi-Drive Mode 7-17

Figure 7.12 ControlLogix Drive 2 Control Subroutine (Continued)

13 Copy File

Explicit Messaging Example

Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the desired parameter number. This example

Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the desired parameter number. This example reads data from Parameter d003 - [Output Current] by using an Instance of 19459 (19456 + 3).

reads data from Parameter d003 - [Output Current] by using an Instance of 19459 (19456 + 3).

Drive_2_Perform_Parameter_Read

Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the desired parameter number. This example

Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the desired parameter number. This example writes data to Parameter P039 - [Accel Time 1] by using an Instance of 19495 (19456 + 39).

writes data to Parameter P039 - [Accel Time 1] by using an Instance of 19495 (19456 + 39).

Drive_2_Perform_Parameter_Write

Type - CIP Generic Message Control Drive_2_Parameter_Read_Message

Type - CIP Generic Message Control Drive_2_Parameter_Write_Message

Source Drive_2_Speed_Reference Dest Drive_Output_Image[5] Length 1

MSG

COP

(End)

Return

RET

EN DN

...

EN DN

...

7-18 Using Multi-Drive Mode

Figure 7.13 ControlLogix Drive 3 Control Subroutine

Drive 3 Control Subroutine

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback)

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback) for use elsewhere in the ladder program.

for use elsewhere in the ladder program.

Drive_Input_Image[6].0

Drive_3_Status_Ready

Drive_Input_Image[6].1

3 /

6 Copy File

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output image area for transmission to the scanner.

image area for transmission to the scanner.

12 /

Drive_Input_Image[6].3

Drive_Input_Image[6].7

Drive_Input_Image[6].8

Drive_3_Command_Stop

Drive_3_Command_Start

Drive_3_Command_Jog

Drive_3_Command_Clear_Faults

Drive_3_Command_Forward_Reverse

Source Drive_Input_Image[7] Dest Drive_3_Speed_Feedback Length 1

Drive_3_Status_Active

Drive_3_Status_Forward

Drive_3_Status_Reverse

Drive_3_Status_Faulted

Drive_3_Status_At_Speed

COP

Drive_Output_Image[6].0

Drive_Output_Image[6].1

Drive_Output_Image[6].2

Drive_Output_Image[6].3

Drive_Output_Image[6].4

Drive_Output_Image[6].5

Using Multi-Drive Mode 7-19

Figure 7.13 ControlLogix Drive 3 Control Subroutine (Continued)

13 Copy File

Explicit Messaging Example

Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the desired parameter number. This example

Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the desired parameter number. This example reads data from Parameter d003 - [Output Current] by using an Instance of 20483 (20480 + 3).

reads data from Parameter d003 - [Output Current] by using an Instance of 20483 (20480 + 3).

Drive_3_Perform_Parameter_Read

Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the desired parameter number. This example

Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the desired parameter number. This example writes data to Parameter P039 - [Accel Time 1] by using an Instance of 20519 (20480 + 39).

writes data to Parameter P039 - [Accel Time 1] by using an Instance of 20519 (20480 + 39).

Drive_3_Perform_Parameter_Write

Type - CIP Generic Message Control Drive_3_Parameter_Read_Message

Type - CIP Generic Message Control Drive_3_Parameter_Write_Message

Source Drive_3_Speed_Reference Dest Drive_Output_Image[7] Length 1

MSG

COP

(End)

Return

RET

EN DN

...

EN DN

...

7-20 Using Multi-Drive Mode

Figure 7.14 ControlLogix Drive 4 Control Subroutine

Drive 4 Control Subroutine

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback)

This section takes the data from the input image area and moves it to specific tags (Logic Status bits and Speed Feedback) for use elsewhere in the ladder program.

for use elsewhere in the ladder program.

Drive_Input_Image[8].0

Drive_4_Status_Ready

Drive_Input_Image[8].1

3 /

6 Copy File

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output

This section takes the data from specific tags (Logic Command bits and Speed Reference) and moves them to the output image area for transmission to the scanner.

image area for transmission to the scanner.

12 /

Drive_Input_Image[8].3

Drive_Input_Image[8].7

Drive_Input_Image[8].8

Drive_4_Command_Stop

Drive_4_Command_Start

Drive_4_Command_Jog

Drive_4_Command_Clear_Faults

Drive_4_Command_Forward_Reverse

Source Drive_Input_Image[9] Dest Drive_4_Speed_Feedback Length 1

Drive_4_Status_Active

Drive_4_Status_Forward

Drive_4_Status_Reverse

Drive_4_Status_Faulted

Drive_4_Status_At_Speed

COP

Drive_Output_Image[8].0

Drive_Output_Image[8].1

Drive_Output_Image[8].2

Drive_Output_Image[8].3

Drive_Output_Image[8].4

Drive_Output_Image[8].5

Using Multi-Drive Mode 7-21

Figure 7.14 ControlLogix Drive 4 Control Subroutine (Continued)

13 Copy File

Explicit Messaging Example

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number. This example

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number. This example reads data from Parameter d003 - [Output Current] by using an Instance of 21507 (21504 + 3).

reads data from Parameter d003 - [Output Current] by using an Instance of 21507 (21504 + 3).

Drive_4_Perform_Parameter_Read

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number. This example

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number. This example writes data to Parameter P039 - [Accel Time 1] by using an Instance of 21543 (21504 + 39).

writes data to Parameter P039 - [Accel Time 1] by using an Instance of 21543 (21504 + 39).

Drive_4_Perform_Parameter_Write

Type - CIP Generic Message Control Drive_4_Parameter_Read_Message

Type - CIP Generic Message Control Drive_4_Parameter_Write_Message

Source Drive_4_Speed_Reference Dest Drive_Output_Image[9] Length 1

MSG

COP

(End)

Return

RET

EN DN

...

EN DN

...

7-22 Using Multi-Drive Mode

ControlLogix Explicit Messaging

Parameter addressing for Explicit messaging is different in Multi-Drive than with Single mode. In Single mode, the Instance value in the message equals the desired parameter number in the drive. In Multi-Drive mode, an Instance table is used to account for the parameters in the adapter and up to 5 drives. The parameters in the adapter and each of the drives are offset by 400 hex (1024 decimal):

Instance (Hex.) (Dec.) Device Parameter

4000 - 43FF 16384 - 17407 22-COMM-C 0 - 1023

4400 - 47FF 17408 - 18431 Drive 0 0 - 1023

4800 - 4BFF 18432 - 19455 Drive 1 0 - 1023

4C00 - 4FFF 19456 - 20479 Drive 2 0 - 1023

5000 - 53FF 20480 - 21503 Drive 3 0 - 1023

5400 - 57FF 21504 - 22527 Drive 4 0 - 1023

Explicit messages for Drive 0 through Drive 4 are identical except for the Instance values. The following PowerFlex 4-Class drive parameters used for the explicit message example in this section show the different Instance values required for each drive:

Parameter d003 - [Output Current]

Drive 0 Instance = 17411 (17408 + 3) Drive 1 Instance = 18435 (18432 + 3) Drive 2 Instance = 19459 (19456 + 3) Drive 3 Instance = 20483 (20480 + 3) Drive 4 Instance = 21507 (21504 + 3)

Parameter P039 - [Accel Time 1]

Drive 0 Instance = 17447 (17408 + 39) Drive 1 Instance = 18471 (18432 + 39) Drive 2 Instance = 19495 (19456 + 39) Drive 3 Instance = 20519 (20480 + 39) Drive 4 Instance = 21543 (21504 + 39)

Drive 0 Explicit Message Example

The Explicit message examples in the ControlLogix example program (Figure 7.10 [Output Current] and a write (Set_Attribute_Single) to parameter P039 [Accel Time 1] for PowerFlex 4-Class drives. The configuration for the read is shown in Figure 7.15

) perform a read (Get_Attribute_Single) of parameter d003 -

and the write is shown in Figure 7.16.

Using Multi-Drive Mode 7-23

Figure 7.15 ControlLogix Parameter Read Message Configuration

Figure 7.16 ControlLogix Parameter Write Message Configuration

The Class Code is “ f ” for the CIP Parameter Object and the Attribute is “1” to select the parameter value. See Appendix C, Parameter Object for more information. The Instance value is “17411” to access parameter d003 - [Output Current] and “17447” to access parameter P039 - [Accel Time 1].

7-24 Using Multi-Drive Mode

PLC-5 I/O Example

Important: Due to PLC-5 controller limitations, explicit messaging

cannot be performed in Multi-Drive mode.

This example ladder logic program demonstrates using Multi-Drive mode with five drives. See Figure 7.2 diagram.

Function of the Example Program

This example program enables you to:

• View status information from the drives such as Ready, Faulted, At Speed, and Feedback.

• Control the drives using various Logic Command bits (Stop, Start, etc.) and Reference.

Main Routine

The Main Routine reads the network Input Image from the scanner, initiates Drive 0 through Drive 4 control subroutines (U:3 through U:7 files), and writes the network Output Image to the scanner. See

Figure 7.17

or Figure 7.3 for a system layout

Figure 7.17 PLC-5 Main Routine

Using Multi-Drive Mode 7-25

Rung 0000 enables the controller to activate the Drive 0 control (DRIVE 0) subroutine (LAD 3)

0000

Rung 0001 enables the controller to activate the Drive 1 control (DRIVE 1) subroutine (LAD 4)

0001

Rung 0002 enables the controller to activate the Drive 2 control (DRIVE 2) subroutine (LAD 5)

0002

Rung 0003 enables the controller to activate the Drive 3 control (DRIVE 3) subroutine (LAD 6)

0003

Rung 0004 enables the controller to activate the Drive 4 control (DRIVE 4) subroutine (LAD 7)

0004

0005

JSR

JSR Jump To Subroutine Prog File Number U:3

JSR

JSR Jump To Subroutine Prog File Number U:4

JSR

JSR Jump To Subroutine Prog File Number U:5

JSR

JSR Jump To Subroutine Prog File Number U:6

JSR

JSR Jump To Subroutine Prog File Number U:7

END

7-26 Using Multi-Drive Mode

Drive 0 - Drive 4 Control Subroutines

The following Drive Control Subroutines provide status information (Logic Status and Feedback) and control (Logic Command and Reference) for each of the respective drives:

Control Subroutine Refer to…

Drive 0 Figure 7.18

Drive 1 Figure 7.19

Drive 2 Figure 7.20

Drive 3 Figure 7.21

Drive 4 Figure 7.22

Figure 7.18 PLC-5 Drive 0 Control Subroutine (U:3)

Drive 0 Control Subroutine

In this example, an operator station is wired into the local PLC-5/40C rack as follows:

O:000/0 Drive 0 Ready O:000/1 Drive 0 Active O:000/2 Drive 0 Forward O:000/3 Drive 0 Reverse O:000/4 Drive 0 Faulted O:000/5 Drive 0 At Speed O:001 Drive 0 Operator Speed Feedback

I:000/0 Drive 0 Stop (Normally I:000/1 Drive 0 Start (Normally Open Pushbutton) I:000/2 Drive 0 Jog (Normally Open Pushbutton) I:000/3 Drive 0 Clear Faults (Normally Open Pushbutton) I:000/4 Drive 0 Forward / Reverse Selector Switch I:001 Drive 0 Operator Speed Reference

In this example, a PowerFlex 40 drive with installed 22-COMM-C ControlNet adapter is mapped as follows:

N9:0 Drive 0 Logic Status N10:0 Drive 0 Logic Command N9:1 Drive 0 Speed Feedback N10:1 Drive 0 Speed Reference

Rungs 0000 through 0005 move the Logic Status from Drive 0 to the operator station.

Drive 0 Logic Status READY

0000

0001

0002

0003

0004

0005

N9:0

Drive 0 Logic Status ACTIVE

N9:0

Drive 0 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:0

Drive 0 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:0

Drive 0 Logic Status FAULTED

N9:0

Drive 0 Logic Status AT SPEED

N9:0

Open Pushbutton)

Drive 0 Operator Ready Status Display

O:000

Drive 0 Operator Active Status Display

O:000

Drive 0 Operator Actual Forward Status Display

O:000

Drive 0 Operator Actual Reverse Status Display

O:000

Drive 0 Operator Fault Status Display

O:000

Drive 0 Operator At Speed Status Display

O:000

Using Multi-Drive Mode 7-27

Figure 7.18 PLC-5 Drive 0 Control Subroutine (U:3) (Continued)

Rung 0006 moves the Speed Feedback from Drive 0 to the operator station.

0006

Rungs 0007 through 0012 move the Logic Command from the operator station to Drive 0.

Drive 0 Operator Stop Pushbutton

0007

0008

0009

0010

0011

0012

0013

I:000

Drive 0 Operator Start Pushbutton

I:000

Drive 0 Operator Jog Pushbutton

I:000

Drive 0 Operator Clear Faults Pushbutton

I:000

Drive 0 Operator Forward / Reverse Selector Switch

I:000

Drive 0 Operator Forward / Reverse Selector Switch

I:000

Rung 0013 moves the Speed Reference from the operator station to Drive 0.

0014

Drive 0 Speed Feedback

MOV

MOV Move Source N9:1 0< Dest O:001 0<

Drive 0 Logic Command STOP

Drive 0 Logic Command START

Drive 0 Logic Command JOG

Drive 0 Logic Command CLEAR FAULTS

Drive 0 Logic Command FORWARD

Drive 0 Logic Command REVERSE

Drive 0 Speed Reference

MOV

MOV Move Source I:001 0< Dest N10:1 0<

N10:0

END

7-28 Using Multi-Drive Mode

Figure 7.19 PLC-5 Drive 1 Control Subroutine (U:4)

Drive 1 Control Subroutine

In this example, an operator station is wired into the local PLC-5/40C rack as follows:

O:002/0 Drive 1 Ready O:002/1 Drive 1 Active O:002/2 Drive 1 Forward O:002/3 Drive 1 Reverse O:002/4 Drive 1 Faulted O:002/5 Drive 1 At Speed O:003 Drive 1 Operator Speed Feedback

I:002/0 Drive 1 Stop (Normally I:002/1 Drive 1 Start (Normally Open Pushbutton) I:002/2 Drive 1 Jog (Normally Open Pushbutton) I:002/3 Drive 1 Clear Faults (Normally Open Pushbutton) I:002/4 Drive 1 Forward / Reverse Selector Switch I:003 Drive 1 Operator Speed Reference

In this example, a PowerFlex 40 drive with installed 22-COMM-C ControlNet adapter is mapped as follows:

N9:2 Drive 1 Logic Status N10:2 Drive 1 Logic Command N9:3 Drive 1 Speed Feedback N10:3 Drive 1 Speed Reference

Rungs 0000 through 0005 move the Logic Status from Drive 1 to the operator station.

Drive 1 Logic Status READY

0000

0001

0002

0003

0004

0005

N9:2

Drive 1 Logic Status ACTIVE

N9:2

Drive 1 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:2

Drive 1 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:2

Drive 1 Logic Status FAULTED

N9:2

Drive 1 Logic Status AT SPEED

N9:2

Open Pushbutton)

Drive 1 Operator Ready Status Display

O:002

Drive 1 Operator Active Status Display

O:002

Drive 1 Operator Actual Forward Status Display

O:002

Drive 1 Operator Actual Reverse Status Display

O:002

Drive 1 Operator Fault Status Display

O:002

Drive 1 Operator At Speed Status Display

O:002

Using Multi-Drive Mode 7-29

Figure 7.19 PLC-5 Drive 1 Control Subroutine (U:4) (Continued)

Rung 0006 moves the Speed Feedback from Drive 1 to the operator station.

0006

Rungs 0007 through 0012 move the Logic Command from the operator station to Drive 1.

Drive 1 Operator Stop Pushbutton

0007

0008

0009

0010

0011

0012

0013

I:002

Drive 1 Operator Start Pushbutton

I:002

Drive 1 Operator Jog Pushbutton

I:002

Drive 1 Operator Clear Faults Pushbutton

I:002

Drive 1 Operator Forward / Reverse Selector Switch

I:002

Drive 1 Operator Forward / Reverse Selector Switch

I:002

Rung 0013 moves the Speed Reference from the operator station to Drive 1.

0014

Drive 1 Speed Feedback

MOV

MOV Move Source N9:3 0< Dest O:003 0<

Drive 1 Logic Command STOP

Drive 1 Logic Command START

Drive 1 Logic Command JOG

Drive 1 Logic Command CLEAR FAULTS

Drive 1 Logic Command FORWARD

Drive 1 Logic Command REVERSE

Drive 1 Speed Reference

MOV

MOV Move Source I:003 0< Dest N10:3 0<

N10:2

END

7-30 Using Multi-Drive Mode

Figure 7.20 PLC-5 Drive 2 Control Subroutine (U:5)

Drive 2 Control Subroutine

In this example, an operator station is wired into the local PLC-5/40C rack as follows:

O:004/0 Drive 2 Ready O:004/1 Drive 2 Active O:004/2 Drive 2 Forward O:004/3 Drive 2 Reverse O:004/4 Drive 2 Faulted O:004/5 Drive 2 At Speed O:005 Drive 2 Operator Speed Feedback

I:004/0 Drive 2 Stop (Normally I:004/1 Drive 2 Start (Normally Open Pushbutton) I:004/2 Drive 2 Jog (Normally Open Pushbutton) I:004/3 Drive 2 Clear Faults (Normally Open Pushbutton) I:004/4 Drive 2 Forward / Reverse Selector Switch I:005 Drive 2 Operator Speed Reference

In this example, a PowerFlex 40 drive with installed 22-COMM-C ControlNet adapter is mapped as follows:

N9:4 Drive 2 Logic Status N10:4 Drive 2 Logic Command N9:5 Drive 2 Speed Feedback N10:5 Drive 2 Speed Reference

Rungs 0000 through 0005 move the Logic Status from Drive 2 to the operator station.

Drive 2 Logic Status READY

0000

0001

0002

0003

0004

0005

N9:4

Drive 2 Logic Status ACTIVE

N9:4

Drive 2 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:4

Drive 2 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:4

Drive 2 Logic Status FAULTED

N9:4

Drive 2 Logic Status AT SPEED

N9:4

Open Pushbutton)

Drive 2 Operator Ready Status Display

O:004

Drive 2 Operator Active Status Display

O:004

Drive 2 Operator Actual Forward Status Display

O:004

Drive 2 Operator Actual Reverse Status Display

O:004

Drive 2 Operator Fault Status Display

O:004

Drive 2 Operator At Speed Status Display

O:004

Using Multi-Drive Mode 7-31

Figure 7.20 PLC-5 Drive 2 Control Subroutine (U:5) (Continued)

Rung 0006 moves the Speed Feedback from Drive 2 to the operator station.

0006

Rungs 0007 through 0012 move the Logic Command from the operator station to Drive 2.

Drive 2 Operator Stop Pushbutton

0007

0008

0009

0010

0011

0012

0013

I:004

Drive 2 Operator Start Pushbutton

I:004

Drive 2 Operator Jog Pushbutton

I:004

Drive 2 Operator Clear Faults Pushbutton

I:004

Drive 2 Operator Forward / Reverse Selector Switch

I:004

Drive 2 Operator Forward / Reverse Selector Switch

I:004

Rung 0013 moves the Speed Reference from the operator station to Drive 2.

0014

Drive 2 Speed Feedback

MOV

MOV Move Source N9:5 0< Dest O:005 0<

Drive 2 Logic Command STOP

Drive 2 Logic Command START

Drive 2 Logic Command JOG

Drive 2 Logic Command CLEAR FAULTS

Drive 2 Logic Command FORWARD

Drive 2 Logic Command REVERSE

Drive 2 Speed Reference

MOV

MOV Move Source I:005 0< Dest N10:5 0<

N10:4

END

7-32 Using Multi-Drive Mode

Figure 7.21 PLC-5 Drive 3 Control Subroutine (U:6)

Drive 3 Control Subroutine

In this example, an operator station is wired into the local PLC-5/40C rack as follows:

O:006/0 Drive 3 Ready O:006/1 Drive 3 Active O:006/2 Drive 3 Forward O:006/3 Drive 3 Reverse O:006/4 Drive 3 Faulted O:006/5 Drive 3 At Speed O:007 Drive 3 Operator Speed Feedback

I:006/0 Drive 3 Stop (Normally I:006/1 Drive 3 Start (Normally Open Pushbutton) I:006/2 Drive 3 Jog (Normally Open Pushbutton) I:006/3 Drive 3 Clear Faults (Normally Open Pushbutton) I:006/4 Drive 3 Forward / Reverse Selector Switch I:007 Drive 3 Operator Speed Reference

In this example, a PowerFlex 40 drive with installed 22-COMM-C ControlNet adapter is mapped as follows:

N9:6 Drive 3 Logic Status N10:6 Drive 3 Logic Command N9:7 Drive 3 Speed Feedback N10:7 Drive 3 Speed Reference

Rungs 0000 through 0005 move the Logic Status from Drive 3 to the operator station.

Drive 3 Logic Status READY

0000

0001

0002

0003

0004

0005

N9:6

Drive 3 Logic Status ACTIVE

N9:6

Drive 3 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:6

Drive 3 Logic Status ACTUAL FORWARD / REVERSE DIRECTION

N9:6

Drive 3 Logic Status FAULTED

N9:6

Drive 3 Logic Status AT SPEED

N9:6

Open Pushbutton)

Drive 3 Operator Ready Status Display

O:006

Drive 3 Operator Active Status Display

O:006

Drive 3 Operator Actual Forward Status Display

O:006

Drive 3 Operator Actual Reverse Status Display

O:006

Drive 3 Operator Fault Status Display

O:006

Drive 3 Operator At Speed Status Display

O:006

Rockwell Automation 22-COMM-D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Summary of Changes

Table of Contents

Preface

About This Manual

Related Documentation

Conventions Used in this Manual

Rockwell Automation Support

Local Product Support

Technical Product Assistance

Chapter 1

Getting Started

Components

Features

Compatible Products

Required Equipment

Equipment Shipped with the Adapter

User-Supplied Equipment

Safety Precautions

Quick Start

Modes of Operation

Chapter 2

Installing the Adapter

Preparing for an Installation

Setting Operating Mode and Node Address Switches

Connecting the Adapter to the Network

Connecting the Adapter to the Drive

PowerFlex 40 Frames B and C, and PowerFlex 400 Frame C

PowerFlex 400 Frames D, E, and F

Applying Power

Chapter 3

Configuring the Adapter

Configuration Tools

Using the PowerFlex 4-Class HIM

Using the HIM

Setting the Node Address

Setting the I/O Configuration

Setting a Fault Action

To change the fault action

To set the fault configuration parameters

Resetting the Adapter

Viewing the Adapter Configuration

Chapter 4

Configuring the I/O

ControlLogix Example

Example Network

Adding the Bridge to the I/O Configuration

Adding the Adapter and Drive to the I/O Configuration

Saving the I/O Configuration to the Controller

Saving the I/O Configuration to the Bridge

PLC-5 Example

Example Network

Adding the Drive and Adapter I/O to the Controller

Chapter 5

Using the I/O

About I/O Messaging

Understanding the I/O Image

Using Logic Command/Status

Using Reference/Feedback

Example Ladder Logic Program Information

Functions of the Example Programs

Adapter Settings for the Example Programs

Scanner Settings for the ControlLogix Example Program

Scanner Settings for the PLC-5 Example Program

Logic Command/Status Words

ControlLogix Example

PLC-5 Example

Chapter 6

Using Explicit Messaging

About Explicit Messaging

Performing Explicit Messages

Event

ControlLogix Example

Formatting a Message to Read a Parameter

Formatting a Message to Write to a Parameter

Ladder Logic Program

PLC-5 Example