Rockwell Automation 22-COMM-E User Manual

DeviceNet Adapter

22-COMM-D 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.ab.com/ manuals/gi) 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 we use notes to make you aware of safety considerations.

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

loss.

Attentions help you:

• identify a hazard

• avoid the hazard

• recognize the consequences

Important: Identifies information that is especially important for successful

application and understanding of the product.

Shock Hazard labels may be located on or inside the drive to alert people that dangerous voltage may be present.

Allen-Bradley, DriveExplorer, DriveTools 2000, PLC-5, PowerFlex, SCANport, and SLC are trademarks of Rockwell Automation, Inc.

RSLinx, RSLogix, and RSNetWorx are trademarks of Rockwell Software.

DeviceNet is a trademark of the Open DeviceNet Vendor Association.

Windows, Windows CE, Windows NT, and Microsoft are either registered trademarks or trademarks of Microsoft Corporation.

Summary of Changes

This is the first release of the DeviceNet adapter FRN 1.xxx.

S-ii Summary of Changes

Preface About This Manual

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

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

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

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

Commissioning the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

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

Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . . 2-5

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

Chapter 3 Configuring the Adapter

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

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

Using RSNetWorx for DeviceNet . . . . . . . . . . . . . . . . . . . . . 3-3

Setting the Node Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Setting the Data Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Setting the I/O Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Selecting COS, Cyclic, or Polled I/O. . . . . . . . . . . . . . . . . . . 3-8

Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

Resetting the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

Viewing the Adapter Configuration . . . . . . . . . . . . . . . . . . . 3-12

Chapter 4 Configuring the Scanner

Example Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Setting Up the Scan List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Mapping the Drive Data in the Scanner . . . . . . . . . . . . . . . . . 4-5

Saving the Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

ii Table of Contents

Chapter 5 Using I/O Messaging

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

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

Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . 5-2

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

Example Ladder Logic Programs . . . . . . . . . . . . . . . . . . . . . 5-3

ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

Chapter 6 Using Explicit Messaging

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

Formatting Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Running Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

PLC-5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11

SLC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

Chapter 7 Using Multi-Drive Mode

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

System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Understanding the I/O Image . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Configuring the RS-485 Network . . . . . . . . . . . . . . . . . . . . . 7-5

Multi-Drive Ladder Logic Program Example . . . . . . . . . . . . 7-6

ControlLogix Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Multi-Drive Mode Explicit Messaging . . . . . . . . . . . . . . . . 7-20

Additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22

Chapter 8 Troubleshooting

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

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

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

Net A Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

Module Diagnostic Items in Single Drive Mode . . . . . . . . . . 8-4

Module Diagnostic Items in Multi-Drive Mode . . . . . . . . . . 8-5

Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . 8-6

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 DeviceNet Objects

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

Connection Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4

Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8

Parameter Group Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11

PCCC Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13

Appendix D Logic Command/Status Words

PowerFlex 4 and PowerFlex 40 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 following format Parameter xx - [*]. The xx represents the parameter number. 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.

• RSNetWorx for DeviceNet (version 4.01), RSLinx (version 2.40), and RSLogix5000 (version 11) were used for the screen shots in this manual. Different versions of the software may differ in appearance and procedures.

• 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. This manual is for Firmware release 1.xxx.

• This manual provides information about the DeviceNet adapter and using it with PowerFlex 40 drives. The adapter can be used with other products that support an internal DSI adapter. Refer to the documentation for your product for specific information about how it works with the adapter.

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, and support service agreements.

Technical Product Assistance

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

, Troubleshooting first. If you

Chapter 1

Getting Started

The 22-COMM-D DeviceNet adapter is a communication option intended for installation into a PowerFlex 40 drive. It can also be used with other Allen-Bradley products that support an internal DSI adapter. The Multi-Drive feature (Chapter PowerFlex 4 drives and other DSI Hosts to connect to DeviceNet.

Topic Page Topi c Page

Components 1-1 Safety Precautions 1-4

Features 1-2 Quick Start 1-5

Compatible Products 1-3 Modes of Operation 1-6

Required Equipment 1-3

Components

Figure 1.1 Components of the Adapter

➊

7) also provides a means for

➋

➎

➍

➌

Item Part Description

Status

➊

Indicators

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

➋

DeviceNet

➌

Connector

Node Address/

➍

Rate Switches

Mode Jumper

➎

(J2)

Three LEDs that indicate the status of the connected drive, adapter, and network. Refer to Chapter 8, Troubleshooting.

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

A 5-pin connector to which a 5-pin linear plug can be connected.

Switches for setting the node address and network data rate. Refer to Chapter 2

Selects Single or Multi-Drive mode of operation. Refer to

Chapter 2

, Installing the Adapter.

1-2 Getting Started

Features

The DeviceNet adapter features the following:

• The adapter is mounted in the PowerFlex 40 drive. It receives the required power from the drive and from the DeviceNet network.

• Switches let you set a node address and network data rate before applying power to the PowerFlex drive. Alternately, you can disable the switches and use parameters to configure these functions.

• A jumper lets you select between Single or Multi-Drive mode of operation. In Single mode, 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-*), network software such as RSNetWorx for DeviceNet, or drive-configuration software such as DriveExplorer (version 3.01 or higher) or DriveTools 2000 (version 1.01 or higher).

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

• I/O, including Logic Command/Reference, may be configured for your application using a parameter.

• Explicit and UCMM (Unconnected Message Manager) Messages are supported.

• Multiple data exchange methods, including Polled, Cyclic, and Change of State (COS), can be used to transmit data between the network and adapter.

• User-defined fault actions determine how the adapter and PowerFlex drive respond to communication disruptions on the network and controllers in idle mode.

• Faulted node recovery is supported. You can configure a device even when it is faulted on the network if you have a configuration tool that uses faulted node recovery and have properly set the adapter node address switches and data rate switches.

Getting Started 1-3

Compatible Products

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

• PowerFlex 40 drives

The Multi-Drive feature (Chapter 7) also provides a means for PowerFlex 4 drives and other DSI Hosts to connect to DeviceNet.

Required Equipment

Equipment Shipped with the Adapter

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

❑ One DeviceNet adapter ❑ One five-pin linear DeviceNet plug

(connected to the DeviceNet connector on the adapter)

❑ A 15.24 cm (6 in.) Internal Interface Cable ❑ One grounding wrist strap ❑ This manual

User-Supplied Equipment

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

❑ A small flathead screwdriver ❑ DeviceNet cable

– Thin cable with an outside diameter of 6.9 mm (0.27 in.) is

recommended

❑ Configuration tool, such as:

– PowerFlex 4-Class HIM (22-HIM-*) – DriveExplorer (version 3.01 or higher) – DriveTools 2000 (version 1.01 or higher) – RSNetWorx for DeviceNet – Serial Converter (22-SCM-232)

❑ Computer with a DeviceNet communications adapter installed

(Examples: 1784-PCD, 1784-PCID, 1784-PCIDS, or 1770-KFD)

❑ Controller configuration software

(Examples: RSLogix5, RSLogix500, or RSLogix 5000)

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 all

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

ATTENTION: Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the associated

machinery should plan or implement the installation, start-up, configuration, and subsequent maintenance of the product using a DeviceNet adapter. Failure to comply may result in injury and/or equipment damage.

ATTENTION: Risk of injury or equipment damage exists. If the DeviceNet adapter is transmitting control I/O to the drive, the drive may

fault when you reset the adapter. Determine how your drive will respond before resetting an adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameters 7 - [Comm Flt Action] and 8 - [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 PowerFlex drive. You can set these parameters so that the PowerFlex drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a hazard of injury or equipment damage.

ATTENTION: Hazard 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: Hazard 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 designed to help experienced users start using the DeviceNet 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

3 Commission the adapter.

Set a unique node address and the appropriate data rate using the switches on the adapter. If desired, you can disable the switches and use parameter settings instead.

4 Install the adapter.

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

5 Apply power to the adapter.

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

Chapter

8, Troubleshooting.

6 Configure the adapter for your application.

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

• Node address and data rate.

• I/O configuration.

• Change of State, Cyclic, or polled I/O data exchange.

• Fault actions.

7 Apply power to the DeviceNet master and other devices on

the network.

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

8 Configure the scanner to communicate with the adapter.

Use a network tool such as RSNetWorx for DeviceNet to configure the scanner on the network. Make sure to:

• Set up the scan list.

• Map the adapter data to the scan list.

• Save your DeviceNet configuration to the scanner and a file.

9 Create a ladder logic program.

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

• Control the adapter and connected drive.

• Monitor or configure the drive using Explicit Messages.

Manual

Chapter 2, Installing the Adapter

Chapter 3, Configuring the Adapter

DeviceNet Cable System Planning and Installation Manual

Chapter 4, Configuring the Scanner

Chapter 5, Using I/O Messaging

Chapter 6, Using Explicit Messaging

1-6 Getting Started

Modes of Operation

The adapter uses three status indicators to report its operating status. They can be viewed through the drive cover. See Figure 1.2

Figure 1.2 Status Indicators (location on drive may vary)

➊

➋

➌

➊ ➋ ➌ ➍

Item Status

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 Green Normal Operation. The adapter is properly connected and

➌

NET B Off Not used for DeviceNet.

➍

(1)

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

Installing the Adapter

occur, refer to Chapter

(1)

Status

Flashing Green

Description

is communicating with the drive.

The adapter is in the process of establishing a connection to the drive. This status indicator will turn solid green or red.

transferring I/O data.

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

communicating on the network.

The adapter is properly connected but is not communicating with any devices on the network.

, for instructions on installing the adapter. If any other conditions

8, Troubleshooting.

Chapter 2

Installing the Adapter

Chapter 2 provides instructions for installing the adapter in a PowerFlex 40 drive.

Topic Page

Preparing for an Installation 2-1

Commissioning the Adapter 2-1

Connecting the Adapter to the Network 2-4

Connecting the Adapter to the Drive 2-5

Applying Power 2-7

Preparing for an Installation

Before installing the DeviceNet adapter:

• Read the DeviceNet Product Overview Manual, Publication DN-2.5, and the DeviceNet Cable System Planning and Installation Manual, Publication DN-6.7.2. These manuals will provide information on selecting cables, setting up a network, and network basics.

• Verify that you have all required equipment. Refer to Chapter 1,

Getting Started

Commissioning the Adapter

To commission the adapter, you must set a unique node address and the data rate that is used by the network. (Refer to the Glossary about data rates and node addresses.)

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

the adapter. If you change a setting, cycle power.

ATTENTION: Risk of equipment damage exists. The DeviceNet 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.

for details

2-2 Installing the Adapter

1. Set the adapter node address and data rate switches (see Figure 2.1,

Figure 2.2, and Figure 2.3).

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

Single Drive

eratio

NOD

P = OPEN =

Multi-Driv

Operatio

Switches Description Default

SW 1 Least Significant Bit (LSB) of Node Address 1

SW 2 Bit 1 of Node Address 1

SW 3 Bit 2 of Node Address 1

SW 4 Bit 3 of Node Address 1

Node 63

SW 5 Bit 4 of Node Address 1

SW 6 Most Significant Bit (MSB) of Node Address 1

SW 7 Least Significant Bit (LSB) of Data Rate 1

SW 8 Most Significant Bit (MSB) of Data Rate 1

Autobaud

Figure 2.2 Node Address Switch Settings (UP = OPEN = 1)

Switch Setting Node Switch Setting Node

SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address

0 0 0 0 0 0 0 1 0 1 1 0 0 13

1 0 0 0 0 0 1 0 1 1 1 0 0 14

0 1 0 0 0 0 2 1 1 1 1 0 0 15

1 1 0 0 0 0 3 0 0 0 0 1 0 16

0 0 1 0 0 0 4 1 0 0 0 1 0 17

1 0 1 0 0 0 5 0 1 0 0 1 0 18

0 1 1 0 0 0 6 1 1 0 0 1 0 19

1 1 1 0 0 0 7 0 0 1 0 1 0 20

0 0 0 1 0 0 8 1 0 1 0 1 0 21

1 0 0 1 0 0 9 0 1 1 0 1 0 22

0 1 0 1 0 0 10 1 1 1 0 1 0 23

1 1 0 1 0 0 11 0 0 0 1 1 0 24

0 0 1 1 0 0 12 1 0 0 1 1 0 25

Installing the Adapter 2-3

Figure 2.2 Node Address Switch Settings (UP = OPEN = 1) (Continued)

Switch Setting Node Switch Setting Node

SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 Address

0 1 0 1 1 0 26 1 0 1 1 0 1 45

1 1 0 1 1 0 27 0 1 1 1 0 1 46

0 0 1 1 1 0 28 1 1 1 1 0 1 47

1 0 1 1 1 0 29 0 0 0 0 1 1 48

0 1 1 1 1 0 30 1 0 0 0 1 1 49

1 1 1 1 1 0 31 0 1 0 0 1 1 50

0 0 0 0 0 1 32 1 1 0 0 1 1 51

1 0 0 0 0 1 33 0 0 1 0 1 1 52

0 1 0 0 0 1 34 1 0 1 0 1 1 53

1 1 0 0 0 1 35 0 1 1 0 1 1 54

0 0 1 0 0 1 36 1 1 1 0 1 1 55

1 0 1 0 0 1 37 0 0 0 1 1 1 56

0 1 1 0 0 1 38 1 0 0 1 1 1 57

1 1 1 0 0 1 39 0 1 0 1 1 1 58

0 0 0 1 0 1 40 1 1 0 1 1 1 59

1 0 0 1 0 1 41 0 0 1 1 1 1 60

0 1 0 1 0 1 42 1 0 1 1 1 1 61

1 1 0 1 0 1 43 0 1 1 1 1 1 62

0 0 1 1 0 1 44 1 1 1 1 1 1 63

Figure 2.3 Data Rate Switch Settings (UP = OPEN = 1)

Switch Setting Data

SW 7 SW 8 Rate

0 0 125 kbps

1 0 250 kbps

0 1 500 kbps

1 1 Autobaud

If all switches are in the CLOSED position (all 0’s), then the Node Address and Data Rate are determined by parameter settings (Parameter 02 - [DN Addr Cfg] and Parameter 04 - [DN Rate Cfg]).

2. Set the adapter mode jumper for Single or Multi-Drive operation (see

Figure 2.1

Jumper Setting Description

Right position or jumper missing

Left position Sets the adapter for Multi-Drive operation mode using up to 5

and these setting descriptions).

Sets the adapter for Single drive 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.

different drives. DSI peripherals do not operate with the adapter in this mode.

2-4 Installing the Adapter

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 all

power from the PowerFlex drive, and then verify power has been removed 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 DeviceNet cable to the network, and route it through the

bottom of the PowerFlex drive. DeviceNet Thin cable with an outside diameter of 6.9 mm (0.27 in.) is recommended. (See Figure 2.6

Important: Maximum cable length depends on data rate. Refer to

the Glossary

5. Connect a 5-pin linear plug to the DeviceNet cable.

A 10-pin linear plug is not supported. A 5-pin linear plug is shipped with the adapter.

, Data Rate.

Figure 2.4 Connecting a 5-Pin Linear Plug to the Cable

5 4 3 2 1

Terminal Color Signal Function

5 Red V+ Powe r Supp ly

4 White CAN_H Signal High

3 Bare SHIELD Shield

2 Blue CAN_L Signal Low

1 Black V– Common

Red White Bare Blue Black

6. Insert the DeviceNet cable plug into the mating adapter receptacle,

and secure it with the two screws. (See Figure 2.5

, item 2.) Verify that the colors of the wires on the plug match up with the color codes on the receptacle.

Installing the Adapter 2-5

Connecting the Adapter to the Drive

1. Remove power from the drive.

2. Use static control precautions.

3. Mount the adapter on the cover, using the screw on the adapter to

secure it in place.

Important: Tighten the screw in the lower left hole to ground the

adapter (see Figure 2.6).

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

then to the mating DSI connector on the adapter.

Figure 2.5 DSI Ports and Internal Interface Cables

DeviceNet Adapter

➊

PowerFlex 40 Drive

B and C Frames (cover removed)

# Description

➊ DSI Connector ➋ 15.24 cm (6 in.) Internal Interface cable ➌ DeviceNet cable

➋

➌

Back of Cover

2-6 Installing the Adapter

Figure 2.6 Mounting the Adapter

PowerFlex 40 Drive

B and C Frames (cover removed)

Adapter Mounted on Back of Cover

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. Reinstall the cover on the drive. The status indicators can be viewed

on the front of the drive after power has been applied.

2. Ensure that the adapter will have a unique address on the network

and is set at the correct data rate or to autobaud. If a new data rate or address is needed, reset its switches (refer to Commissioning the

Adapter in this chapter).

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

from the connected drive and network. When you apply power to the product and network for the first time, the status indicators should be green after an initialization. If the status indicators go red, there is a problem. Refer to Chapter

4. If the software settings for the data rate and node address are to be

used, a configuration tool such as DriveExplorer can be used to adjust the respective parameters in the adapter.

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 To pic Page

Configuration Tools 3-1 Setting the I/O Configuration 3-8

Using the PowerFlex 4-Class HIM 3-2 Selecting COS, Cyclic, or Polled I/O 3-8

Using RSNetWorx for DeviceNet 3-3 Setting a Fault Action 3-10

Setting the Node Address 3-7 Resetting the Adapter 3-11

Setting the Data Rate 3-7 Viewing the Adapter Configuration 3-12

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

Configuration Tools

The DeviceNet 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:

DriveExplorer Software (version 3.01 or higher)

DriveTools 2000 Software (version 1.01 or higher)

PowerFlex 4-Class HIM (22-HIM-*) page 3-2

RSNetWorx for DeviceNet Software page 3-3

RSNetWorx for DeviceNet (version 4.01) and RSLinx (version 2.40) were used for examples in this manual. Different versions of software may differ in appearance and procedures.

TIP: Explicit Messaging can also be used to configure an adapter and drive. Refer to Chapter

6, Using Explicit Messaging.

DriveExplorer Getting Results Manual, Publication 9306-5.3, or the online help

DriveTools 2000 Online Help

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 your HIM Quick Reference card.

Using the HIM

Step Key(s) Example Screens

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

will be

Parameters

Groups

Linear List Changed Params

DIAG PA RA M DSEL MEM SEL !

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

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

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

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

will

Sel

and

Device Selected

DSI Devices

DIAG PARAM DSEL MEM SEL !

DSI Devices

Powe rFl ex 4 0

22-COMM-D

Parameters

Linear List

Changed Params

DIAG PA RA M DSEL MEM SEL !

Mode RO

Parameter: #

Single Drive 0

VAL UE LIMITS SEL !

001

Configuring the Adapter 3-3

Using RSNetWorx for DeviceNet

RSNetWorx for DeviceNet is a Rockwell Software application that can be used to set up DeviceNet networks and configure connected devices.

To set up RSLinx for RSNetWorx for DeviceNet

To use RSNetWorx for DeviceNet, you must first set up a driver in RSLinx. The driver provides a communications link between the computer and DeviceNet network.

Step Icons

1. Start RSLinx, and select Communications > Configure Drivers to display the Configure Drivers dialog box.

2. In the Available Driver Types box, select DeviceNet Drivers, and then click Add New. The DeviceNet Driver

Selection dialog box appears.

3. In the Available DeviceNet Drivers list, select the adapter connected to your computer, and then click Select. A Driver Configuration dialog box appears.

4. Configure the driver for your computer and network settings, and then click OK. The Configure Drivers dialog box reports the progress of the configuration. Then, the Add New RSLinx Driver dialog box appears.

5. Type a name (if desired), and then click OK. The Configure Drivers dialog box reappears, and the new driver is in the Configured Drivers List (Figure 3.1

6. Click Close to close the dialog box. Leave RSLinx running.

Shortcut to

RSLinx

Figure 3.1 Configure Drivers Dialog Box with a Configured Driver

3-4 Configuring the Adapter

To go online with RSNetWorx for DeviceNet

You can view the devices on a DeviceNet network by going online. A device may appear as an unrecognized device if RSNetWorx for DeviceNet does not have an EDS file for it.

Step Icons

1. After setting up a driver in RSLinx, start RSNetWorx for DeviceNet.

2. Select Network > Online. If the Browse for Network dialog box appears, RSLinx has multiple drivers configured. Select your DeviceNet network, and click OK. A prompt appears.

3. RSNetWorx browses the network and any devices on the network appear in the Configuration View. You can select Graph, Spreadsheet, or Master/Slave views. Figure 3.2 shows an example network in a Graph view.

Figure 3.2 Example DeviceNet Network

Shortcut to

RSNetWorx

Configuring the Adapter 3-5

To create an EDS file

If the adapter and drive appear as an unrecognized device, create an EDS file for it.

Step Icons

1. Right-click the “Unrecognized Device” icon, and select Register Device in the menu. The EDS Wizard (Figure

3.3) appears.

2. Click Next to display the next step.

3. Select Upload EDS, and then click Next.

4. Type a description (if desired), and then click Next.

5. Under Polled, select Enabled, type 4 in the Input Size and Output Size boxes, and then click Next. RSNetWorx will upload the EDS file from the drive and adapter.

6. Click Next to display the icon options for the node. We recommend that you use the icon for your product. You can change icons by clicking Change icon.

7. Click Next to view a summary, and then click Next again to accept it.

8. Click Finish to finish the EDS creation. A new icon represents the PowerFlex drive and adapter in the Configuration View.

Figure 3.3 EDS Wizard

3-6 Configuring the Adapter

To access and edit parameters

Parameters in the drive and adapter can be edited with RSNetWorx. The adapter parameters are appended to the list of drive parameters.

Step Icons

1. After creating an EDS file, right-click on the icon for the PowerFlex drive and adapter and select Properties. The PowerFlex Drive dialog box appears.

2. Click the Parameters tab (Figure 3.4). If an EDS Editor message appears, click Upload to load the parameter values in the drive to the computer.

Parameters are displayed in numerical order. You can either scroll through the list or select a specific group of parameters in the Groups box. The available groups and the numbers of the adapter parameters will vary based on the type of drive that is connected to the adapter.

3. In the Current Value column, double-click a value to edit it.

4. Click Apply to save changes to the device.

Figure 3.4 Example PowerFlex Drive Dialog Box

Configuring the Adapter 3-7

Setting the Node Address

The value of Parameter 02 - [DN Addr Cfg] determines the node address if all of the adapter DIP switches are in the CLOSED position (all 0’s). We recommend that you do not use node address 63 because all new devices use it as the default address. Address 63 is also used for Automatic Device Recovery (ADR).

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

address.

Figure 3.5 DeviceNet Node Address Screen on PowerFlex 4-Class HIM (22-HIM-*)

DN Addr Cfg

Para met er: #

VAL UE LIMITS SEL !

002

2. Reset the adapter. Refer to Resetting the Adapter section in this chapter.

TIP: If you are using RSNetWorx for DeviceNet, select Network > Single Browse Path to see the new address; then delete the old address.

Default = 63

Setting the Data Rate

The value of Parameter 04 - [DN Rate Cfg] determines the DeviceNet data rate if all of the adapter DIP switches are in the CLOSED position (all 0’s). The Autobaud setting will detect the data rate used on the network if another device is setting the data rate. Your application may require a different setting.

1. Set the value of Parameter 04 - [DN Rate Cfg] to the data rate at

which your network is operating.

Figure 3.6 DeviceNet Data Rate Screen on PowerFlex 4-Class HIM (22-HIM-*)

DN Rate Cfg

Para met er: #

Autobaud 3

VAL UE LIMITS SEL !

004

2. Reset the adapter. Refer to Resetting the Adapter section in this chapter.

Value Baud Rate

0 125 kbps

1 250 kbps

2 500 kbps

3 Autobaud (Default)

3-8 Configuring the Adapter

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 Mode Jumper is set to the Single mode position, only one drive is represented by the adapter and Parameter 15 - [DSI I/O Cfg] has no effect. If the Mode Jumper is set to the Multi-Drive position, up to five drives can be represented as one node by the adapter.

1. Set the value in Parameter 15 - [DSI I/O Cfg]:

Figure 3.7 I/O Configuration Screen on PowerFlex 4-Class HIM (22-HIM-*)

DSI I/O Cfg

Para met er: #

Drive 0 0

VAL UE LIMITS SEL !

Drive 0 is the PowerFlex 40 with the 22-COMM-D adapter installed. Drive 1 through 4 are PowerFlex 4 and/or 40 drives that multi-drop to the RJ45 (RS-485) port on Drive 0. Refer to Chapter 7

Multi-Drive Mode for more information.

Value Description

015

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

Mode Jumper Position

Single Multi-Drive

, Using

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 Parameters 36 - [Start Source] and 38 - [Speed Reference] in a PowerFlex 40 drive to “DSI Port 5.”

3. Reset the adapter. Refer to Resetting the Adapter section in this chapter.

Selecting COS, Cyclic, or Polled I/O

The data exchange (sometimes called allocation) is the method that the adapter uses to exchange data on the DeviceNet network. The adapter can be configured to use one of the following data exchanges:

• COS (Change of State) • Polled and COS

• Cyclic • Polled and Cyclic

• Polled

If “Polled and COS” or “Polled and Cyclic” is used, the adapter receives the I/O from the polled messages. It transmits its Logic Status and Feedback in COS or Cyclic messages. Other data is transmitted in Polled messages.

Configuring the Adapter 3-9

Cyclic and Polled data exchanges are configured in the scanner, so you only need to set the I/O configuration in the adapter. COS data exchange must be configured in both the adapter and the scanner. You need to set the I/O configuration and COS parameters in the adapter.

To use COS (Change of State) data exchange

1. Set the bits in the Logic Status word that should be checked for changes in Parameter 12 - [COS Status Mask]. The bit definitions for the Status Mask will depend on the drive to which you are connected. Refer to its documentation.

Figure 3.8 COS Status Mask Configuration Screen on PowerFlex 4-Class HIM (22-HIM-*)

COS Status Mask

Para met er: #

VAL UE LIMITS SEL !

012

2. Set the amount of change to the Feedback that is required to trigger a Change of State message in Parameter 13 - [COS Fdbk Change].

Figure 3.9 COS Fdbk Change Configuration Screen on PowerFlex 4-Class HIM (22-HIM-*)

COS Fdbk Change

Para met er: #

013

Value Description

0 Ignore this logic bit. (Default)

1 Check this logic bit.

VAL UE LIMITS SEL !

The adapter is now configured for COS data exchange. You must configure the scanner to allocate it using COS (Chapter

4, Configuring

the Scanner).

3-10 Configuring the Adapter

Setting a Fault Action

By default, when communications are disrupted (for example, a cable is disconnected) or the scanner is idle, 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 07 - [Comm Flt Action] and a different response to an idle scanner using Parameter 08 - [Idle

Flt Action].

ATTENTION: Risk of injury or equipment damage exists. Parameters 07 - [Comm Flt Action] and 08 - [Idle Flt Action] let you determine the

action of the adapter and connected drive if communications are disrupted or the scanner is idle. 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 hazard of injury or equipment damage.

To change the fault action

• Set the values of Parameters 07 - [Comm Flt Action] and 08 - [Idle Flt Action] to the desired responses:

Value Action Description

0 Fault (default) 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 after a

3 Hold Last The drive continues in its present state after a

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

communications disruption. This does not command a stop.

communications disruption.

configuration parameters (Parameters 10 - [Flt Config Logic] and 11 - [Flt Config Ref]).

Figure 3.10 Fault Action Screens on PowerFlex 4-Class HIM (22-HIM-*)

Comm Flt Action

Para met er: #

Faul t 0

VAL UE LIMITS SEL !

007

Idle Flt Action

Param eter : #

Faul t 0

VAL UE LIMITS SEL !

008

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 it controls (Drive 0 - Drive 4).

Configuring the Adapter 3-11

To set the fault configuration parameters

If you set Parameter 07 - [Comm Flt Action] or 08 - [Idle Flt Action] to the “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

Reference.

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

Resetting the Adapter

Changes to switch settings on 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 the Parameter 06 - [Reset Module] to Reset Module:

Figure 3.11 Reset Screen on PowerFlex 4-Class HIM (22-HIM-*)

Reset Module

Para met er: #

Ready 0

VAL UE LIMITS SEL !

006

Value Description

0 Ready (Default)

1 Reset Module

2 Set Defaults

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. The value of this parameter will be restored to 0 = Ready after the adapter is reset.

3-12 Configuring the Adapter

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 mode in which the adapter is set

03 DN Addr

05 DN Rate

09 DN Active

16 DSI I/O

Actual

Config

Actual

(0 = Single drive operation, or 2 = Multi-Drive operation).

The node address used by the adapter. This will be one of the following values:

• The address set by the adapter DIP switches 1 through 6.

• The value of Parameter 02 - [DN Addr Config] if the

switches have been disabled.

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

been changed and the adapter has not been reset.

The data rate used by the adapter. This will be one of the following values:

• The data rate set by the adapter DIP switches 7 and 8.

• The value of Parameter 04 - [DN Rate Config] if the

switches have been disabled.

• An old data rate of the switches or parameter if they have

been changed and the adapter has not been reset.

The source from which the adapter node address and data rate are taken. This will be either switches or parameters in EEPROM. It is determined by the settings of the adapter DIP switches 1 through 8.

Indicating the Drives that make up the node:

Values 0 = Drive 0 1 = Drives 0-1 2 = Drives 0-2 3 = Drives 0-3 4 = Drives 0-4

Chapter 4

Configuring the Scanner

Chapter 4 provides instructions on how to configure a scanner to communicate with the adapter and connected PowerFlex drive.

Topic Page To pic Page

Example Network 4-1 Mapping the Drive Data in the Scanner 4-5

Setting Up the Scan List 4-2 Saving the Configuration 4-7

Example Network

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

Figure 4.1 Example DeviceNet Network

Node 0

SLC 500 Controller with

1747-SDN Scanner

Node 62

Computer with 1784-PCD and

RSNetWorx for DeviceNet

. In

DeviceNet

Node 1

PowerFlex 40 Drive with

DeviceNet Adapter

4-2 Configuring the Scanner

Setting Up the Scan List

For the scanner to communicate with a drive, the scanner must be configured and the drive’s node number must be added to its scan list.

1. Go online with RSNetWorx for DeviceNet. Refer to the Using

RSNetWorx for DeviceNet section in Chapter 3. The devices on the

network are displayed in the configuration view.

Figure 4.2 Configuration View (Graph)

2. Right-click the DeviceNet scanner (node 00 in Figure 4.2) and select Properties. The Scanner Module dialog box appears.

Important: If your scanner is an unrecognized device, you must

create an EDS file for it and then configure it. Create an EDS file by following the instructions in the Using

RSNetWorx for DeviceNet section in Chapter 3.

Configure the scanner using the General and Module tabs. Click Help or refer to your scanner documentation if you need more information.

3. Click the Scanlist tab. A message box prompts you to upload.

4. Click Upload. Data is uploaded from the scanner, and then the

Scanlist page (Figure 4.3

5. Select the Automap on Add box (a check mark will appear).

) appears.

Configuring the Scanner 4-3

6. Under Available Devices, select the drive, and then click > (Right

Arrow) to add it to the scanlist.

Figure 4.3 Scanlist Page in the Scanner Module Dialog Box

7. Under Scanlist, select the drive, and then click Edit I/O Parameters.

The Edit I/O Parameters dialog box (Figure 4.4) appears.

4-4 Configuring the Scanner

Figure 4.4 Edit I/O Parameters Dialog Box

8. Select the type(s) of data exchange (Polled, Change of State, and /or Cyclic). In our example, we selected Polled.

9. Type the number of bytes 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 16 - [DSI I/O Actual] in the adapter. Table 4.A configuration Input/Output sizes.

shows common

In our example, we typed 4 in the Input Size and Output Size boxes because the Mode Jumper on the adapter is set to “Single” (default) and Parameter 16 - [DSI I/O Active] is set to “Drive 0” (only one drive being connected). Logic Command/Reference uses 4 bytes and Logic Status/Feedback uses 4 bytes.

Table 4.A Input/Output Size Configurations

Input

Output Size

Logic Command/ Status

Size

4 4 ✔ ✔ Drive 0 Single 8 8 ✔ ✔ Drives 0-1 12 12 ✔ ✔ Drives 0-2 16 16 ✔ ✔ Drives 0-3 20 20 ✔ ✔ Drives 0-4

Reference/ Feedback

Parameter 16 [DSI I/O Active]

Parameter 1 - [Mode]

Multi-Drive

10. Set the scan rate.

Data Exchange Rate to set

Poll ed Polled Rate

Change of State Heartbeat Rate

Cyclic Send Rate

Configuring the Scanner 4-5

11. Click OK. If you changed any settings, a Scanner Applet asks if it is OK to unmap the I/O. Click Ye s to continue. The Edit I/O Parameters dialog box closes and then the Scanner Module dialog box (Figure 4.3

) re-appears. You will map the I/O in the next section

in this chapter.

Mapping the Drive Data in the Scanner

Data from I/O messages must be mapped in the scanner. This mapping determines where a ladder logic program can find data that is passed over the network. You must map both the Input I/O and the Output I/O.

For: Refer to:

Mapping the Input I/O 4-5

Mapping the Output I/O 4-6

Mapping the Input I/O

1. In the Scanner Module dialog box, click the Input tab. (If necessary, right-click the scanner in the configuration view (Figure 4.2) to display this dialog box.)

Figure 4.5 Input Page on the Scanner Module Dialog Box

4-6 Configuring the Scanner

If you selected the Automap on Add box in the Scanlist page (Figure

4.3), RSNetWorx has already mapped the I/O. If it is not mapped, click

Aut om ap to map it. If you need to change the mapping, click Advanced and change the settings.

2. In the Memory box, select a location in scanner memory.

Scanner Memory Locations

1747-SDN Discrete or M-File

1756-DNB Assembly Data

1771-SDN Block Xfer 62 – 57

In our example, we are using a 1747-SDN and selected Discrete.

3. In the Start Word box, select the word in memory at which the data

should start. In our example, Logic Status and Speed Feedback information will be found in I:1.1 and I:1.2, respectively.

Mapping the Output I/O

1. In the Scanner Module dialog box, click the Output tab. To display

this dialog box, right-click the scanner in the configuration view (Figure 4.2

Figure 4.6 Output Page on the Scanner Module Dialog Box

Configuring the Scanner 4-7

If you selected the Automap on Add box in the Scanlist page (Figure

4.3), RSNetWorx has already mapped the I/O. If it is not mapped, click

Aut om ap to map it. If you need to change the mapping, click Advanced and change the settings.

2. In the Memory box, select a location in scanner memory.

Scanner Memory Locations

1747-SDN Discrete or M-File

1756-DNB Assembly Data

1771-SDN Block Xfer 62 – 57

In our example, we are using a 1747-SDN and selected Discrete.

3. In the Start Word box, select the word in memory at which the data should start. In our example, Logic Command and Speed Reference data will be written to O:1.1 and O:1.2, respectively.

Saving the Configuration

After configuring a scanner, you must download it to the scanner. You should also save it to a file on your computer.

1. In the Scanner Module dialog box (Figure 4.6), click Apply to save the configuration to the scanner. A Scanner Configuration Applet appears and asks if it is OK to download the changes.

2. Click Ye s to download the changes. The changes are downloaded and then the Scanner Module dialog box reappears.

3. Click OK to close the Scanner Module dialog box.

4. 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.

4-8 Configuring the Scanner

Chapter 5

Using I/O Messaging

Chapter 5 provides information and examples that explain how to use I/O Messaging to control a PowerFlex 40 drive.

Topic Page Topic Page

About I/O Messaging 5-1 Example Ladder Logic Programs 5-3

Understanding the I/O Image 5-2 ControlLogix Example 5-4

Using Logic Command/Status 5-2 PLC-5 Example 5-7

Using Reference/Feedback 5-3 SLC Example 5-9

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

About I/O Messaging

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

The DeviceNet adapter provides many options for configuring and using I/O, including the following:

• The size of I/O can be configured by selecting the number of attached drives (Single or Multi-Drive mode).

• Change of State, Cyclic, or Polled data exchange methods can be used.

Chapter 3, Configuring the Adapter and Chapter 4, Configuring the Scanner discuss how to configure the adapter and scanner on the network

for these options. The Glossary chapter discusses how to use I/O after you have configured the adapter and scanner.

defines the different options. This

5-2 Using I/O Messaging

Understanding the I/O Image

The DeviceNet specification requires that the terms input and output be defined from the scanner’s point of view. Therefore, Output I/O is data that is output from the scanner and consumed by the DeviceNet 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 Mode Jumper (J2) on the adapter and

Parameter 15 - [DSI I/O Cfg]. The image table always uses consecutive words starting at word 0.

Figure 5.1 illustrates an example of a Single drive I/O image (16-bit words).

Figure 5.1 Single Drive Example of I/O Image

DSI

PowerFlex 40 Drive

Logic Command Reference

Logic Status Feedback

Message

Handler

Controller

Scanner

Output Image (Write)

Input Image (Read)

Message

Handler

DeviceNet

Adapter

Word and I/O

0 Logic Command 1 Reference

0 Logic Status 1 Feedback

Message

Buffer

Single drive mode is the typical configuration, where one node consists of a PowerFlex 40 drive with a 22-COMM-D adapter.

For Multi-Drive mode, where one node can consist of up to 5 drives, refer to Chapter 7, Using Multi-Drive Mode.

Using Logic Command/Status

When enabled, the Logic Command/Status word is always word 0 in the I/O image. The Logic Command is a 16-bit word of control produced by the scanner and consumed by the adapter. The Logic Status is a 16-bit word of status produced by the adapter and consumed by the scanner.

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

, Logic Command/

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

Using I/O Messaging 5-3

Using Reference/Feedback

When enabled, Reference/Feedback begins at word 1 in the I/O image. The Reference (16 bits) is produced by the controller and consumed by the adapter. The Feedback (16 bits) is produced by the adapter and consumed by the controller.

Size Valid Values In I/O Image Example

16-bit -32768 to 32767 Word 1 Figure 5.1

Example Ladder Logic Programs

These example ladder logic programs (Figure 5.3 – Figure 5.6) work with PowerFlex 40 drives.

Functions of the Example Programs

The example programs enable an operator to perform the following actions:

• Obtain status information from the drive.

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

stop).

• Send a Reference to the drive.

Adapter Settings for the Example Programs

• Node address 1 is set using the switches.

• The adapter is configured for Single drive mode (mode jumper is set

to “Single”).

• Polled I/O was enabled during the scanner configuration.

Scanner Settings for the Example Programs

• The scanner is node 0 on the DeviceNet network.

• The scanner is in slot 1.

• The adapter I/O is mapped in word 0 and word 1.

• Data files, when used, are pointed out in the examples.

5-4 Using I/O Messaging

Logic Command/Status Words

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

Word s 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 drive.

ControlLogix Example

Figure 5.2 Tags for the Example Program

Tag Na me Type Tag N am e Type

Local:1:I DINT[] DriveFeedback INT

Local:1:O DINT[] DriveInputImage INT[2]

DriveCommandClearFault BOOL DriveOutputImage INT[2]

DriveCommandJog BOOL DriveReference INT

DriveCommandStart BOOL DriveStatusFaulted BOOL

DriveCommandStop BOOL DriveStatusRunning BOOL

Figure 5.3 Example ControlLogix Ladder Logic Program

ControlLogix example program with a PowerFlex 40 at node address 1.

This rung enables the scanner (changes the scanner to RUN mode).

This section retrieves the Logic Status k data from the scanner, and moves it

This section retrieves the Logic Status and Feedback data from the sc , and moves it to specifc tags for use elsewhere in the ladder program.

Using I/O Messaging 5-5

Local:3:O.CommandRegister.Run

Copy File Source Local:3:I.Data[0] Dest DriveInputImage[0] Length 2

COP

DriveInputImage[0].0

This section takes the data from specific tags used elsewhere in the ladder program (Logic

This section takes the data from specific tags used elsewhere in the ladder program (Logic Command bits and Reference) and writes them to the scanner for output over the network.

DriveInputImage[0].1

DriveInputImage[0].3

DriveInputImage[0].7

DriveInputImage[0].8

DriveCommandStop

DriveCommandStart

DriveCommandJog

DriveCommandClearFaults

Copy File Source DriveInputImage[1] Dest DriveFeedback Length 1

DriveStatusReady

DriveStatusForward

DriveStatusFaulted

DriveStatusAtReference

COP

DriveOutputImage[0].0

DriveOutputImage[0].1

DriveOutputImage[0].2

DriveOutputImage[0].3

DriveStatusActive

5-6 Using I/O Messaging

Figure 5.3 Example ControlLogix Ladder Logic Program (Continued)

15 Copy File

DriveCommandForward

Source DriveOutputImage[0] Dest Local:3:O.Data[0] Length 1

DriveOutputImage[0].4

DriveOutputImage[0].5

Copy File Source DriveReference Dest DriveOutputImage[1] Length 1

COP

For the explicit message portion of this ladder example program, see

Figure 6.6.

Using I/O Messaging 5-7

PLC-5 Example

Figure 5.4 Control File for Block Transfers

EN ST DN ER CO EW NR TO RW RLEN DLEN FILE ELEM R G S

BT20:0 0 0 0 0 0 0 0 0 0 62 0 9 0 00 0 0

BT20:1 0 0 0 0 0 0 0 0 0 62 0 10 0 00 0 0

Figure 5.5 Example PLC-5 Ladder Logic Program

PLC-5 example program with a PowerFlex 40 at DeviceNet node address 1.

The DeviceNet scanner gathers the drive status data via the network. The BTR in this rung then moves the drive status data from the scanner to the N9: data file in the PLC, where:

N9:0 = Scanner Status word N9:1 = PowerFlex 40 (node 1) Logic Status N9:2 = PowerFlex 40 (node 1) Feedback

Note that the Feedback for the PowerFlex 40 is received in Hz and not in engineering units like other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

0000

BT20:0

This rung enables the DeviceNet scanner.

0001

BTR

BTR Block Transfer Read Module Type 1771-SDN DeviceNet Scanner Module Rack 000 Group 0 Module 0 Control Block BT20:0 Data File N9:0 Length 62 Continuous No

Setup Screen

1771-SDN Scanner Enable bit

N10:0

5-8 Using I/O Messaging

Figure 5.5 Example PLC-5 Ladder Logic Program (Continued)

The BTR in this rung moves the drive control data to the scanner from the N10: data file in the PLC, where:

N10:0 = Scanner Control word N10:1 = PowerFlex 40 (node 1) Logic Command N10:2 = PowerFlex 40 (node 1) Reference

Note that the Reference for the PowerFlex 40 is set in Hz and not in engineering units like other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

The scanner then sends the data to the drive over the network.

0002

BT20:1

BTW

BTW Block Transfer Write Module Type 1771-SDN DeviceNet Scanner Module Rack 000 Group 0 Module 0 Control Block BT20:1 Data File N10:0 Length 62 Continuous No

Setup Screen

For the explicit message portion of this ladder example program, see

Figure 6.7.

SLC Example

Figure 5.6 Example SLC Ladder Logic Program

SLC 5/03 example program with a PowerFlex 40 at DeviceNet node address 1.

This rung enables the scanner (changes the scanner to RUN mode).

0000

This section of rungs control the Logic Command bits for the PowerFlex 40. The B3:0 bits would be controlled elsewhere in the user program.

Node 1 Stop Command

0001

0002

0003

0004

0005

B3:0

Node 1 Start Command

B3:0

Node 1 Jog Command

B3:0

Node 1 Clear Faults Command

B3:0

Node 1 Forward Command

B3:0

Node 1 Stop Command

B3:0

Using I/O Messaging 5-9

1747-SDN Scanner Enable bit

O:1

1747-SDN

Node 1 Logic Command STOP

O:1

1747-SDN

Node 1 Logic Command START

O:1

1747-SDN

Node 1 Logic Command JOG

O:1

1747-SDN

Node 1 Logic Command CLEAR FAULTS

O:1

1747-SDN

Node 1 Logic Command FORWARD

O:1

1747-SDN

5-10 Using I/O Messaging

Figure 5.6 Example SLC Ladder Logic Program (Continued)

0006

0007

0008

0009

0010

Node 1 Forward Command

B3:0

This rung controls the Reference for the PowerFlex 40. N7:0 would be controlled elsewhere in the user program. Note that the Reference for the PowerFlex 40 is set in Hz and not in engineering units like other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

This section of rungs displays the Logic Status bits for the PowerFlex 40. The B3:1 bits would be used elsewhere in the user program.

Node 1 Logic Status READY

I:1

1747-SDN

Node 1 Logic Status ACTIVE

I:1

1747-SDN

Node 1 Logic Status ROTATING FORWARD

I:1

1747-SDN

Node 1 REFERENCE (Hz)

Node 1 Logic Command REVERSE

O:1

MOV

MOV Move Source N7:0 300< Dest O:1.2 300<

1747-SDN

Node 1 READY

B3:1

Node 1 ACTIVE

B3:1

Node 1 ROTATING FORWARD

B3:1

Figure 5.6 Example SLC Ladder Logic Program (Continued)

Node 1 Logic Status FAULTED

0011

0012

0013

I:1

1747-SDN

Node 1 Logic Status AT REFERENCE

I:1

This rung displays the Feedback word for the PowerFlex 40. N7:1 would be used elsewhere in the user program. Note that the Feedback for the PowerFlex 40 is set in Hz and not in engineering units like other PowerFlex drives. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

1747-SDN

Using I/O Messaging 5-11

Node 1 FAULTED

B3:1

Node 1 AT REFERENCE

B3:1

Node 1 FEEDBACK (Hz)

MOV

MOV Move Source I:1.2 300< Dest N7:1 300<

For the explicit message portion of this ladder example program, see

Figure 6.8.

5-12 Using I/O Messaging

Chapter 6

Using Explicit Messaging

Chapter 6 provides information and examples that explain how to use Explicit Messaging to monitor and configure the adapter installed and connected to the PowerFlex 40 drive.

Topic Page Top ic Pag e

About Explicit Messaging 6-1 ControlLogix Example 6-8

Formatting Explicit Messages 6-2 PLC-5 Example 6-11

Running Explicit Messages 6-7 SLC Example 6-13

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

ATTENTION: Hazard 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. Datalinks do not write to NVS and should be used for frequently changed parameters.

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 DeviceNet network.

6-2 Using Explicit Messaging

Formatting Explicit Messages

Explicit Messages for a ControlLogix Controller

ControlLogix scanners accommodate both downloading Explicit Message Requests and uploading Explicit Message Responses. The scanner module can accommodate one request or response for each transaction block. Each transaction block must be formatted as shown in

Figure 6.1

Figure 6.1 ControlLogix Message Format in RSLogix 5000

➊

➏

➍

➋

➌ ➎

➐

➑

➒

Refer to Page 6-3 for a description of the data that is required in each box (1 – 9).

TIP: To display the Message Configuration dialog box in RSLogix 5000, add a message instruction, create a tag for the message (properties: base tag, MESSAGE data type, controller scope), and click the blue box inside the message.

Using Explicit Messaging 6-3

The following table identifies the number of Explicit Messages that can be executed at a time.

Scanner Messages at

1756-DNB 5 Figure 6.1

One Time

Refer To

ControlLogix Message Requests and Responses

Box Description

Message Type

➊

The message type must be CIP Generic.

Service Type/Service Code

➋

The service type/code is the requested DeviceNet service. Available services depend on the class and instance that you are using. Refer to Appendix C,

DeviceNet Objects

Class

➌

The object type is a DeviceNet class. Refer to Appendix C, DeviceNet Objects, for available classes.

Instance

➍

The object ID is an instance of a DeviceNet class. Refer to Appendix C, DeviceNet

Objects, for available instances.

Attribute

➎

The attribute is a class or instance attribute. Refer to Appendix C, DeviceNet

Objects, for available attributes.

Source Element

➏

This box contains the name of the tag for any service data to be sent from the scanner to the adapter and drive. A tag must be specified even if it is not used.

Source Length

➐

This box contains the number of bytes of service data to be sent or received in the message.

Destination

➑

This box contains the name of the tag that will receive service response data from the adapter and drive. A tag must be specified even if it is not used.

Path

➒

The path includes the following:

• Name of the DeviceNet scanner.

• Communication por t on the front of the 1756-DNB scanner. Always 2.

• Node address of the DeviceNet adapter. This is set with switches or

parameters in the DeviceNet adapter.

Tip: Click Browse to find the path or type in the name of a module that you previously mapped.

6-4 Using Explicit Messaging

Explicit Messages for a PLC or SLC Controller

Transaction blocks in PLC and SLC scanners accommodate both downloading Explicit Message Requests and uploading Explicit Message Responses. The scanner module can accommodate one request or response for each transaction block. Each transaction block must be formatted as shown in Figure 6.2

Figure 6.2 PLC Explicit Message Format

or Figure 6.3.

Request

Bit 15 0 15 0

Word 0 TXID Command TXID Status

Por t Size Por t Size

Service Address Service Address

Class Service Response Data

Instance

Attribute

Word 6 - 31 Service Data

Word 32 TXID Command TXID Status

Por t Size Por t Size

Service Address Service Address

Class Service Response Data

Instance

Attribute

Word 38 - 63 Service Data

Figure 6.3 SLC Explicit Message Format

Request

Bit 15 0 15 0

Word 0 TXID Command TXID Status

Por t Size Por t Size

Service Address Service Address

Class Service Response Data

Instance

Attribute

Word 6 - 31 Service Data

Response

Refer to Page 6-5 and Page 6-6 for a description of the data that is required in each word.

Using Explicit Messaging 6-5

The following table identifies the number of transaction blocks within a scanner that are reserved for Explicit Messaging.

Scanner Number of

1747-SDN 10 32 Figure 6.3

1771-SDN 10 32 (two blocks can

Transaction Blocks

Words in Each Transaction Block

be moved at once)

Refer To

Figure 6.2

PLC / SLC Explicit Message Requests

Word Description

0 Command (Least Significant Byte)

The Command is a code that instructs the scanner how to administer the request during each download.

00 = Ignore transaction block (empty)

01 = Execute this transaction block

02 = Get status of transaction TXID

03 = Reset all client/server transactions

04 = Delete this transaction block (available only for SLC)

05 – 255 = Reserved

TXID (Most Significant Byte) The Transaction ID is a 1-byte integer between 1 and 255. It is assigned in the ladder logic program when the processor creates and downloads a request to the scanner. The scanner uses it to track the transaction to completion. It returns this value with the response that matches the request downloaded by the processor.

1 Size (Least Significant Byte)

The size of the service data is in bytes. Service data includes the words for the class, instance, attribute, and any data. The maximum size is 58 bytes (29 words).

Port (Most Significant Byte) The port that is used by the message is always zero (Channel A) on an SLC scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.

2 Address (Least Significant Byte)

The node address of the slave device to which the transaction is sent. For the Explicit Message to be successful, the slave device must be in the scanlist of the scanner, and it must be online.

Service (Most Significant Byte) Available services depend on the class and instance that you are using. Refer to Appendix C, DeviceNet Objects.

3 Class

Refer to Appendix C, DeviceNet Objects, for available classes.

4 Instance

Refer to Appendix C, DeviceNet Objects, for available instances.

5 Attribute

Refer to Appendix C, DeviceNet Objects, for available attributes.

6 – 31 Request Data

This is data used for the message. For example, it may be the value written to a parameter.

6-6 Using Explicit Messaging

PLC / SLC Explicit Message Responses

Word Description

0 Status (Least Significant Byte)

One of the following status codes is provided during each upload:

00 = Ignore transaction block (empty)

01 = Transaction completed successfully

02 = Transaction in progress (not ready)

03 = Slave not in scan list

04 = Slave offline

05 = DeviceNet port disabled or offline

06 = Transaction TXID unknown

08 = Invalid command code

09 = Scanner out of buffers

10 = Other client/server transaction in progress

11 = Could not connect to slave device

12 = Response data too large for block

13 = Invalid port

14 = Invalid size specified

15 = Connection busy

16 – 255 = Reserved

TXID (Most Significant Byte) The transaction ID is a 1-byte integer in word 31 with a range of 1 to 255. It is assigned in the ladder logic program when the processor creates and downloads a request to the scanner. The scanner uses it to track the transaction to completion. It returns this value with the response that matches the request downloaded by the processor.

1 Size (Least Significant Byte)

The size of the service data is in bytes. The service data includes words used for the response data. The maximum size is 58 bytes (29 words).

Port (Most Significant Byte) The port that is used by the message is always zero (Channel A) on an SLC scanner. It is zero (Channel A) or one (Channel B) for a PLC scanner.

2 Address (Least Significant Byte)

The node address of the slave device to which the transaction is sent. For the Explicit Message to be successful, the slave device must be in the scanlist of the scanner, and it must be online.

Service (Most Significant Byte) If the message was successful, 0x80 is added to the service. If it is unsuccessful, 0x94 is returned.

3 – 31 Response Data

This is data used for the message. For example, it may be the value read from a parameter.

Refer to Page 6-5 for a description of the words in a PLC/SLC Explicit Message request.

Using Explicit Messaging 6-7

Running Explicit Messages

There are five basic events in the Explicit Messaging process. The details of each step will vary depending on the controller (ControlLogix, PLC, or SLC). Refer to the documentation for your controller.

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

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

Figure 6.4 Explicit Message Process

Complete Explicit

➎

Message

Retrieve Explicit

➍

Message Response

Set up and send Explicit

➊

Message Request

➋

➌

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

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

2. The scanner module transmits the Explicit Message Request to the

slave device over the DeviceNet network.

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

the scanner. 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. If you are using a PLC or SLC,

delete the transaction ID so that it can be reused.

6-8 Using Explicit Messaging

ControlLogix Example

Data Format for a Read and Write Parameter

The data in this example is for a PowerFlex drive at node address 1.

Refer to Formatting Explicit Messages in this chapter for a description of the content in each box.

Configuration Example Value Description Refer to . . .

Service Code Object Type Object ID Object Attribute

e (hex) f (hex) 39 (dec) 1 (hex)

Get_Attribute_Single Parameter Object Parameter Address Para meter Val ue

C-10 C-8

C-9

Using Explicit Messaging 6-9

Configuration Example Value Description Refer to . . .

Service Code Object Type Object ID Object Attribute

10 (hex) f (hex) 39 (dec) 1 (hex)

Set_Attribute_Single Parameter Object Parameter Address Parameter Value

C-10 C-8

C-9

Figure 6.5 Tags for the Example Explicit Messaging Program

Tag Na mes for Read Message Type

PerformParameterRead BOOL PerformParameterWrite BOOL

ParameterRDMessage MESSAGE ParameterWRMessage MESSAGE

ParameterRDValue INT ParameterWRVaule INT

Tag Na mes for Write Messages Type

6-10 Using Explicit Messaging

Figure 6.6 Example ControlLogix Ladder Logic Program

Explicit Messaging Example

PerformParameterRead

G Type - CIP Generic Message Control ParameterRDMessage

...

EN DN ER

(End)

PerformParameterWrite

Type - CIP Generic Message Control ParameterWRMessage

For the I/O message portion of this ladder example program, see

Figure 5.3.

...

EN DN ER

Using Explicit Messaging 6-11

PLC-5 Example

Data Format for a Read and Write Parameter

The data in this example is for a PowerFlex drive at node address 1.

Refer to Formatting Explicit Messages in this chapter for a description of the content of the data file.

Request Data for Read of Drive Parameter 39

Address Valu e ( hex ) Description Refer to . . .

N11:0 0101 TXID = 01, Command = 01 (execute) 6-5

N11:1 0006 Port = 00, Size = 06 bytes 6-5

N11:2 0E01 Service = 0E (Get_Attribute_Single) C-10

Address = 01 (Node Address) 6-5

N11:3 000F Class = 0F (Parameter Object) C-8

N11:4 0027 Instance = Parameter 39 (27 hex)

N11:5 0001 Attribute = 01 (Parameter Value) C-9

Response Data for Read of Drive Parameter 39

Address Valu e ( hex ) Description Refer to . . .

N11:100 0101 TXID = 01, Status = 01 (successful) 6-6

N11:101 0002 Port = 00, Size = 02 bytes 6-6

N11:102 8E01 Service = 8E (successful), Address = 01 (Node

Address)

N11:103 0064 Response Data = 100 (64 hex) = 10.0 seconds

6-6

Request Data for Write to Drive Parameter 101

Address Valu e ( hex ) Description Refer to . . .

N11:0 0101 TXID = 01, Command = 01 (execute) 6-5

N11:1 0008 Port = 00, Size = 08 bytes 6-5

N11:2 1001 Service = 10 (Set_Attribute_Single) C-10

Address = 01 (Node Address) 6-5

N11:3 000F Class = 0F (Parameter Object) C-8

N11:4 0027 Instance = Parameter 39 (27 hex)

N11:5 0001 Attribute = 01 (Parameter Value) C-9

N11:6 0064 Data = 100 (64 hex) = 10.0 seconds

Response Data for Write to Drive Parameter 101

Address Valu e ( hex ) Description Refer to . . .

N11:100 0101 TXID = 01, Status = 01 (successful transaction) 6-6

N11:101 0000 Port = 00, Size = 00 bytes 6-6

N11:102 9001 Service = 90 (successful)

Address = 01 (Node Address)

6-6

6-12 Using Explicit Messaging

Ladder Logic Program

Figure 6.7 Example PLC-5 Ladder Logic Program

When B3:0/0 is set to ON, a one-time BTW sends the explicit message data (starts at N11:0) to the scanner. The MOV instruction then initializes the first word of the data file that is used by the BTR instruction in the next rung.

Send Explicit Message

0003

B3:0

B3:0 ONS

BTW

BTW Block Transfer Write Module Type 1771-SDN DeviceNet Scanner Module Rack 000 Group 0 Module 0 Control Block BT20:2 Data File N11:0 Length 64 Continuous No

Explicit Messaging Example

Setup Screen

Move Source 0 0< Dest N11:100 257<

MOV

When the BTW is complete (BT20:2.DN = ON), the CMP instruction compares the first word of data sent from the scanner to the first word of data sent by the program to the scanner. When the messaging function is complete, the two words will be equal. The explicit message response data is stored starting at N11:100.

0004

0005

BT20:2

CMP

CMP BT20:3 Comparison Expression N11:100 <> N11:0

BTR

BTR Block Transfer Read Module Type 1771-SDN DeviceNet Scanner Module Rack 000 Group 0 Module 0 Control Block BT20:3 Data File N11:100 Length 64 Continuous No

Setup Screen

For the I/O message portion of this ladder example program, see

Figure 5.5

END

Using Explicit Messaging 6-13

SLC Example

Data Format for a Read and Write Parameter

The data in this example is for a PowerFlex drive at node address 1.

Refer to Formatting Explicit Messages in this chapter for a description of the content of the data file.

Request Data for Read of Drive Parameter 101

Address Valu e ( hex ) Description Refer to . . .

N9:10 0101 TXID = 01, Command = 01 (execute) 6-5

N9:11 0006 Port = 00, Size = 06 bytes 6-5

N9:12 0E01 Service = 0E (Get_Attribute_Single) C-10

Address = 01 (Node Address) 6-5

N9:13 000F Class = 0F (Parameter Object) C-8

N9:14 0027 Instance = Parameter 39 (27 hex)

N9:15 0001 Attribute = 01 (Parameter Value) C-9

Response Data for Read of Drive Parameter 101

Address Valu e ( hex ) Description Refer to . . .

N9:50 0101 TXID = 01, Status = 01 (successful) 6-6

N9:51 0002 Port = 00, Size = 02 bytes 6-6

N9:52 8E01 Service = 8E (successful)

N9:53 0064 Response Data = 100 (64 hex) = 10.0 seconds

Address = 01 (Node Address)

6-6

Request Data for Write to Drive Parameter 101

Address Valu e ( hex ) Description Refer to . . .

N9:10 0101 TXID = 01, Command = 01 (execute) 6-5

N9:11 0008 Port = 00, Size = 08 bytes 6-5

N9:12 1001 Service = 10 (Set_Attribute_Single) C-10

Address = 01 (Node Address) 6-5

N9:13 000F Class = 0F (Parameter Object) C-8

N9:14 0027 Instance = Parameter 39 (27 hex)

N9:15 0001 Attribute = 01 (Parameter Value) C-9

N9:16 0064 Data =100 (64 hex) = 10.0 seconds

6-14 Using Explicit Messaging

Response Data for Write to Drive Parameter 101

Address Valu e ( hex ) Description Refer to . . .

N9:50 0101 TXID = 01, Status = 01 (successful transaction) 6-6

N9:51 0000 Port = 00, Size = 00 bytes 6-6

N9:52 9001 Service = 90 (successful)

Program

Important: To originate a scanner transaction, use a copy operation to

M0:[slot number]:224. Then, use a copy operation to read M1:1.224 for the result. If more than one message is enabled, use the TXID to determine which message you are reading.

Address = 01 (Node Address)

6-6

0014

0015

Using Explicit Messaging 6-15

Figure 6.8 Example SLC Ladder Logic Program

Explicit Messaging Example

When B3:2/0 is set ON, this rung will copy the 32 words of Explicit Message from the buffer at N9:10 to the M0 File Explicit Message buffer. The scanner will send the message out over DeviceNet.

B3:2

When I:1.0/15 is ON (response to the explicit message is available), the response message is copied into N9:50. A "4" command is copied into the M0 file, which commands the 1747-SDN to discard the response data so that the buffer can be used for the next message.

I:1

1747-SDN

COP

COP Copy File Source #N9:10 Dest #M0:1.224 Length 32

COP

COP Copy File Source #M1:1.224 Dest #N9:50 Length 32

EQU

EQU Equal Source A N9:10 257< Source B N9:50 257<

B3:2

0016

MVM

MVM Masked Move Source N9:0 4< Mask 00FFh 255< Dest M0:1.224 ?<

END

For the I/O message portion of this ladder example program, see

Figure 5.6

6-16 Using Explicit Messaging

Notes:

Chapter 7

Using Multi-Drive Mode

Chapter 7 provides information and a ControlLogix ladder example to explain how to use Multi-Drive mode.

Topic Page Topic Page

Single Mode vs. Multi-Drive Mode 7-1 Multi-Drive Ladder Logic Program

System Wiring 7-3 ControlLogix Example 7-7

Understanding the I/O Image 7-4 Multi-Drive Mode Explicit

Configuring the RS-485 Network 7-5 Additional Information 7-22

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

Example

Messaging

7-6

7-20

Single Mode vs. Multi-Drive Mode

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

Figure 7.1 Single Mode Example for Network

1 drive per node

DeviceNet

PowerFlex 40 with 22-COMM-D

Multi-Drive mode is an alternative to the typical network installation, where a single DeviceNet node can consist of one to five drives (Figure

7.2). The first drive must be a PowerFlex 40 with a 22-COMM-D

adapter. The remaining drives can be PowerFlex 4 or 40 drives and they are daisy-chained over RS-485 with the first drive.

PowerFlex 40 with 22-COMM-D

7-2 Using Multi-Drive Mode

Figure 7.2 Multi-Drive Mode Example for Network

up to 5 drives per node

PowerFlex 40

DeviceNet

Up to 4 PowerFlex 4's or 40's

AK-U0-RJ45-TB2P

Connector w/3rd Party

Ter minating Resistor

22-COMM-D

AK-U0-RJ45-TB2PRS-485

AK-U0-RJ45-TB2P

Connector w/3rd Party

Ter minating Resistor

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one 22-COMM-D adapter is needed for up to five drives. PowerFlex 4’s can also be used for the daisy-chained drives instead of PowerFlex 40’s.

• Reduces the network node count (DeviceNet is 63 nodes maximum). 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 means to put PowerFlex 4’s on DeviceNet (PowerFlex 4’s do not have an internal communications adapter slot).

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

The trade-offs of Multi-Drive mode include:

• If the PowerFlex 40 with the 22-COMM-D adapter is powered down, then communications with the daisy-chained drives are disrupted and the drives will take the appropriate communications loss action set in each drive.

• Communications throughput to the daisy-chained drives will be slower than if each drive was a separate node on DeviceNet (Single mode). This is because the 22-COMM-D adapter must take the DeviceNet 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 is:

Drive

PowerFlex 40 w/22-COMM-D 0 ms

PowerFlex 40 w/22-COMM-D plus 1 drive +24 ms

PowerFlex 40 w/22-COMM-D plus 2 drives +48 ms

PowerFlex 40 w/22-COMM-D plus 3 drives +72 ms

PowerFlex 40 w/22-COMM-D plus 4 drives +96 ms

Additional Throughput Time versus Single Mode

Using Multi-Drive Mode 7-3

• Automatic Device Replacement (ADR) cannot be used with any of the drives.

• The RSNetWorx Parameter editor cannot be used.

• 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.

System Wiring

To daisy-chain the drives off the PowerFlex 40 with the 22-COMM-D adapter (Drive 0), the AK-U0-RJ45-TB2P terminal block connector (Figure 7.3

Figure 7.3 AK-U0-RJ45-TB2P Terminal Block Connector

) can be used for easy installation.

The wiring diagram for using AK-U0-RJ45-TB2P terminal block connectors is shown in Figure 7.4.

Figure 7.4 AK-U0-RJ45-TB2P Connector Wiring Diagram

PowerFlex 40

with 22-COMM-D

Drive

120 Ω

¼ Watt

Resistor

Drive

120 Ω

¼ Watt

Resistor

7-4 Using Multi-Drive Mode

Understanding the I/O Image

• Configuration of the Mode Jumper (J2) on the adapter and

Parameter 15 - [DSI I/O Cfg]. The image table always uses consecutive words starting at word 0.

Figure 7.5 illustrates the Multi-Drive I/O image with 16-bit words.

Figure 7.5 Multi-Drive Example of I/O Image

Controller

Scanner

Output Image (Write)

Input Image (Read)

Message

Handler

DeviceNet

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

PowerFlex Drive 1

PowerFlex Drive 2

PowerFlex Drive 3

PowerFlex Drive 4

PowerFlex Drive 0

PowerFlex Drive 1

PowerFlex Drive 2

PowerFlex Drive 3

PowerFlex Drive 4

Using Multi-Drive Mode 7-5

Configuring the RS-485 Network

The following parameters must be set in the daisy-chained drives:

Parameter Va lue

P36 - [Start Source] 5 (“RS485 [DSI] Port”)

P38 - [Speed Reference] 5 (“RS485 [DSI] 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: Parameters A105 - [Comm Loss Action] and A106 -

[Comm Loss Time] in the daisy-chained drives are not

used in Multi-Drive mode. If the RS-485 cable is disconnected or broken, the disconnected drive(s) will fault. On the DeviceNet side, Parameters 07 - [Comm Flt Action] and 08 - [Idle Flt Action] in the 22-COMM-D 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-D:

Parameter Value

15 - [DSI I/O Cfg] 00010 = Drives 0-1 connected

17 - [Drv 0 Addr] = Parameter A104 - [Comm Node Address] in Drive 0

18 - [Drv 1 Addr] = Parameter A104 - [Comm Node Address] in Drive 1

19 - [Drv 2 Addr] = Parameter A104 - [Comm Node Address] in Drive 2

20 - [Drv 3 Addr] = Parameter A104 - [Comm Node Address] in Drive 3

21 - [Drv 4 Addr] = Parameter A104 - [Comm Node Address] in Drive 4

00100 = Drives 0-2 connected 01000 = Drives 0-3 connected 10000 = Drives 0-4 connected

After setting the 22-COMM-D parameters, set the adapter Mode Jumper from Single drive operation to Multi-Drive operation, and reset the adapter or cycle power. Refer to Chapter

2, Commissioning the Adapter.

Important: 22-COMM-D parameters can be set using a DSI peripheral

(HIM, DriveExplorer with 22-SCM-232, etc.) ONLY when the Mode Jumper is in the Single mode position.

7-6 Using Multi-Drive Mode

Multi-Drive Ladder Logic Program Example

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

Function of the Example Program

The example program provided is for the ControlLogix, but other controllers can also be used. The following actions can be performed:

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

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

• Perform a single parameter read and write for each drive. The example uses drive Parameter 39 - [Accel Time] for both so you can see (read) the change after a write is performed.

Adapter Settings for the Example Program

• The Mode Jumper on the adapter is set to the Multi-Drive operation position. See Chapter 2, Commissioning the Adapter.

for a system layout diagram.

• All DIP switches on the adapter are set to CLOSED (all 0’s). See

Chapter 2, Commissioning the Adapter. The actual node address will

be set via a software parameter.

• The following adapter parameters are set:

Parameter Val ue Description

02 - [DN Addr Cfg] 1 DeviceNet node address

15 - [DSI I/O Cfg] 4 “Drives 0-4” — 5 drives on 1 node

17 - [Drv 0 Addr]

18 - [Drv 1 Addr] 2 Modbus address of Drive 1

19 - [Drv 2 Addr] 3 Modbus address of Drive 2

20 - [Drv 3 Addr] 4 Modbus address of Drive 3

21 - [Drv 4 Addr] 5 Modbus address of Drive 4

(1)

The settings for these parameters must match the Parameter A104 -

[Comm Node Addr] settings in the respective drives.

(1)

1 Modbus address of Drive 0

Using Multi-Drive Mode 7-7

Drive Settings for the Example Program

Parameter

P36 - [Start Source] 5 5 5 5 5

P38 - [Speed Reference] 5 5 5 5 5

A103 - [Comm Data Rate] 4 4 4 4 4

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] 0 0 0 0 0

(1)

The settings for these parameters must match the respective parameter

settings in the adapter (Parameter 17 - [Drive 0 Address] through

Parameter 21 - [Drive 4 Address]).

Drive 0 Drive 1 Drive 2 Drive 3 Drive 4

(1)

1 2 3 4 5

Val ue

ControlLogix Example

The following common Tags are used:

Tag Na me Type Description

Local : 3 : I AB: 1756_D...

1756-DNB I/OLocal : 3 : O AB: 1756_D...

Local : 3 : 5 AB: 1756_D...

Drive Input Image INT [10] Input Image Table

Drive Output Image INT [10] Output Image Table

The following Tags are used for Drive 0:

Tag Na me Type Description

Drive 0 Command Stop BOOL Logic Command bit 0 (STOP)

Drive 0 Command Start BOOL Logic Command bit 1 (START)

Drive 0 Command Jog BOOL Logic Command bit 2 (JOG)

Drive 0 Command Clear Faults BOOL Logic Command bit 3 (CLEAR FAULTS)

Drive 0 Command Forward BOOL Logic Command bit 4 (FORWARD)

Drive 0 Reference INT Speed Reference

Drive 0 Status Ready BOOL Logic Status bit 0 (READY)

Drive 0 Status Active BOOL Logic Status bit 1 (ACTIVE)

Drive 0 Status Forward BOOL Logic Status bit 3 (FORWARD)

Drive 0 Status Faulted BOOL Logic Status bit 7 (FAULT)

Drive 0 Status At Reference BOOL Logic Status bit 8 (AT SPEED)

Drive 0 Feedback INT Speed Feedback

Perform Parameter Read 0 BOOL Initiates the parameter read

Parameter RD Value 0 INT Read value of the parameter

Parameter RD Message 0 MESSAGE Get_Attribute_Single (Read)

7-8 Using Multi-Drive Mode

Tag Name Type Description

Perform Parameter Write 0 BOOL Initiates the parameter value

Parameter WR Value 0 INT Write value to the parameter

Parameter WR Message 0 MESSAGE Set_Attribute_Single (Write)

The same type of Tags are also used for Drive 1 through Drive 4.

Main Routine

The Main Routine tells the 1756-DNB scanner to run, reads the network Input Image from the scanner, calls the various drive control subroutines, and writes the network Output Image to the scanner. See Figure 7.6

Using Multi-Drive Mode 7-9

Figure 7.6 Main Routine

ControlLogix MultiDrive example program with a PowerFlex 40 at node address 1. Four PowerFlex 4/40's are daisy-chained to the main PowerFlex 40 via their RJ45 ports (RS-485). In this mode, up to FIVE PowerFlex 4/40's can exist on ONE DeviceNet node.

This rung enables the scanner (changes the scanner to RUN mode).

This section retrieves the Logic Status and Feedback data for all five drives from the scanner, and moves it to specific INT tags for use elsewhere in the ladder program. The input image is as follows:

DriveInputImage[0] and DriveInputImage[1] = Drive 0 Logic Status and Feedback

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

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

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

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

DriveInputImage[8] and DriveInputImage[9] = Drive 4 Logic Status and Feedback

Drive 0 control subroutine.

Local:3:O.CommandRegister.Run

COP Copy File Source Local:3:I.Data[0] Dest DriveInputImage[0] Length 10

JSR Jump To Subroutine Routine Name Drive0

Drive 1 control subroutine.

Drive 2 control subroutine.

Drive 3 control subroutine.

Drive 4 control subroutine.

JSR Jump To Subroutine Routine Name Drive1

JSR Jump To Subroutine Routine Name Drive2

JSR Jump To Subroutine Routine Name Drive3

JSR Jump To Subroutine Routine Name Drive4

7-10 Using Multi-Drive Mode

Figure 7.6 Main Routine (Continued)

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

DriveOutputImage[0] and DriveOutputImage[1] = Drive 0 Logic Command and Reference

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

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

DriveOutputImage[4] and DriveOutputImage[5] = Drive 2 Logic Command and Reference DriveOutputImage[6] and DriveOutputImage[7] = Dr e 3 Logic Command and Reference

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

DriveOutputImage[8] and DriveOutputImage[9] = Drive 4 Logic Command and Reference

(Note the length of the COP instruction is "5" because the Destination address is a DINT)

(End)

Drive 0 - Drive 4 Control Routines

The Drive Control routines provide status information (Logic Status and Feedback), control (Logic Command and Reference), and parameter read/write for each of the respective drives. See Figure 7.7

Figure 7.8 for Drive 1, Figure 7.9 for Drive 2, Figure 7.10 for Drive 3,

and for Drive 4.

Copy File Source DriveOutputImage[0] Dest Local:3:O.Data[0] Length 5

COP

for Drive 0,

Using Multi-Drive Mode 7-11

Figure 7.7 Drive 0 Control Routine

Drive 0 Control Subroutine

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

DriveInputImage[0].0

Drive0StatusReady

DriveInputImage[0].1

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

DriveInputImage[0].3

DriveInputImage[0].7

DriveInputImage[0].8

Drive0CommandStop

Drive0CommandStart

Drive0CommandJog

Drive0CommandClearFaults

Drive0CommandForward

Copy File Source DriveInputImage[1] Dest Drive0Feedback Length 1

Drive0StatusActive

Drive0StatusForward

Drive0StatusFaulted

Drive0StatusAtReference

COP

DriveOutputImage[0].0

DriveOutputImage[0].1

DriveOutputImage[0].2

DriveOutputImage[0].3

DriveOutputImage[0].4

Drive0CommandForward

DriveOutputImage[0].5

COP Copy File Source Drive0Reference Dest DriveOutputImage[1] Length 1

7-12 Using Multi-Drive Mode

Figure 7.7 Drive 0 Control Routine (Continued)

Explicit Messaging Example

Drive 0 parameters are accessed by adding 17408 decimal (4400 hex) to the desired parameter number. For example, to access Parameter 39 an Instance of 17447 (17408 + 39) is used.

PerformParameterRead0

G Type - CIP Generic Message Control ParameterRDMessage0

...

EN DN ER

PerformParameterWrite0

(End)

MS Type - CIP Generic Message Control ParameterWRMessage0

Return

RET

...

EN DN ER

Using Multi-Drive Mode 7-13

Figure 7.8 Drive 1 Control Routine

Drive 1 Control Subroutine

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

DriveInputImage[2].0

Drive1StatusReady

DriveInputImage[2].1

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

DriveInputImage[2].3

DriveInputImage[2].7

DriveInputImage[2].8

Drive1CommandStop

Drive1CommandStart

Drive1CommandJog

Drive1CommandClearFaults

Drive1CommandForward

Copy File Source DriveInputImage[3] Dest Drive1Feedback Length 1

Drive1StatusActive

Drive1StatusForward

Drive1StatusFaulted

Drive1StatusAtReference

COP

DriveOutputImage[2].0

DriveOutputImage[2].1

DriveOutputImage[2].2

DriveOutputImage[2].3

DriveOutputImage[2].4

Drive1CommandForward

DriveOutputImage[2].5

Copy File Source Drive1Reference Dest DriveOutputImage[3] Length 1

COP

7-14 Using Multi-Drive Mode

Figure 7.8 Drive 1 Control Routine (Continued)

Explicit Messaging Example

Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the desired parameter number. For example, to access Parameter 39 an Instance of 18471 (18432 + 39) is used.

PerformParameterRead1

G Type - CIP Generic Message Control ParameterRDMessage1

...

EN DN ER

PerformParameterWrite1

(End)

Type - CIP Generic Message Control ParameterWRMessage1

Return

RET

...

EN DN ER

Using Multi-Drive Mode 7-15

Figure 7.9 Drive 2 Control Routine

Drive 2 Control Subroutine

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

DriveInputImage[4].0

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

DriveInputImage[4].1

DriveInputImage[4].3

DriveInputImage[4].7

DriveInputImage[4].8

Drive2CommandStop

Drive2CommandStart

Drive2CommandJog

Copy File Source DriveInputImage[5] Dest Drive2Feedback Length 1

Drive2StatusReady

Drive2StatusActive

Drive2StatusForward

Drive2StatusFaulted

Drive2StatusAtReference

COP

DriveOutputImage[4].0

DriveOutputImage[4].1

DriveOutputImage[4].2

Drive2CommandClearFaults

Drive2CommandForward

DriveOutputImage[4].3

DriveOutputImage[4].4

DriveOutputImage[4].5

COP Copy File Source Drive2Reference Dest DriveOutputImage[5] Length 1

7-16 Using Multi-Drive Mode

Figure 7.9 Drive 2 Control Routine (Continued)

Explicit Messaging Example

Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the desired parameter number. For example, to access Parameter 39 an Instance of 19495 (19456 + 39) is used.

PerformParameterRead2

G Type - CIP Generic Message Control ParameterRDMessage2

...

EN DN ER

PerformParameterWrite2

(End)

MS Type - CIP Generic Message Control ParameterWRMessage2

Return

RET

...

EN DN ER

Using Multi-Drive Mode 7-17

Figure 7.10 Drive 3 Control Routine

Drive 3 Control Subroutine

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

DriveInputImage[6].0

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

DriveInputImage[6].1

DriveInputImage[6].3

DriveInputImage[6].7

DriveInputImage[6].8

Drive3CommandStop

Drive3CommandStart

Drive3CommandJog

Copy File Source DriveInputImage[7] Dest Drive3Feedback Length 1

Drive3StatusReady

Drive3StatusActive

Drive3StatusForward

Drive3StatusFaulted

Drive3StatusAtReference

COP

DriveOutputImage[6].0

DriveOutputImage[6].1

DriveOutputImage[6].2

Drive3CommandClearFaults

Drive3CommandForward

DriveOutputImage[6].3

DriveOutputImage[6].4

DriveOutputImage[6].5

Copy File Source Drive3Reference Dest DriveOutputImage[7] Length 1

COP

7-18 Using Multi-Drive Mode

Figure 7.10 Drive 3 Control Routine (Continued)

Explicit Messaging Example

Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the desired parameter number. For example, to access Parameter 39 an Instance of 20519 (20480 + 39) is used.

PerformParameterRead3

G Type - CIP Generic Message Control ParameterRDMessage3

...

EN DN ER

PerformParameterWrite3

(End)

Type - CIP Generic Message Control ParameterWRMessage3

Return

RET

...

EN DN ER

Using Multi-Drive Mode 7-19

Figure 7.11 Drive 4 Control Routine

Drive 4 Control Subroutine

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

DriveInputImage[8].0

Drive4StatusReady

DriveInputImage[8].1

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

DriveInputImage[8].3

DriveInputImage[8].7

DriveInputImage[8].8

Drive4CommandStop

Drive4CommandStart

Drive4CommandJog

Drive4CommandClearFaults

Drive4CommandForward

Copy File Source DriveInputImage[9] Dest Drive4Feedback Length 1

Drive4StatusActive

Drive4StatusForward

Drive4StatusFaulted

Drive4StatusAtReference

COP

DriveOutputImage[8].0

DriveOutputImage[8].1

DriveOutputImage[8].2

DriveOutputImage[8].3

DriveOutputImage[8].4

Drive4CommandForward

DriveOutputImage[8].5

Copy File Source Drive4Reference Dest DriveOutputImage[9] Length 1

COP

7-20 Using Multi-Drive Mode

Figure 7.11 Drive 4 Control Routine (Continued)

Explicit Messaging Example

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number. For example, to access Parameter 39 an Instance of 21543 (21504 + 39) is used.

PerformParameterWrite4

G Type - CIP Generic Message Control ParameterRDMessage4

...

EN DN ER

PerformParameterRead4

(End)

Type - CIP Generic Message Control ParameterWRMessage4

Return

RET

...

EN DN ER

Multi-Drive Mode 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 Device Paramete r

4000h (16384 dec) - 43FFh 22-COMM-D 0 - 1023

4400h (17408 dec) - 47FFh Drive 0 0 - 1023

4800h (18432 dec) - 4BFFh Drive 1 0 - 1023

4000h (19456 dec) - 4FFFh Drive 2 0 - 1023

5000h (20480 dec) - 53FFh Drive 3 0 - 1023

5400h (21504 dec) - 57FFh Drive 4 0 - 1023

For example, to access Parameter P39 - [Accel Time 1] in each of the drives, the following Instances would be used:

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)

Using Multi-Drive Mode 7-21

Drive 0 Explicit Message Example

The Explicit message examples in the ControlLogix example program perform a read (Get_Attribute_Single) and a write (Set_Attribute_Single) to Parameter 39 - [Accel Time 1]. The configuration for the read is shown in Figure 7.12

Figure 7.12 Parameter Read Message Configuration

and the write is shown in Figure 7.13.

Figure 7.13 Parameter Write Message Configuration

7-22 Using Multi-Drive Mode

The Class Code is “ f ” for the Parameter Object and the Instance Attribute is “1” to select retrieving the parameter value. See Appendix C,

Parameter Object

access Parameter 39 - [Accel Time 1].

The Explicit messages for Drive 1 to Drive 4 are identical except for the Instance values:

for more information. The Instance value is “17447” to

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

Additional Information

• When the PowerFlex 40 with the 22-COMM-D (Drive 0) is powered up, all configured daisy-chained drives must be present before an I/O connection is allowed on DeviceNet (i.e. before the drives can be controlled).

• If the PowerFlex 40 with the 22-COMM-D adapter (Drive 0) is powered down, communications with the four daisy-chained drives (Drive 1 to Drive 4) are disrupted and the drives will fault.

• If any of the daisy-chained drives (Drive1 to Drive 4) are powered down, the respective Input Image (Logic Status and Feedback) sent to the scanner will be zeros, and the NET A and PORT LEDs on the 22-COMM-D adapter will flash red. Status information from the scanner will not indicate there is a fault at the node.

Chapter 8

Troubleshooting

Chapter 8 contains troubleshooting information.

Topic Page Topic Page

Locating the Status Indicators 8-1 Module Diagnostic Items in

PORT Status Indicator 8-2 Module Diagnostic Items in

MOD Status Indicator 8-3 Viewing and Clearing Events 8-6

Net A Status Indicator 8-4

Single Drive Mode

Multi-Drive Mode

Locating the Status Indicators

The DeviceNet adapter has three status indicators. They can be viewed on the adapter or through the drive cover. See Figure 8.1.

Figure 8.1 Status Indicators (location on drive may vary)

8-4

8-5

➊

➋

➌

Number Status Indicator Description Page

➊ ➋ ➌ ➍

PORT DSI Connection Status 8-2

MOD Adapter Status 8-3

NET A DeviceNet Status 8-4

NET B Not Used for DeviceNet

➊ ➋ ➌ ➍

8-2 Troubleshooting

PORT Status Indicator

Status Cause Corrective Action

Off The adapter is not powered or

Flashing Red

Solid Red

Flashing Green

Solid Green

Orange Daisy-chained drives in

is not connected properly to the drive.

The adapter is not receiving communication from the drive, connected drive is faulted, or a drive is missing in Multi-Drive mode.

The drive has refused an I/O connection from the adapter.

Another DSI peripheral is using the same DSI port as the adapter.

The adapter is establishing an I/O connection to the drive or [DSI I/O Config] is configured for all I/O disabled.

The adapter is properly connected and is communicating with the drive.

Multi-Drive mode are not all Allen-Bradley drives (PowerFlex 4/40).

• Securely connect the adapter to the drive

using the ribbon cable.

• Apply power to the drive.

• Clear any drive faults.

• Verify that cables are securely connected.

• Cycle power to the drive.

Important: Cycle power to the product after making the following correction:

Verify that all DSI cables are securely connected and not damaged. Replace cables if necessary.

• No Action. This status indicator will turn

solid green or red.

• Verify Parameter 15, [DSI I/O Config]

settings.

• Nor mal behavior if no DSI I/O is enabled.

No Action.

Use Allen-Bradley PowerFlex 4/40’s for the daisy-chained drives.

Troubleshooting 8-3

MOD Status Indicator

Status Cause Corrective Action

Off The adapter is not powered. • Securely connect the adapter to the drive

Flashing Red

Solid Red

Flashing Green

Solid Green

The adapter has failed the firmware test, connected drive is faulted, or a drive is missing in Multi-Drive mode.

The adapter has failed the hardware test.

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

The adapter is operational and transferring I/O data.

using the ribbon cable.

• Apply power to the drive.

• Clear faults in the drive.

• Cycle power to the drive.

• If cycling power does not correct the

problem, the parameter settings may have been corrupted. Reset defaults and reconfigure the module.

• If resetting defaults does not correct the

problem, flash the adapter with the latest firmware release.

• For Multi-Drive mode, determine which

drive is missing or faulted. Check cabling and configuration settings (see Configuring

the RS-485 Network section in Chapter 7).

• Cycle power to the drive.

• Replace the adapter.

• Place the scanner in RUN mode.

• Program the controller to recognize and

transmit I/O to the adapter.

• Configure the adapter for the program in

the controller.

• Nor mal behavior if no DSI I/O is enabled.

No Action.

8-4 Troubleshooting

Net A Status Indicator

Status Cause Corrective Actions

Off The adapter and/or

Flashing Red

Solid Red

Flashing Green

Solid Green

network is not powered or adapter is not connected properly to the network.

A DeviceNet I/O connection has timed out.

Failed duplicate node detection test or bus off condition exists.

The adapter is properly connected but is not communicating with any devices on the network.

The adapter is properly connected and communicating on the network.

• Securely connect the adapter to the drive

using the Internal Interface cable and to the network using a DeviceNet cable.

• Correctly connect the DeviceNet cable to the

DeviceNet plug.

• Apply power to the drive and network.

• Place the scanner in RUN mode, or apply

power to the peer device that will send I/O.

• Check the amount of traffic on the network.

• Configure the adapter to use a unique node

address on the DeviceNet network.

• Configure the adapter to use the correct

network data rate.

• Ensure network has correct media installed.

• Place the controller in RUN mode, or apply

power to the peer device that will send I/O.

• Program a controller or peer device to

recognize and transmit I/O to the adapter.

• Configure the adapter for the program in the

controller or the I/O from the peer device.

No action required.

Module Diagnostic Items in Single Drive Mode

The following diagnostic items can be accessed using DriveExplorer (version 3.01 or higher).

No. Name Description

1 Field Flash Cnt The number of flash updates made to the adapter after shipping.

2 Adapter Events The number of events in the event queue.

3 Reference Reference being transmitted to the host by this peripheral.

4 Logic Cmd Command being transmitted to the host by this peripheral.

5 Logic Sts Status being received from the host by this peripheral.

6 Feedback Feedback being received from the host by this peripheral.

7 DN Rx Errors Current value of the DeviceNet CAN Receive Error Counter register.

8 DN Tx Errors Current value of the DeviceNet CAN Transmit Error Counter register.

9 Data Rate SW Current setting of the adapter 2-bit data rate switch.

10 Node Address SW Current setting of the adapter 6-bit Node address switch.

Troubleshooting 8-5

Module Diagnostic Items in Multi-Drive Mode

The following diagnostic items can be accessed using DriveExplorer (version 3.01 or higher).

No. Name Description

1 Field Flash Cnt The number of flash updates made to the adapter after shipping.

2 Adapter Events The number of events in the event queue.

3 Dr v 0 Reference Reference being transmitted from the adapter to DSI drive 0.

4 Dr v 0 Logic Cmd Command being transmitted from the adapter to DSI drive 0.

5 Dr v 0 Logic Sts Status of DSI drive 0 being received by the adapter.

6 Dr v 0 Feedback Feedback from DSI drive 0 being received by the adapter.

7 Dr v 1 Reference Reference being transmitted from the adapter to DSI drive 1.

8 Dr v 1 Logic Cmd Command being transmitted from the adapter to DSI drive 1.

9 Dr v 1 Logic Sts Status of DSI drive 1 being received by the adapter.

10 Drv 1 Feedback Feedback from DSI drive 1 being received by the adapter.

11 Drv 2 Reference Reference being transmitted from the adapter to DSI drive 2.

12 Drv 2 Logic Cmd Command being transmitted from the adapter to DSI drive 2.

13 Drv 2 Logic Sts Status of DSI drive 2 being received by the adapter.

14 Drv 2 Feedback Feedback from DSI drive 2 being received by the adapter.

15 Drv 3 Reference Reference being transmitted from the adapter to DSI drive 3.

16 Drv 3 Logic Cmd Command being transmitted from the adapter to DSI drive 3.

17 Drv 3 Logic Sts Status of DSI drive 3 being received by the adapter.

18 Drv 3 Feedback Feedback from DSI drive 3 being received by the adapter.

19 Drv 4 Reference Reference being transmitted from the adapter to DSI drive 4.

20 Drv 4 Logic Cmd Command being transmitted from the adapter to DSI drive 4.

21 Drv 4 Logic Sts Status of DSI drive 4 being received by the adapter.

22 Drv 4 Feedback Feedback from DSI drive 4 being received by the adapter.

23 DN Rx Errors Current value of the DeviceNet CAN Receive Error Counter register.

24 DN Tx Errors Current value of the DeviceNet CAN Transmit Error Counter register.

25 Data Rate SW Current setting of the adapter 2-bit data rate switch.

26 Node Address SW Current setting of the 6-bit Node address switch.

8-6 Troubleshooting

Viewing and Clearing Events

The adapter maintains an event queue that reports the history of its actions. You can view the event queue using DriveExplorer (3.01) software.

Figure 8.2 DriveExplorer Event View/Clear Screen

Rockwell Automation 22-COMM-E 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

Chapter 1

Getting Started

Components

Features

Compatible Products

Required Equipment

Safety Precautions

Quick Start

Modes of Operation

Chapter 2

Installing the Adapter

Preparing for an Installation

Commissioning the Adapter

Connecting the Adapter to the Network

Connecting the Adapter to the Drive

Applying Power

Chapter 3

Configuring the Adapter

Configuration Tools

Using the PowerFlex 4-Class HIM

Using RSNetWorx for DeviceNet

Setting the Node Address

Setting the Data Rate

Setting the I/O Configuration

Selecting COS, Cyclic, or Polled I/O

Setting a Fault Action

Resetting the Adapter

Viewing the Adapter Configuration

Chapter 4

Configuring the Scanner

Example Network

Setting Up the Scan List

Mapping the Drive Data in the Scanner

Saving the Configuration

Chapter 5

Using I/O Messaging

About I/O Messaging

Understanding the I/O Image

Using Logic Command/Status

Using Reference/Feedback

Example Ladder Logic Programs

ControlLogix Example

PLC-5 Example

SLC Example

Chapter 6

Using Explicit Messaging

About Explicit Messaging

Formatting Explicit Messages

Running Explicit Messages

ControlLogix Example

PLC-5 Example

SLC Example

Chapter 7

Using Multi-Drive Mode

Single Mode vs. Multi-Drive Mode

System Wiring

Understanding the I/O Image

Configuring the RS-485 Network

Multi-Drive Ladder Logic Program Example

ControlLogix Example

Multi-Drive Mode Explicit Messaging

Additional Information

Chapter 8

Troubleshooting

Locating the Status Indicators

PORT Status Indicator

MOD Status Indicator

Net A Status Indicator

Module Diagnostic Items in Single Drive Mode