Rockwell Automation 25-COMM-D User Manual

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User Manual

PowerFlex 525 DeviceNet Adapter

Catalog Number: 25-COMM-D

Important User Information

IMPORTANT

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 your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/ important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

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

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

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

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

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

available from

) describes some

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

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

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

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

Allen-Bradley, Roc kwell Automation, Rockwell Sof tware, PowerFlex, Studio 5000 and C onnected Components Workbench are trademarks of Ro ckwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Overview

Getting Started

Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Preface

Recommended Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Manual Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Chapter 1

Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Understanding Parameter Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 2

Installing the Adapter

Configuring the Adapter

Preparing for an Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Commissioning the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Connecting the Adapter to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Connecting the Adapter to the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Chapter 3

Configuration Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Using the Drive Keypad Interface to Access Parameters . . . . . . . . . . . . . 23

Using the PowerFlex 4-Class HIM to Access Parameters. . . . . . . . . . . . . 25

Setting the Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Setting the Data Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Setting the I/O Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Using Master-Slave Hierarchy (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Selecting COS, Cyclic, or Polled I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Resetting the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Restoring Adapter Parameters to Factory Defaults . . . . . . . . . . . . . . . . . . 30

Viewing the Adapter Status Using Parameters . . . . . . . . . . . . . . . . . . . . . . 31

Updating the Adapter Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Configuring the I/O

Using the I/O

Chapter 4

Using RSLinx Classic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

CompactLogix Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Chapter 5

About I/O Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 3

Table of Contents

Using Explicit Messaging

Using Multi-Drive Mode

Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Using Datalinks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Example Ladder Logic Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

CompactLogix Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Chapter 6

About Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Performing Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

CompactLogix Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Chapter 7

Single-Drive Mode vs. Multi-Drive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 69

System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Understanding the I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Configuring the RS-485 Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Multi-Drive Ladder Logic Program Example . . . . . . . . . . . . . . . . . . . . . . . 73

CompactLogix Example Using Generic Profile . . . . . . . . . . . . . . . . . . . . . 74

Multi-Drive Mode Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Additional Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Troubleshooting

Specifications

Adapter Parameters

Chapter 8

Understanding the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

MOD Status Indicator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

NET A Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Viewing Adapter Diagnostic Items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Viewing and Clearing Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Appendix A

Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Regulatory Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Appendix B

Device Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Appendix C

DeviceNet Objects

4 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Supported Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Identity Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Assembly Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Logic Command/Status Words: PowerFlex 525 Drives

Index

Table of Contents

Connection Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Parameter Group Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

PCCC Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

DPI Device Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

DPI Parameter Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

DPI Fault Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

DPI Diagnostic Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Appendix D

Logic Command Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Logic Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Glossary

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 5

Table of Contents

Notes:

6 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Overview

For information on… See page…

Manual Conventions

This manual provides information about the DeviceNet adapter and using it with PowerFlex 525 drives for network communication.

The following conventions are used throughout this manual:

• Parameter names are shown in the format axxx [*]. The a represents the parameter group. The xxx represents the parameter number. The * represents the parameter name— for example C175 [DSI I/O Cfg].

• Menu commands are shown in bold type face and follow the format Menu > Command. For example, if you read “Select File > Open,” yo u s ho ul d click the File menu and then click the Open command.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 7

Preface Overview

• RSLinx Classic (version 2.51), RSNetWorx for DeviceNet (version 21), and RSLogix 5000 (version 20) were used for the screen captures in this manual. Different versions of the software may differ in appearance and procedures.

• The Studio 5000™ Engineering and Design Environment combines engineering and design elements into a common environment. The first element in the Studio 5000 environment is the Logix Designer application. The Logix Designer application is the rebranding of RSLogix 5000 software and will continue to be the product to program Logix 5000 controllers for discrete, process, batch, motion, safety, and drive-based solutions. The Studio 5000 environment is the foundation for the future of Rockwell Automation engineering design tools and capabilities. It is the one place for design engineers to develop all the elements of their control system.

8 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 1

Item Part Description

➊ Node Address/Rate

switches

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

, Installing the

Adapter.

➋ Communication card-

Drive header

A 40-pin, double-row shrouded female header. An interface connector is used to connect this header to a header on the drive.

➌ Status indicators Three LEDs that indicate the status of the

connected drive, adapter and network. See

Chapter 8

, Troubleshooting

➍ CS1/CS2 terminals Provides a clean ground for the

communication bus cable shields. CS1 or CS2 should be connected to a clean

ground or PE ground on the drive.

➎ DeviceNet connector A 5-pin connector to which a 5-pin linear

plug can be connected.

25-COMM-D

➊

➋

➌

➍

➎

Getting Started

The DeviceNet adapter is a communication option intended for installation into a PowerFlex 525 drive. The Multi-Drive feature (Chapter 7 means for other supported PowerFlex drives and DSI Hosts to connect to a DeviceNet network.

Top ic Pa ge

Components 9

Feature s 10

Understanding Parameter Types 10

Compatible Products 11

Required Equipment 11

Safety Precautions 12

Quick Start 13

) also provides a

Components

Components of the DeviceNet Adapter

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 9

Chapter 1 Getting Started

Features

The features of the DeviceNet adapter include:

• Mounting onto a PowerFlex 525 Control Module back cover for installation into the drive. It receives the required power from the drive and from the DeviceNet network.

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

• Compatibility with various configuration tools to configure the DeviceNet adapter and host drive. The tools include network software such as RSNetWorx for DeviceNet, and drive-configuration software such as RSLogix 5000 (version 17 or greater), Logix Designer (version 21 or greater), and Connected Components Workbench (version 3 or greater).

• Status indicators that report the status of the DeviceNet adapter and network communications.

• Parameter-configured 16-bit Datalinks in the I/O to meet application requirements (four Datalinks to write data from the network to the drive, and four Datalinks to read data to the network from the drive).

• Explicit Messaging and UCMM (Unconnected Message Manager) support.

• Master-Slave hierarchy that can be configured to transmit data to and from a controller on the network.

• Multi-drive mode which allows up to five drives to share a single DeviceNet address node.

• User-defined fault actions to determine how the DeviceNet adapter and its host PowerFlex 525 drive respond to:

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

• Multiple data exchange methods, including Polled, Cyclic, and Change of

State (COS), can be used to transmit data between the network and adapter.

• 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.

Understanding Parameter Types

10 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

This manual references two types of parameters:

• Device parameters are used to configure the adapter to operate on the network. These parameters reside on the adapter.

• Host parameters are used to configure the drive, including the datalink configuration for the datalinks used by the adapter. These parameters reside on the drive.

Getting Started Chapter 1

Yo u c an vi ew ad ap te r Device parameters and Host parameters with any of the following drive configuration tools:

• PowerFlex 4-class HIM (22-HIM-A3 or 22-HIM-C2S)

• Connected Components Workbench software – click the tab for the

adapter at the bottom of the window, and click the Parameters icon in the tool bar.

Compatible Products

Required Equipment

At the time of publication, the DeviceNet adapter is compatible with AllenBradley PowerFlex 525 drives.

Equipment Shipped with the Drive

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

❑ One PowerFlex 520-series DeviceNet communications adapter (25-COMM-D)

(installed in a PowerFlex 520-series drive control module back cover)

❑ One 5-pin inline DeviceNet plug (connected to the DeviceNet connec tor on the adapter) ❑ Two interface connectors (for connecting the Communication card-Drive header to the header on the drive) ❑ Installation leaflet (publication 520COM-IN001

)

User-Supplied Equipment

The adapter parameters can be configured using the drive keypad interface (see

Using the Drive Keypad Interface to Access Parameters

you must supply:

❑ DeviceNet cable (thin cable with an outside diameter of 6.9 mm (0.27 in.) is recommended) ❑ Controller configuration software, such as:

– RSNetWorx for DeviceNet

– RSLogix 5000 or Logix Designer

– Connected Components Workbench (version 3 or greater)

on page 23). In addition,

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 11

Chapter 1 Getting Started

Safety Precautions

Please read the following safety precautions carefully.

ATT EN TI ON : 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.

ATT EN TI ON : 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 drive using this DeviceNet adapter. Failure to comply may result in injury and/or equipment damage.

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

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

ATT EN TI ON : Risk of injury or equipment damage exists. Device parameters 15 [Comm Flt Actn] and 16 [Idle Flt Actn] let you determine the action of the

adapter and drive if I/O communication is disrupted, the controller is idle, or explicit messaging for drive control is disrupted. By default, these parameters fault the drive. You may configure these parameters so that the drive continues to run, however, precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or a controller in idle state).

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

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

)

12 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Getting Started Chapter 1

Quick Start

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

Step Action See...

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

2 Verify that the PowerFlex drive is properly installed. PowerFlex 525

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 is not powered. Then, connect the adapter to the drive using the interface connector (included with adapter).

5 Connect the drive to the DeviceNet network.

Verify that the DeviceNet network is not powered. Then, connect the DeviceNet adapter to the network using a DeviceNet cable.

6 Apply power to the drive and to the network.

The adapter receives power from the drive and network.

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

b. Configure/verify key drive parameters.

7 Configure the adapter for your application.

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

– Node address – Data rate – I/O configuration – Change of State, Cyclic, or polled I/O data exchange – Fault actions

8 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.

9 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.

10 Create a ladder logic program.

Use a controller configuration tool such as RSLogix 5000/Logix Designer to create a ladder logic program that enables you to:

– Control the adapter and drive using I/O. – Monitor or configure the drive using Explicit messages.

Chapter 8

, Troubleshooting.

Adjustable Freq uency AC Drive User Manual (publication 520-UM001

Chapter 2 Installing the Adapter

Chapter 3 Configuring the Adapter

DeviceNet Planning and Installation Manual (ODVA pub 27)

Chapter 4 Configuring the I/O

Chapter 5, Using the I/O

Chapter 6, Using Explicit Messaging

)

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 13

Chapter 1 Getting Started

Notes:

14 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 2

IMPORTANT

Installing the Adapter

Chapter 2 provides instructions for installing the DeviceNet adapter in a PowerFlex 525 drive.

Top ic Pa ge

Preparing for an Installation

Commissioning the Adapter 15

Connecting the Ad apter to the Drive 17

Connecting the Adapter to the Network 19

Applying Power 20

Preparing for an Installation

Commissioning the Adapter

Before installing the adapter, do the following:

• Read the DeviceNet Media Design and Installation Guide, publication

DNET-UM072

• Read the DeviceNet Starter Kit User Manual, publication DNET-

UM003.

• Verify that you have all required equipment. See Chapter 1

, Getting

Started.

To commission the adapter, you must set a unique node address and the data rate that is used by the network. (See the Glossary

for details about data rates and

node addresses.).

There are two methods for configuring the adapter’s Node address and data rate:

• Using the onboard DIP Switches;

• Using adapter parameters – Use adapter parameters when you want more

flexibility in setting up the node address. To set the Node address using adapter parameters, see Setting the Node Address

on page 25.

Regardless of the method used to set the adapter’s node address, each node on the network must have a unique node address. To change a node address, you must set the new value and then cycle drive power.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 15

)

Chapter 2 Installing the Adapter

Switch Description Default

SW1 Least Significant Bit (LSB) of Node Address 1 Node 63

SW2 Bit 1 of Node Address 1

SW3 Bit 2 of Node Address 1

SW4 Bit 3 of Node Address 1

SW5 Bit 4 of Node Address 1

SW6 Most Significant Bit (MSB) of Node Address 1

SW7 Least Significant Bit (LSB) of Data Rate 1 Autobaud

SW8 Most Significant Bit (MSB) of Data Rate 1

Setting the Node Address and Data Rate Using the DIP Switches

Node Address Switch Settings (UP = ON = 1)

Switch Setting Node

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

0000000 00000132

1000001 10000133

0100002 01000134

1100003 11000135

0010004 00100136

1010005 10100137

0110006 01100138

1110007 11100139

0001008 00010140

1001009 10010141

01010010 01010142

11010011 11010143

00110012 00110144

10110013 10110145

01110014 01110146

11110015 11110147

00001016 00001148

10001017 10001149

01001018 01001150

11001019 11001151

00101020 00101152

10101021 10101153

01101022 01101154

11101023 11101155

00011024 00011156

10011025 10011157

01011026 01011158

16 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

11011027 11011159

00111028 00111160

10111029 10111161

01111030 01111162

11111031 11111163

Address

Switch Setting Node

Address

Installing the Adapter Chapter 2

IMPORTANT

Data Rate Switch Settings (UP = ON = 1)

Switch Setting Data Rate

SW 7 SW 8

00125 kbps

10250 kbps

01500 kbps

11Autobaud

If all switches are in the OFF position (all 0’s), then the Node Address and Data Rate are determined by parameter settings (Device parameters 07 [Net Addr

Cfg] and 09 [Net Rate Cfg]).

Setting Single-Drive or Multi-Drive Mode

To select between Single-Drive or Multi-Drive mode, see Parameter

Configuration for Multi-Drive Mode on page 73.

Connecting the Adapter to the Drive

ATT EN TI ON : Risk of injury or death exists. The PowerFlex drive may contain

high voltages that can cause injur y or death. Remove power from the drive, and then verify power has been discharged before connecting the DeviceNet adapter to the network.

1. Remove power from the drive.

2. Use static control precautions.

3. Separate the drive’s control module from the power module.

a. Press and hold down the catch on both sides of the frame cover, then

pullout and swing upwards to remove (Frames B...E only).

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 17

Chapter 2 Installing the Adapter

b. Press down and slide out the top cover of the control module to unlock

it from the power module.

c. Hold the sides and top of the control module firmly, then pull out to

separate it from the power module.

4. Insert the interface connector for the adapter into the header located at the back of the control module.

18 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Installing the Adapter Chapter 2

IMPORTANT

5. Align the Communication card-Drive header on the adapter with the interface connector. Then, press down firmly around the adapter. The adapter snaps into the back of the control module.

The CS1/CS2 terminals on the adapter provide a clean ground for the communication bus cable shields. You should connect the CS1 or CS2 terminal to a clean ground or PE ground on the drive.

Connecting the Adapter to the Network

6. Attach the control module to the power module.

ATT EN TI ON : Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injur y or death. Remove power from the drive, and then verify power has been discharged before connecting the embedded EtherNet/IP adapter to the network.

1. Remove power from the network.

2. Use static control precautions.

3. Connect a DeviceNet cable to the network. A DeviceNet thin cable with

an outside diameter of 6.9 mm (0.29 in.) is recommended.

Maximum cable length depends on data rate. See the Glossary for Data Rate.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 19

Chapter 2 Installing the Adapter

TIP

IMPORTANT

Terminal Color Signal Function

5RedV+Power Supply

4 White CAN_H Signal High

3 Bare SHIELD Shield

2BlueCAN_LSignal Low

1 Black V- Common

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

5 4 3 2 1

Red White Bare Blue Black

A 5-pin linear plug is shipped with the adapter. If a replacement plug is needed, the replacement plug part number is 1799-DNETSCON.

A 10-pin linear plug is not supported.

5. Insert the 5-pin linear plug into the mating socket on the adapter and secure it with the two screws. Verify that the colors of the wires on the plug match up with the color codes on the socket.

Applying Power

1. Make sure 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 (see Commissioning the Adapter

2. Apply power to the drive. The adapter receives its power from the connected drive and network.

3. If the parameter settings for the data rate and node address are to be used, a configuration tool such as Connected Components Workbench (version 3 or greater) can be used to adjust the respective parameters in the adapter. See Chapter 3

Start-Up Status Indication

20 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

After power has been applied, the status indicators can be viewed on the front of the drive. When you apply power to the product and network for the first time,

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

on page 15).

, Configuring the Adapter.

Installing the Adapter Chapter 2

Esc

Sel

Item Status Indicator Status

(1)

(1) If all status indicators are off, the adapter is not receiving power. If any other conditions occur, see Chapter 8, Troubleshooting.

Description

➊ PORT Green Normal operation. The adapter is properly

connected and is communicating with the drive.

Flashing green The adapter is in the process of establishing a

connection to the drive. This status indicator will turn solid green or red.

➋ MOD Green Normal operation. The adapter is operational

and is transferring I/O data.

Flashing green Normal operation. The adapter is operational

but is not transferring I/O data.

➌ NET A Green Normal operation. The adapter is properly

connected and communicating on the network.

Flashing green The adapter is properly connected but is not

communicating with any devices on the network.

➍ NET B Off Not used for DeviceNet.

➊

➋

25-COMM-D PowerFlex 525 Frame A shown

➌

➍

➊

➋

➌

➍

the status indicators should be green after an initialization. If the status indicators go red, there is a problem. See Chapter 8

Drive and Adapter Status Indicators

, Troubleshooting.

FWD

ENET LINK

EtherNet/IP

Configuring/Verifying Key Drive Parameters

The PowerFlex 525 drive can be separately configured for the control and Reference functions in various combinations. For example, you could set the drive to have its control come from a peripheral or terminal block with the Reference coming from the network. Or you could set the drive to have its control come from the network with the Reference coming from another peripheral or terminal block. Or you could set the drive to have both its control and Reference come from the network.

Configuring the Host parameters can be done using the drive’s keypad, a HIM, Logix Designer or Connected Components Workbench. In the following example, the drive will receive the Logic Command and Reference from the network.

1. Set the value of Host parameter P046 [Start Source 1]

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 21

to 4 “Network Opt”.

Chapter 2 Installing the Adapter

TIP

2. Set the value of Host parameter P047 [Speed Reference1] to 4 “Network Opt”.

The PowerFlex 525 drive supports up to three control functions and three Reference functions.

For more information on how to set different combinations of the control and Reference functions, see the PowerFlex 525 drive user manual, publication 520-UM001

22 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 3

IMPORTANT

Configuring the Adapter

Chapter 3 provides instructions and information for setting the parameters to configure the DeviceNet adapter.

Top ic Pa ge

Configurat ion Tools

Using the Drive Keypad Interface to Access Parameters 23

Using the PowerFlex 4-Class HIM to Access Parameters 25

Setting the Node Address 25

Setting the Data Rate 26

Setting the I/O Configuration 26

Using Master-Slave Hierarchy (Optional) 26

Selecting COS, Cyclic, or Polled I/O 28

Setting a Fault Action 29

Resetting the Ad apter 30

Restoring Adapter Parameters to Factory Defaults 30

Viewing the Adapter Status Using Parameters 31

Updating the Adapter Firmware 31

Configuration Tools

Using the Drive Keypad Interface to Access Parameters

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

The adapter parameters can be configured using the drive keypad interface (see

page 23

RSLogix 5000/Logix Designer, Connected Components Workbench (version 3 or greater), and RSNetWorx for DeviceNet (version 21 or greater) can also be used to access the adapter parameters.

The following is an example of basic integral keypad and display functions. This example provides basic navigation instructions and illustrates how to program a parameter.

) or a PowerFlex 4-class HIM (Human Interface Module, see page 25).

The DeviceNet adapter Device parameters can be accessed on the drive keypad via the “N” (Network) group. Note that the parameters in the “N” group will appear offset from the Device parameter numbers referenced in this manual by 1000 (decimal) on the LCD display.

, Adapter Parameters. For definitions of

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 23

Chapter 3 Configuring the Adapter

HERT

FWD

Esc

FWD

Esc

FWD

Sel

FWD

Sel

PROGRAM

FWD

PROGRAM

FWD

Sel

PROGRAM

FWD

Esc

FWD

Esc

FWD

Step Key(s) Example Display

1. When power is applied, the last user-selected Basic Display Group parameter number is briefly displayed with flashing characters. The display then defaults to that parameter’s current value. (Example shows the value of b001 [Output Freq] with the drive stopped.)

2. Press Esc to display the Basic Display Group parameter number shown on power-up. The parameter number will flash.

3. Press Esc to enter the parameter group list. The parameter group letter will flash.

4. Press the Up Ar row or Down Arrow to scroll through the group list (b, P, t, C, L, d, A, f, N, M, and Gx).

5. Press Enter or Sel to enter a group. The right digit of the last viewed parameter in that group will flash.

6. Press the Up Ar row or Down Arrow to scroll through the parameter list.

7. Press Enter to view the value of the parameter. Or Press Esc to return to the parameter list.

8. Press Enter or Sel to enter Program Mode and edit the value. The right digit will flash and the word Program on the LCD display will light up.

9. Press the Up Arrow or Down Arrow to change the parameter value.

10. If desired, press Sel to move from digit to digit or bit to bit. The digit or bit that you can change will flash.

11. Press Esc to cancel a change and exit Program Mode.

Or Press Enter to save a change and exit Program

Mode. The digit will stop flashing and the word

Program on the LCD display will turn off.

12. Press Esc to return to the parameter list. Continue to press Esc to back out of the programming menu.

If pressing Esc does not change the display, then b001 [Output Freq] is displayed. Press Enter or Sel to enter the group list again.

24 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Configuring the Adapter Chapter 3

Para meters

Groups

Linear List Changed Params

DIAG

PAR A M DSEL MEM SEL

Sel

Device Select

DSI Devices

DIAG PARAM

DSEL MEM SEL

and

DSI Devices

PowerFlex 525

25-COMM-D

Sel

DSI Devices

PowerFlex 525

25-COMM-D

Using the PowerFlex 4-Class HIM to Access Parameters

The PowerFlex 4-class HIM can be used to access parameters in the adapter (see basic steps shown below). It is recommended that you read through the steps for your HIM before performing the sequence. For additional HIM information, refer to the HIM Quick Reference card, publication 22HIM-QR001

Step Key(s) Example Display

1. Power up the drive. Then connect the HIM to the DSI port of the drive. The Parameters tab for the drive will be displayed.

2. Press Sel until the DSEL tab is selected.

3. Select DSI Device in the DSEL tab if it is not already selected using the Up Arrow or Down Arrow.

Press Enter to selec t DSI Device.

Setting the Node Address

4. Press the Up Arrow or Down Arrow to scroll to 25-COMM.

Press Enter to reload the HIM to browse only the Communication Adapter (25COMM-D) parameters.

To display the Host parameters, repeat steps 1 through 3 and select “PowerFlex 525” at step 3.

The value of Device parameter 07 [Net Addr Cfg] determines the node address if all the adapter DIP switches are in the OFF 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 Device parameter 07 [Net Addr Cfg] to a unique node address.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 25

Chapter 3 Configuring the Adapter

TIP

2. Reset the adapter by power cycling the drive.

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

Setting the Data Rate

Setting the I/O Configuration

The value of Device parameter 09 [Net Rate Cfg] determines the DeviceNet data rate if all of the adapter DIP switches are in the OFF 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 Device parameter 09 [Net Rate Cfg] to the data rate at which your network is operating.

Options 0 “125kbps” (Default)

1 “250kbps”

2 “500kbps”

3 “Autobaud”

2. Reset the adapter by power cycling the drive.

The value of Host parameter C175 [DSI I/O Cfg] determines the number of drives that will be represented on the network as one node by the adapter. Up to five drives can be represented as one node by the adapter.

1. Set the value of Host parameter C175 [DSI I/O Cfg] to the number of drives you want to be represented as one node.

Using Master-Slave Hierarchy (Optional)

Options 0“Drive 0” (Default)

1 “Drive 0-1”

2 “Drive 0-2”

3 “Drive 0-3”

4 “Drive 0-4”

Drive 0 is the PowerFlex 525 with the 25-COMM-D adapter installed. Drive 1 through 4 are other PowerFlex drives that daisy-chain to the RJ45 (RS-485) port on Drive 0. See Chapter 7

, Using Multi-Drive Mode for

further instructions.

2. Reset the adapter by power cycling the drive.

A hierarchy determines the type of device with which the adapter exchanges data. In a Master-Slave hierarchy, the adapter exchanges data with a master, such as a scanner (1769-SDN, 1756-DNB, 1771-SDN, 1747-SDN, and so forth).

26 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Configuring the Adapter Chapter 3

IMPORTANT

Configuring a Master-Slave Hierarchy

The controller I/O image can have anywhere from zero to eight (four In and four Out) additional 16-bit parameters called Datalinks. They are configured using

Host parameters C161 [Opt Data In 1] through C164 [Opt Data In 4], and C165 [Opt Data Out 1] through C168 [Opt Data Out 4]. The number of

Datalinks actively used is controlled by the connection size in the controller and the in/out parameters. See the respective controller example sections in

Chapter 4

When using a ControlLogix or CompactLogix controller and the Generic Profile, or a MicroLogix 1100/1400 controller, configure the Datalink parameters now as described in this section.

Enabling Datalinks To Write Data

for more information on setting the connection size.

Always use the Datalink parameters in consecutive numerical order, starting with the first parameter. For example, use Host parameters C161, C162, and C163 to configure three Datalinks to write data. Otherwise, the network I/O connection will be larger than necessary, which needlessly increases controller response time and memory usage.

Host parameters C161 [Opt Data In 1] through C164 [Opt Data In 4] control which parameters in the drive receive values from the network. To configure these parameters, set them to the drive parameter number you want to write them to.

The following steps are required to enable Datalinks to write data:

1. Set the values of only the required number of contiguous controller-todrive Datalinks needed to write data to the drive and that are to be included in the network I/O connection.

2. Reset the adapter by power cycling the drive.

After the above steps are complete, the adapter is ready to receive input data and transfer status data to the master (controller). Next, configure the controller to recognize and transmit I/O to the adapter. See Chapter 4

, Configuring the I/O.

Enabling Datalinks To Read Data

Always use the Datalink parameters in consecutive numerical order, starting with the first parameter. For example, use Host parameters C165, C166, and C167 to configure three Datalinks to read data. Otherwise, the network I/O connection will be larger than necessary, which needlessly increases controller response time and memory usage.

Host parameters C165 [Opt Data Out 1] through C168 [Opt Data Out 4] configure which parameters in the drive, adapter, or any other connected

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 27

Chapter 3 Configuring the Adapter

peripheral send values to the network. To configure these parameters, set them to the parameter number you wish to read over the network.

The following steps are required to enable Datalinks to read data:

1. Set the values of only the required number of contiguous drive-tocontroller Datalinks needed to read data from the drive and that are to be included in the network I/O connection.

2. Reset the adapter by power cycling the drive.

After the above steps are complete, the adapter is ready to send output data to the master (controller). Next, configure the controller to recognize and transmit I/O to the adapter. See Chapter 4

, Configuring the I/O.

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 transmit its Logic Status and Feedback in COS or Cyclic messages. Other data is transmitted in Polled messages.

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.

Using COS (Change of State) Data Exchange (Optional)

Set Device parameter 11 [COS Status Mask] for the bits in the Logic Status word that should be checked for changes. For the Logic Status bit definitions, see

Appendix D

or the drive documentation.

1. Edit any of the bits as required.

Value Description

0 Ignore this logic bit (Default)

1 Use the logic bit.

2. Set Device parameter 12 [COS Fdbk Change] for the amount of change to the Feedback that is required to trigger a Change of State message.

The adapter is now configured for COS data exchange. You must configure the scanner to allocate it using COS. See Chapter 4

28 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

, Configuring the I/O.

Configuring the Adapter Chapter 3

Setting a Fault Action

By default, when communications are disrupted (the network cable is disconnected) and/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:

• Disrupted I/O communication by using Device parameter 15 [Comm Flt Actn].

• An idle scanner by using Device parameter 16 [Idle Flt Actn].

ATT EN TI ON : Risk of injury or equipment damage exists. Device parameters 15 [Comm Flt Actn] and 16 [Idle Flt Actn] respectively let you determine the action of the adapter and drive if communications are disrupted or the controller is idle. By default, these parameters fault the drive. You may configure these parameters so that the drive continues to run, however, precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (a disconnected network cable or a controller in idle state).

Changing the Fault Action

Set the values of Device parameters 15 [Comm Flt Actn] and 16 [Idle Flt Actn] to the desired responses:

Value Action Description

0 Fault The drive is faulted and stopped. Datalink data is no longer sent to the drive. (Default)

1 Stop The drive is stopped as per Host parameter P045 [Stop Mode] setting. Datalink data sent to

2 Zero Data The drive is sent “0” values for all Reference and Datalink data. This does not command a stop.

3 Hold Last The drive continues in its present state.

4 Send Flt Cfg The drive is sent the Reference and Datalink data that you set in the fault configuration

the drive remains unchanged.

parameters (Device parameters 17 [Flt Cfg Logic], 18 [Flt Cfg Ref], and 19 [Flt Cfg DL 1] through 22 [Flt Cfg DL 4]).

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...4).

Setting the Fault Configuration Parameters

When setting Device parameters 15 [Comm Flt Actn] and 16 [Idle Flt Actn] to 4 “Send Flt Cfg,” the values in the following parameters are sent to the drive after a communications fault and/or idle fault for drive control fault occurs. You must set these parameters to values required by your application.

Device Parameter Description

17 [Flt Cfg Logic] A 16-bit integer value sent to the drive for Logic Command.

18 [Flt Cfg Ref] A 16-bit integer value sent to the drive for Reference.

19 [Flt Cfg DL 1] through 22 [Flt Cfg DL 4]

A 16-bit integer value sent to the drive for a Datalink.

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

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 29

Chapter 3 Configuring the Adapter

IMPORTANT

Resetting the Adapter

Restoring Adapter Parameters to Factory Defaults

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 Device parameter 14 [Reset Module].

Set Device parameter 14 [Reset Module] to 1 “Reset Module”.

Value Description

0 Ready (Default)

1 Reset Module

2Set Defaults

When you enter 1 “Reset Module”, the adapter will be immediately reset. An alternate method to reset the adapter is by power cycling the drive.

Set Device parameter 14 [Reset Module] to 2 “Set Defaults”.

Value Description

0 Ready (Default)

1 Reset Module

2Set Defaults

When you enter 2 “Set Defaults”, the adapter will set all of its parameters to their factory default values.

When performing a Set Defaults action, the drive may detect a conflict and then not allow this function to occur. If this happens, first resolve the conflict and then repeat a Set Defaults action. Common reasons for a conflict include the drive running or a controller in Run mode.

After performing a Set Defaults action, you must enter 1 “Reset Module” or power cycle the drive so that the new values take effect. Thereafter, this parameter will be restored to a value of 0 “Ready”.

30 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Configuring the Adapter Chapter 3

Viewing the Adapter Status Using Parameters

The following Device parameters provide information about the status of the adapter. You can view these parameters at any time using the PowerFlex 22-HIMA3 or 22-HIM-C2S HIM or Connected Components Workbench.

DeviceNet Adapter Status Parameters

Name Description

03 [DLs From Net Act] Displays the value of Device parameter 02 [DLs From Net Cfg] at the time the adapter was

reset. This is the number of actual contiguous co ntroller-to-drive Datalinks that the adapter is expecting to receive from the controller.

05 [DLs To Net Act] Displays the value of Device parameter 04 [DLs To Net Cfg] at the time the adapter was reset.

This is the number of actual contiguous drive-to-controller Datalinks that the controller is expecting to receive from the controller.

06 [Net Addr Src] Displays the source from which the adapter’s node address is taken. This will be either the

Node Address switches (See Setting the Node Address and Data Rate Using the DIP Switches

on page 16) or the value of Device parameter 07 [Net Addr Cfg].

08 [Net Addr Act] Displays the actual network node address used by the adapter, which can be one of the

following:

• The address set with the Node Address switches (See Setting the Node Address and Data

Rate Using the DIP Switches on page 16).

• The value of Device parameter 07 [Net Addr Cfg].

• An old address from the switches or parameter. (If either has been changed, but the

adapter has not been reset, the new address will not be in effect.)

10 [Net Rate Act] • Displays the actual network data rate being used by the adapter, which can be one of the

following:

• The data rate set by the data rate switches (See Setting the Node Address and Data Rate

Using the DIP Switches on page 16).

• The value of Device parameter 09 [Net Rate Cfg].

• An old data rate of the switch or parameter. (If either has been changed, but the adapter

has not been reset, the new data rate will not be in effect.)

Updating the Adapter Firmware

The adapter firmware can be updated over the network or through a direct connection from a computer to the drive using a USB cable.

When updating firmware through a direct USB connection from a computer to a drive, you will use the USB utility application.

When updating firmware over the network, you can use the Allen-Bradley ControlFLASH software tool.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 31

Chapter 3 Configuring the Adapter

To obtain a firmware update for this adapter, go to http://www.ab.com/support/ abdrives/webupdate. This site contains all firmware update files and associated Release Notes that describe the following items:

• Firmware update enhancements and anomalies

• How to determines the existing firmware revision

• How to update the firmware using ControlFlash

32 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 4

Configuring the I/O

This chapter provides instructions on how to configure a Rockwell Automation CompactLogix controller to communicate with the adapter and connected PowerFlex 525 drive.

Top ic Pa ge

Using RSLinx Classic

CompactLogix Example 34

Using RSLinx Classic

RSLinx Classic, in all its variations (Lite, Gateway, OEM, etc.), is used to provide a communication link between the computer, network, and controller. RSLinx Classic requires a driver to be configured before communications are established with network devices. In our example, we will use the embedded EtherNet/IP interface in the CompactLogix controller (1769-L36ERM) to configure the controller as well as a bridge to the DeviceNet network. To configure the RSLinx driver:

1. Start RSLinx and select Communications > Configure Drivers to display the Configure Drivers window.

2. From the Available Driver Types pull-down box, choose “EtherNet/IP Driver” and then click Add New… to display the Add New RSLinx Driver window.

3. Use the default name or type a name and click OK. The “Configure driver:” window appears.

4. Depending on your application, select either the browse local or remote subnet option, and click OK. The Configure Drivers window reappears with the new driver in the Configured Drivers list.

5. Click Close to close the Configure Drivers window. Keep RSLinx running.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 33

Chapter 4 Configuring the I/O

Esc

Sel

Ethernet switch

IP Address 192.168.1.3

1769-L36ERM CompactLogix controller

with embedded EtherNet/IP bridge

Node 1

PowerFlex 525 drive with 25-COMM-D

DeviceNet adapter (Frame A shown)

Computer with Ethernet connection

Node 0

1769-SDN scanner

DeviceNet

6. Verify that your computer recognizes the drive. Select Communications > RSWho and, in the menu tree, click the “+” symbol next to the Ethernet

controller.

7. Note that two other RSLinx drivers (Ethernet devices or Remote Devices through Linx Gateway) may be used. Use one of these drivers if the “EtherNet/IP Driver” cannot see your drive.

CompactLogix Example

After the adapter is configured, the drive and adapter will be a single node on the network. This section provides the steps needed to configure a simple EtherNet/ IP network. In our example, we will configure a 1769-L36ERM CompactLogix controller with 1769-SDN scanner to communicate with a drive using Logic Command/Status, Reference/Feedback, and eight Datalinks (four to read and four to write) over the network.

00:00:BC:2E:69:F6

1 (Front)1 (Front)1 (Front) 2 (Rear)

Adding the Controller to the I/O Configuration

To establish communications between the controller and adapter over the network, you must first add the CompactLogix controller and its embedded EtherNet/IP bridge to the I/O configuration.

34 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Configuring the I/O Chapter 4

1. Start RSLogix 5000/Logix Designer. The application window appears. Select File > New to display the New Controller window.

Select the appropriate choices for the fields in the window to match your application. Then click OK. The application window reappears with the treeview in the left pane.

Note : If you are using a controller without an embedded EtherNet/IP bridge, you will also need to add the bridge to the I/O configuration. See the user manual for your controller for details.

2. Configure the IP address/Network Settings on your controller or bridge. In this example, the Network Settings are set for a private network.

3. Click OK. The controller is now configured for the EtherNet/IP network. It appears in the I/O Configuration folder. In our example, a 1769-L36ERM controller appears under the I/O Configuration folder with its assigned name.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 35

Chapter 4 Configuring the I/O

Adding the Scanner to the I/O Configuration

To establish communication between the controller and adapter over the network, you must add the scanner to the I/O configuration.

1. In the treeview, right-click the icon under the I/O Configuration

folder and choose New Module.... The Select Module dialog box appears.

2. Select the Communication group to display all of the available communication modules.

3. In the list, select the DeviceNet scanner used by your controller. In this example, we used a 1769-SDN DeviceNet scanner, so the 1769-SDN option is selected.

4. Click Create.

5. In the select Major Revision pop-up dialog box, select the major revision of

its firmware.

6. Click OK. The scanner’s New Module dialog box appears.

36 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Configuring the I/O Chapter 4

7. Edit the following:

Box Setting

Name A name to identify the scanner.

Description Optional – description of the scanner.

Slot The slot of the DeviceNet scanner in the rack.

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

Electronic Keying Compatible Keying. The “Compatible Keying” setting for Electronic Keying verifies

Input Size The size of the input data for the DeviceNet scanner. We recommend the default value

Output Size The size of the output data for the DeviceNet scanner. We recommend the default

Open Module Properties

by selecting the scanner series in step 7.)

that the physical module is consistent with the software configuration before the controller and scanner make a connection. Therefore, ensure that you have set the correct revision in this window. See the online Help for additional information on this and other Electronic Keying settings. If keying is not required, select “Disable Keying.” “Disable Keying” is recommended.

of 90.

value of 90.

When this box is checked, clicking OK opens additional module properties dialog boxes to further configure the scanner. When unchecked, clicking OK closes the scanner’s New Module dialog box. For this example, uncheck this box.

8. Click OK. The Module Properties Report window now appears. In the Connection tab, set the appropriate Requested Packet Interval (RPI) for your application.

9. Click OK. The scanner is now configured for the DeviceNet network, added to the RSLogix 5000/Logix Designer project, and appears in the I/O Configuration folder.

In our example, a 1769-SDN scanner appears under the I/O Configuration folder with its assigned name. For convenience, keep the project open. Later in this chapter the project will need to be downloaded to the controller.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 37

Chapter 4 Configuring the I/O

Using RSNetWorx for DeviceNet Software to Configure and Save the I/O Configuration to the Scanner

After adding the scanner to the I/O configuration, you must configure and save the I/O to the scanner.

1. Start RSNetWorx for DeviceNet software.

2. From the File menu, choose New to start a new configuration.

3. From the Network menu, choose Online to display the Browse for

Network dialog box.

4. Expand the communication path from your computer to the DeviceNet scanner.

The following dialog box shows our example navigating to devices on a DeviceNet network. Depending on the communication link you are using, the navigation path may be different.

5. Click OK after selecting a valid path to the DeviceNet network (for this example, Port 2, DeviceNet).

If a message box appears about uploading or downloading information, click OK.

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Configuring the I/O Chapter 4

As the selected DeviceNet path is browsed, RSNetWorx for DeviceNet software creates a graph view window that shows a graphical representation of the devices on the network.

If the icon for the drive (for this example, PowerFlex 525) on the network appears as Unrecognized Device, use RSNetWorx for DeviceNet software to create the PowerFlex 520-series drive EDS file. See Create the EDS File

from Online Device on the Network on page 39 or Download the EDS File from the Internet Web Site on page 40 for instructions on how to

create the EDS file.

Create the EDS File from Online Device on the Network

1. Right-click the Unrecognized Device icon and select Register Device in the menu. The EDS Wizard appears.

2. Click Next to start creating the EDS file.

3. Select Create an EDS file.

4. Click Next.

If the EDS file is already downloaded and resides on your computer, select “Register an EDS file” and click Next. Then follow the screen prompts and disregard the remaining steps (5...13) in this procedure.

5. Enter a description (if desired).

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Chapter 4 Configuring the I/O

6. Click Next.

7. Check the Polled box.

8. Enter “4” into the Input Size and Output Size boxes (which accounts for

just the basic I/O).

9. Click Next. RSNetWorx for DeviceNet software will upload the EDS file from the drive.

10. Click Next to display the icon options for the node. We recommend using the icon for the PowerFlex 520-series drive. you can change icons by clicking Change icon.

11. Click Next to view a summary.

12. Click Next again to accept it.

13. Click Finish to finish creating the EDS file.

A new icon represents your PowerFlex 520-series drive and communications adapter appears in the RSNetWorx for DeviceNet graph view window.

Download the EDS File from the Internet Web Site

1. Go to the website http://www.rockwellautomation.com/resources/eds.

2. On the website search screen in the Network entry field, enter the type of

network (for this example, DeviceNet), which enables the use of the other search fields.

3. In the Keyword entry field, enter the type of PowerFlex 520-series drive (for this example, PowerFlex 525), noting that this field is space sensitive.

4. Click Search. Due to the large number of EDS files, this search may take seconds or up to several minutes.

5. On the search results screen in the Details & Download Column, click the “Download” hyperlink for the EDS file.

6. Click Save on the File Download screen to save the EDS file to an appropriate location on your computer.

7. Launch the EDS Hardware Installation Tool by clicking on the Microsoft Windows Start button and choose Progr ams > Rockwell Software > RSLinx Tools > EDS Hardware Installation Tool. Then follow the screen prompts to add the EDS file for use with your project.

8. Reboot the computer and repeat steps 1 through 7 at the beginning of this subsection. The Unrecognized Device icon in the RSNetWorx for DeviceNet graph view window should have been replaced by a drive icon (for this example, the icon for a PowerFlex 525 drive).

40 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Configuring the I/O Chapter 4

9. In the graph view window, right-click the 1769-SDN icon and choose Properti es to display its properties dialog box.

10. Click the Module tab to display the Scanner Configuration dialog box.

11. Click Up loa d to upload the 1769-SDN scanner configuration to the

RSNetWorx for DeviceNet project and display the Module tab of the 1769-SDN Scanner Module dialog box.

12. Edit the following:

Box Setting

Interscan Delay Sets the scanner time delay between consecutive I/O scans on the network. For this

Foreground to Background Poll Ratio

Slot Sets the slot location in which the scanner is installed. for this example, Slot 1 is

example, we recommend using the default setting of 10 milliseconds. TIP: When numerous s oftware pack ages are scanning the network (RSNetWorx for

DeviceNet, Connected Components Workbench) and they have problems communicating, increasing this value may help.

Sets the ratio of foreground to background polls. For this example, we recommend using the default setting of 1.

selected.

13. Click Apply.

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Chapter 4 Configuring the I/O

TIP

14. Click the Scanlist tab to begin the drive I/O configuration. The Available Devices left box shows devices that are presently on the DeviceNet network but are not yet configured. The Scanlist right box shows devices that are presently on the DeviceNet network and are configured.

The Automap on Add box is checked by default and allows RSNetWorx for DeviceNet software to automatically map the drive I/O into the scanner in the next available registers. The mapping is based on the minimum I/O requirements (four bytes for input and four bytes for output) that the scanner obtains from the drive EDS file.

15. For this example, uncheck the Automap on Add.

16. Select the PowerFlex 525 drive in the Available Devices box and click

to move it to the scanlist window.

Box Setting

Node Active Activates/deactivates the scanlist in the 1769-SDN scanner for the selected device.

Device Type Electronic Key checkboxes select how specific the device in the scanlist must be for

Vend or

Product Code

Major Revision

For this example, keep the box checked.

the 1769-SDN scanner to match its compatibility I/O operation. The more boxes that are checked, the more specific the device must be to operate. For this example, leave the default boxes (Device Type, Vendor, and Product Code) checked.

17. Click Edit I/O Parameters to display the Edit I/O Parameters dialog box for the PowerFlex 525 drive used in this example.

a. Select the type or types of data exchange (Polled, Change of State, and/

or Cyclic). For this example, Polled was selected, which we recommend.

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Configuring the I/O Chapter 4

b. Enter the number of bytes that are required for your I/O in the Input

Size and Output Size boxes. For the example in this manual, all four [Opt DL Out 1...4] and all four [Opt DL In 1...4] are used, resulting in an Input size of “12” and an Output size of “12”. To determine the byte size for your application, either view adapter Diagnostic Items 23 (Input Size) and 24 (Output Size) or calculate them.

View Diagnostic Items 23 and 24 for Input/Output Byte Sizes

Use the PowerFlex 4-Class HIM (22-HIM-A3 or 22-HIM-C2S), or another drive configuration tool such as Connected Components Workbench to view Diagnostic Items 23 and 24. The adapter automatically calculates the number of bytes for the Input Size and Output Size based on the values of Device parameters 02 [DLs From Net Cfg] and 04 [DLs To Net Cfg] configured in Using Master-

Slave Hierarchy (Optional) on page 26.

Calculate the Input/Output Byte Sizes

You can easily calculate the number of bytes for the Input size and Output Size. Since the option module always uses the 16-bit Logic Command, 16-bit Feedback, 16-bit Logic Status, and 16-bit Reference, at least four bytes must be set for both the Input Size and Output Size. (A 16-bit word is two bytes).) If any or all of the drives eight 16-bit Datalinks are used (see Using Master-Slave

Hierarchy (Optional) on page 26), increase the Input and Output Size settings

accordingly.

• Input Size: Multiply the number of Datalinks used to write data (value

of Device parameter 02 [DLs From Net Cfg]) by two bytes, and add this result to the minimum four bytes. For example, if Device parameter 02 has a value of ‘3’, add ‘6’ bytes (3 x 2 bytes) to the required minimum four bytes for a total of 10 bytes.

• Output Size: Multiply the number of Datalinks used to read data (value

of Device parameter 04 [DLs To Net Cfg]) by two bytes, and add this result to the minimum four bytes. For example, if Device parameter 04 has a value of ‘2’, add ‘4’ bytes (2 x 2 bytes) to the required minimum four bytes for a total of 8 bytes.

18. Set the scan rate for the selected data exchange method.

For more information about scan rates, see RSNetWorx for DeviceNet software online help.

Data Exchange Method Rate Field Pull-down Setting

Polled Poll Rate

Change of St ate Heartbeat Rate

Cycl ic Send R ate

19. Click OK.

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Chapter 4 Configuring the I/O

TIP

If a Scanner Configuration dialog box appears, click Ye s to continue. The Edit I/O Parameters dialog box closes and then the 1769-SDN Scanlist tab dialog box reappears.

20. Click the Input tab to display the input registers for the 1769-SDN scanner.

21. Click AutoMap to map the drive input image to the 1769-SDN scanner as shown in the example dialog box below.

If your RSLogix 5000/Logix Designer project requires a different staring DWord (double word, 32-bit) than the default value of ‘0’ for the drive input image, set the Start DWord field to the appropriate value.

22. Click the Output tab to display the output registers for the 1769-SDN scanner.

23. Click AutoMap to map the drive output image to the 1769-SDN scanner as shown in the example dialog box below.

If your RSLogix 5000/Logix Designer project requires a different staring DWord (double word, 32-bit) than the default value of ‘0’ for the drive output image, set the Start DWord field to the appropriate value.

24. Click OK.

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Configuring the I/O Chapter 4

IMPORTANT

TIP

If the Scanner Configuration dialog box appears asking to download these settings to the 1769-SDN scanner, click Ye s .

25. From the File menu, choose Save.

If this is the first time you saved the project, the Save As dialog box appears. a. Navigate to a folder. b. Type a file name. c. Click Save to save the configuration as a file on your computer.

26. When configuring the I/O for additional PowerFlex 520-series drives on the network, repeat steps 14 through 25.

When all Datalinks in each drive are used (6 DINTs of I/O per drive), a maximum of 15 PowerFlex 520-series drives can be mapped. This is due to the amount of I/O available in the 1769-SDN scanner, which is a maximum of 90 DINTs.

Setting Datalinks in the Drive (Optional)

After configuring the 1769-SDN scanner, Datalinks (if used) must be set to parameters that are appropriate for your application.

Use the 22-HIM-A3 or 22-HIM-C2S HIM, or another drive configuration tool such as Connected Components Workbench software to set the Datalinks in the drive. For this example, the following Datalink values are used.

Host Parameter Value Description

C 161 [Opt Data In 1] 52 Points to drive parameter P052 [Average kWh Cost]

C 162 [Opt Data In 2] 41 Points to drive parameter P041 [Accel Time 1]

C 163 [Opt Data In 3] 42 Points to drive parameter P042 [Decel Time 1]

C 164 [Opt Data In 4] 410 Points to drive parameter A410 [Preset Freq 0]

C165 [Opt Data Out 1] 45 Points to drive parameter P045 [Stop Mode]

C166 [Opt Data Out 2] 41 Points to drive parameter P041 [Accel Time 1]

C167 [Opt Data Out 3] 42 Points to drive parameter P042 [Decel Time 1]

C168 [Opt Data Out 4] 410 Points to drive parameter A410 [Preset Freq 0]

The Host parameters [Opt Data In x] are inputs to the drive that come from controller outputs (data to write a drive parameter). The Host parameters [Opt Data Out x] are outputs from the drive that go to controller inputs (data to read a drive parameter).

Downloading the Project to the Controller and Going Online

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

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Chapter 4 Configuring the I/O

TIP

1. From the Communications menu in the RSLogix 5000/Logix Designer dialog box, choose Download.

The Download dialog box appears.

If a message box reports that RSLogix 5000/Logix Designer software is unable to go online, find your controller in the Who Active dialog box. From the Communications menu, choose Who Active. After finding and selecting the controller, click Set Project Path to establish the path. If your controller does not appear, you need to add or configure the DeviceNet drive with RSLinx software. See Using RSLinx Classic

page 33 and RSLinx online help for details.

2. Click Download to download the configuration to the controller.

When the download is successfully completed, RSLogix 5000/Logix Designer software goes into the Online mode and the I/O OK box in the upper-left of the dialog box should be steady green.

3. From the File menu, choose Save.

If this is the first time you saved the project, the Save As dialog box appears. a. Navigate to a folder. b. Type a file name. c. Click Save to save the configuration as a file on your computer.

4. To ensure that the present project configuration values are saved, RSLogix 5000/Logix Designer software prompts you to upload them. Click Ye s to upload and save.

5. Place the controller in Remote Run or Run Mode.

46 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 5

Using the I/O

This chapter provides information and examples that explain how to control, configure, and monitor a PowerFlex 525 drive using the configured I/O.

Top ic Pa ge

About I/O Messaging

Understanding the I/O Image 48

Using Logic Command/Status 48

Using Reference/Feedback 48

Using Datalinks 49

Example Ladder Logic Program 50

CompactLogix Example 51

ATT EN TI ON : d?????l?????U?????TION: d?????l?????U?????Risk of injury or equipment damage

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

About I/O Messaging

On CIP-based networks, including DeviceNet, I/O connections are used to transfer the data which controls the PowerFlex drive and sets its Reference. I/O can also be used to transfer data to and from Datalinks in PowerFlex 520-series drives.

The adapter includes the Logic Command, Logic Status, Reference, and Feedback (all as 16-bit words). This requires four bytes for the Input Size and four bytes for the Output Size in the controller’s I/O image. This basic I/O must be always configured in the DeviceNet scanner using RSNetWorx for DeviceNet software. Additional I/O, if needed, can be set using up to four Datalinks to write data and/or up to four Datalinks to read data. When using any combination of these Datalinks, add two bytes for each Datalink to the basic I/O Input Size and/ or Output Size.

Chapter 3

, Configuring the Adapter, and Chapter 4, Configuring the I/O, discuss how to configure the adapter and controller on the network for the required I/O. The Glossary

defines the different options. This chapter discusses

how to use I/O after you have configured the adapter and controller.

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Chapter 5 Using the I/O

Understanding the I/O Image

The terms input and output are defined from the controller’s point of view. Therefore, output I/O is data that is produced by the controller and consumed by the adapter. Input I/O is status data that is produced by the adapter and consumed as input by the controller. The I/O image will vary based on how many of the drive’s 16-bit Datalinks (Host parameters C161...C164 [Opt Data In

1...4] and C165...C168 [Opt Data Out 1...4] are used. Device parameters 02 [DLs From Net Cfg] and 04 [DLs To Net Cfg] must also be configured

accordingly if Datalinks are used.

If all available I/O is not used, the image is truncated. The image always uses consecutive words starting at word zero.

CompactLogix Controller I/O Image for PowerFlex 520-Series Drives

page 48 shows the I/O image when using all of the 16-bit Datalinks.

CompactLogix Controller I/O Image for PowerFlex 520-Series Drives (16-bit Logic Command/Status, Reference/Feedback, and Datalinks)

INT Output I/O INT Input I/O

0Logic Command 0Logic Status

1 Reference 1 Feedback

2 Datalink 1 2 Datalink 1

3 Datalink 2 3 Datalink 2

4 Datalink 3 4 Datalink 3

5 Datalink 4 5 Datalink 4

Using Logic Command/Status

Using Reference/Feedback

Single drive mode is the typical configuration, where one node consists of a PowerFlex 525 drive with a 25-COMM-D adapter.

For Multi-Drive mode, where one node can consist of up to 5 drives, see

Chapter 7

, Using Multi-Drive Mode.

The Logic Command is a 16-bit word of control data produced by the controller and consumed by the adapter. The Logic Status is a 16-bit word of status data produced by the adapter and consumed by the controller.

When using a CompactLogix/ControlLogix controller, the Logic Command word is always INT 0 in the output image and the Logic Status word is always INT 0 in the input image.

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

, Logic Command/Status Words: PowerFlex

525 Drives.

The Reference is a 16-bit INT (integer) produced by the controller and consumed by the adapter. The Feedback is a 16-bit INT produced by the adapter and consumed by the controller.

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Using the I/O Chapter 5

IMPORTANT

When using a CompactLogix/ControlLogix controller, the 16-bit INT Reference word is always INT 1 in the output image (see CompactLogix

Controller I/O Image for PowerFlex 520-Series Drives on page 48) and the

16-bit INT Feedback is always INT 1 in the input image.

The Reference and Feedback 16-bit INT values represent drive speed. The scaling for the speed Reference and Feedback is 0.01 Hz. For example, a 16-bit INT Reference value of ‘3000’ would equal a Reference of 30.00 Hz. Note that the commanded maximum speed can never exceed the value of Host parameter P044 [Maximum Freq]. PowerFlex 520-Series Drive Example Speed Reference/

Feedback Scaling on page 49 shows example References and their results for a

PowerFlex 520-series drive that has its:

• Host parameter P043 [Minimum Freq] set to 10.00 Hz.

• Host parameter P044 [Maximum Freq] set to 50.00 Hz.

PowerFlex 520-Series Drive Example Speed Reference/Feedback Scaling

Using Datalinks

Network Reference Value Speed Commanded Value Output Speed Network Feedback Value

10000 100.00 Hz 50.00 Hz

6500 65.00 Hz 50.00 Hz

3250 32.50 Hz 32.50 Hz 3250

0 0.00 Hz 0.00 Hz 0

(1) The drive runs at 50.00 Hz instead of 100.00 Hz or 65.00 Hz because Host parameter P044 [Maximum Freq] sets 50.00 Hz as the

maximum speed.

(1)

5000

(1)

5000

Attempting to write a negative value to the Speed Reference will result in the drive ramping to maximum speed due to overflow, the direction of the drive can only be controlled programmatically with the appropriate bits (bits 4 and

5) in the Command Word.

A Datalink is a mechanism used by PowerFlex drives to transfer data to and from the controller. Datalinks allow a drive parameter value to be read or written to without using an Explicit Message. When enabled, each Datalink occupies one 16-bit word in a ControlLogix, CompactLogix, or MicroLogix controller.

The following rules apply when using PowerFlex 525 drive Datalinks:

• Datalinks can not be used with Multi-drive mode.

• The target of a Datalink can be any appropriate Host parameter. For

example, Host parameter P041 [Accel Time 1] can be the target of the DeviceNet adapter installed in the drive.

• The data passed through the drive’s Datalink mechanism is determined by the settings of the following parameters

– Device parameter 02 [DLs From Net Cfg] – Device parameter 04 [DLs To Net Cfg] – Host parameters C161...C164 [Opt Data In 1...4]

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Chapter 5 Using the I/O

IMPORTANT

– Host parameters C165...C168 [Opt Data Out 1...4]

A reset is always required after configuring Datalinks so that the changes take effect.

• When an I/O connection that includes Datalinks is active, those Datalinks being used are locked and cannot be changed until that I/O connection becomes idle or inactive.

• When you use a Datalink to change a value, the value is not written to the Non-Volatile Storage (NVS). The value is stored in volatile memory and lost when the drive loses power. Thus, use Datalinks when you need to change a value of a parameter frequently.

Datalinks for PowerFlex 525 drive peripherals (embedded EtherNet/IP adapter and option modules such as a communication module) are locked when the peripheral has an I/O connection with a controller. When a controller has an I/O connection to the drive, the drive does not allow a reset to defaults, configuration download or anything else that could change the makeup of the I/O connection in a running system. The I/O connection with the controller must first be disabled to allow changes to the respective Datalinks.

Example Ladder Logic Program

Depending on the controller being used, the I/O connection can be disabled by:

• Inhibiting the module in RSLogix 5000/Logix Designer

• Putting the controller in Program mode

• Placing the scanner in idle mode

• Disconnecting the drive from the network

The example ladder logic programs in the sections of this chapter are intended for PowerFlex 525 drives.

Functions of the Example Programs

The example programs enable you to:

• Receive Logic Status information from the drive.

• Send a Logic Command to control the drive (start, stop).

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

• Send/receive Datalink data to/from the drive.

Logic Command/Status Words

These examples use the Logic Command word and Logic Status word for PowerFlex 525 drives. See Appendix D

PowerFlex 525 Drives to view details.

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, Logic Command/Status Words:

Using the I/O Chapter 5

TIP

CompactLogix Example

Creating Ladder Logic Using the Logix Designer Generic Profile (all versions)

Adapter Parameter Settings for CompactLogix Controller Example

These adapter settings were used for example ladder logic program in this section.

Parameter Value Description

Adapter Device Parameters

02 [DLs From Net Cfg] 4 Sets the number of Datalinks used to write data from the network controller.

04 [DLs To Net Cfg] 4 Sets the number of Datalinks used to read data to the network controller.

Adapter Hos t Parameters

P046 [Start Source 1] 4 Sets the input for [Start Source 1] to 4 “Network Opt”

P047 [Speed Reference1] 4 Sets the input for [Speed Reference1] to 4 “Network Opt”

C161 [Opt Data In 1] 52 Points to drive parameter P052 [Average kWh Cost]

C162 [Opt Data In 2] 41 Points to drive parameter P041 [Accel Time 1]

C163 [Opt Data In 3] 42 Points to drive parameter P042 [Decel Time 1]

C164 [Opt Data In 4] 410 Points to drive parameter A410 [Preset Freq 0]

C165 [Opt Data Out 1] 45 Points to drive parameter P045 [Stop Mode]

C166 [Opt Data Out 2] 41 Points to drive parameter P041 [Accel Time 1]

C167 [Opt Data Out 3] 42 Points to drive parameter P042 [Decel Time 1]

C168 [Opt Data Out 4] 410 Points to drive parameter A410 [Preset Freq 0]

The PowerFlex 525 drive supports up to three control functions and three Reference functions. There are several parameters in the drive that will override the start source and speed reference command if enabled. For details on these parameters, see the PowerFlex 525 drive’s user manual, publication

520-UM001

The Host parameters [Opt Data Out 1...4] are inputs into the drive that come from controller outputs (data to write a drive parameter). The Host parameters [Opt Data In 1...4] are outputs from the drive that go to controller inputs (data to read a drive parameter).

Controller Tags

When you add the adapter and drive to the I/O configuration (Chapter 4), Logix Designer automatically creates generic (non-descriptive) controller tags. In this example program, the following controller tags are used.

CompactLogix Controller Tags for Drive Generic Profile Ladder Logic Program Example

You can expand the Output and Input tags to reveal the output and input configuration (see CompactLogix Controller Tags for Drive Generic Profile

Ladder Logic Program Example on page 51). For this example, the Input tag

requires three 32-bit words of data and the Output tag requires three 32-bit words of data. This corresponds to six 16-bit words of data for input and six 16bit words of data for output because the 1769-SDN is a 32-bit device.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 51

Chapter 5 Using the I/O

Copy File Source Dest Length

Local:1:I.Data[0]

DriveInputImage[0]

COP

Copy File Source Dest Length

DriveInputImage[1]

DriveFeedback

COP

Status Word

DriveInputImage[0].0 DriveStatusReady

DriveInputImage[0].1 DriveStatusActive

DriveInputImage[0].3 DriveStatusForward

DriveInputImage[0].7 DriveStatusFaulted

DriveInputImage[0].8 DriveStatusAtReference

Program Tags

In our example program, we will create 16-bit INT (integer) arrays for program tags and use “Copy” instructions to move this data to and from the 32-bit DINT (double integer) 1769-SDN scanner I/O tags.

To use the Controller tags that are automatically created, you need to create the following Program tags for this example program.

CompactLogix Program Tags for Drive Generic Profile Ladder Logic Program Example

CompactLogix Example Ladder Logic Program Using a Drive Generic Profile for Logic Status/ Feedback

52 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Using the I/O Chapter 5

IMPORTANT

Copy File Source Dest Length

DriveReference

DriveOutputImage[1]

COP

Copy File Source Dest Length

DriveOutputImage[0]

Local:1:O.Data[0]

COP

DriveCommandStop

Command Word

Speed Reference

DriveOutputImage[0].0

DriveCommandStart DriveOutputImage[0].1

DriveCommandJog DriveOutputImage[0].2

DriveCommandClearFaults DriveOutputImage[0].3

DriveCommandForward DriveOutputImage[0].4

DriveCommandForward DriveOutputImage[0].5

Compact Logix Example Ladder Logic Program Using a Drive Generic Profile for Logic Command/ Reference

Enable the DeviceNet Scanner

A rung in the ladder logic must be created and assigned to the 1769-SDN scanner Command Register Run bit. This rung enables the scanner to transfer I/O on the network.

Example Datalink Data

The Datalink data used in the example program is shown in (CompactLogix

Controller Example Datalinks for Ladder Logic Program Using a Drive Generic Profile on page 54). Note that to describe the parameters to which the Datalinks

are assigned, you may want to add descriptions to the generic tags or create a UDDT (user-defined data type). For this example, the Opt_Data_Out tags were created to describe the drive parameters to which these Datalinks are assigned. For example, Opt_Data_Out_01_Stop_Mode indicates that adapter Host parameter C165[Opt Data Out 1] is assigned to drive parameter P045 [Stop Mode]. This same method applies to the Opt_Data_In tags.

Local:1:O.CommandRegister.Run

This rung must always be included in the ladder logic program.

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Chapter 5 Using the I/O

CompactLogix Controller Example Datalinks for Ladder Logic Program Using a Drive Generic Profile

54 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 6

IMPORTANT

Using Explicit Messaging

This chapter provides information and examples that explain how to use Explicit Messaging to configure and monitor the adapter installed and connected to the PowerFlex 525 drive.

Top ic Pa ge

About Explicit Messaging

Performing Explicit Messaging 56

CompactLogix Examples 56

ATT EN TI ON : Risk of equipment damage exists. If Explicit Messages are programmed to write parameter data to Non-Volatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses Explicit Messages to write parameter data to NVS. Datalinks do not write to NVS and should be used for frequently changed parameters.

ATT EN TI ON : If you need to make frequent parameter changes using Explicit Messages, set Host parameter C121 [Comm Write Mode] to 1 “RAM only”.

About Explicit Messaging

See Chapter 5 Status, Reference/Feedback, and Datalinks.

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 network.

Explicit Messaging Class Code Compatibility with PowerFlex 525 Drives

DeviceNet Object Class Code Compatibility Explicit Messaging Function

Parameter Object 0x0F Yes Single parameter reads/write

DPI Parameter Object 0x93 Yes with limitations Single and scattered parameter reads/write

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 55

for information about the I/O Image, using Logic Command/

PowerFlex 525 drives have explicit messaging limitations. See Explicit

Messaging Class Code Compatibility with PowerFlex 525 Drives on page 55 for

more information.

Chapter 6 Using Explicit Messaging

IMPORTANT

➎

➊

➋

➌

➍

Esc

Sel

1 (Front)1 (Front)1 (Front) 2 (Rear)

00:00:BC:2E:69:F6

Complete Explicit Message

Retrieve Explicit Message Response

Set up and send Explicit Message Request

Network Network

TIP

IMPORTANT

Performing Explicit Messaging

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

There must be a request message and a response message for all Explicit Messages, whether you are reading or writing data.

Explicit Messaging Process

Event Description

➊ You format the required data and set up the ladder logic program to send an Explicit Message request to the

scanner or bridge module (download).

➋ The scanner or bridge module transmits the Explicit Message Request to the slave device over the network. ➌ The slave device transmits the Explicit Message Response back to the scanner. The data is stored in the

scanner buffer.

➍ The controller retrieves the Explicit Message Response from the scanner’s buffer (upload). ➎ The Explicit Message is complete.

CompactLogix Examples

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

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

button in the message instruction.

For supported classes, instances, and attributes, see Appendix C, DeviceNet

Objects.

The explicit messaging examples in this section can be performed using any software version of RSLogix 5000/Logix Designer.

The read and write messaging examples in this section are for parameters which use Class Code 0x93.

The Message Configuration has a Service Type of “Parameter Read” which is Class code 0x0F, Parameter Object.

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Using Explicit Messaging Chapter 6

Execute_Single_Read_Message

Message Message Control Single_Read_Message

MSG

EN DN ER

CompactLogix Example Ladder Logic Program to Read a Single Parameter

A Get Attribute Single message is used to read a single parameter. This read message example reads the value of the 16-bit parameter b003 [Output Current] in a PowerFlex 525 drive.

Example Controller Tags to Read a Single Parameter

Operation Controller Tags for Single Read Message Data Types

XIC Execute_Single_Read_Message BOOL

MSG Single_Read_Message MESSAGE

Example Ladder Logic to Read a Single Parameter

CompactLogix – Formatting a Message to Read a Single Parameter

Get Attribute Single Message Configuration Screens

The following table identifies the data that is required in each box to configure a message to read a single parameter.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 57

Configuration Tab Example Value Description

Message Type CIP Generic Used to access the DPI Parameter Object in the adapter.

Service Type

Service Code

(1)

Class 93

Instance 3 (Dec.) Instance number is the same as parameter number.

Get Attribute Single This service is used to read a parameter value.

e (Hex.) Code for the requested service.

(3)

Class ID for the DPI Parameter Object.

(5)

Attribute 9 (Hex.) Attribute number for the Parameter Value attribute.

Chapter 6 Using Explicit Messaging

Execute_Single_Write_Message

Message Message Control Single_Write_Message

MSG

EN DN ER

Configuration Tab Example Value Description

Source Element – Leave blank (not applicable).

Source Length 0 bytes Number of bytes of ser vice data to be sent in the message.

Destination Output_Current

(4)

The tag where the data that is read is stored.

Communication Tab Example Value Description

Path

(2)

DeviceNet_Scanner, 2, 1 The path is the route that the message will follow.

Tag Ta b Example Value Description

Name Single_Read_Message The name for the message.

(1) The default setting for Service Type is “Custom,” enabling entry of a Service Code not available from the Service Type pull-down

menu. When choosing a Service Type other than “Custom” from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable).

(2) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder (for this example,

DeviceNet_Scanner). Then always type in a comma followed by a “2”, which is the DeviceNet scanner port, followed by another comma, then followed by the DeviceNet node number of the drive (for this example, “1”).

(3) See Explicit Messaging Class Code Compatibility with PowerFlex 525 Drives

using DPI Parameter Object Class code 0x93 for explicit messaging.

(4) In this example, Output Current is a 16-bit parameter requiring the Data Type field to be set to “INT” when creating the controller

tag. See the drive documentation to determine the size of the parameter and its data type.

(5) This applies only in single-drive mode. For Multi-drive mode, see Chapter 7

on page 55 for limitations of PowerFlex 525 drives when

, Using Multi-Drive Mode for examples.

CompactLogix Example Ladder Logic Program to Write a Single Parameter

A Set Attribute Single message is used to write to a single parameter. This write message example writes a value to the 16-bit parameter P041 [Accel Time 1] in a PowerFlex 525 drive.

Example Controller Tags to Write a Single Parameter

Operation Controller Tags for Single Write Message Data Types

XIC Execute_Single_Write_Message BOOL

MSG Single_Write_Message MESSAGE

Example Ladder Logic to Write a Single Parameter

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Using Explicit Messaging Chapter 6

CompactLogix – Formatting a Message to Write a Single Parameter

Set Attribute Single Message Configuration Screens

The following table identifies the data that is required in each box to configure a message to write a single parameter.

Configuration Tab Example Value Description

Message Type CIP Generic Used to access the DPI Parameter Object in the adapter.

Service Type

Service Code

Class 93

Instance 41 (Dec.) Instance number is the same as parameter number.

Attribute

Source Element Accel_Time_1

Source Length 2 bytes Number of bytes of ser vice data to be sent in the message.

Destinat ion – Leave blank (not applicable).

Communication Tab Example Value Description

Path

Tag Ta b Example Value Description

Name Single_Write_Message The name for the message.

(1) The default setting for Service Type is “Custom,” enabling entry of a Service Code not available from the Service Type pull-down

(2) Setting the Attribute value to “9” will write the parameter value to the drive’s Non-Volatile Storage (EEPROM) memory, so the

(3) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder (for this example,

(4) See Explicit Messaging Class Code Compatibility with PowerFlex 525 Drives on page 55 for limitations of PowerFlex 525 drives when

(5) In this example, Accel Time 1 is a 16-bit parameter requiring the Data Type field to be set to “INT” when creating the controller tag.

(6) This applies only in single-drive mode. For Multi-drive mode, see Chapter 7, Using Multi-Drive Mode for examples.

(1)

(2)

Write Attribute Single This service is used to Set a parameter value.

10 (Hex.) Code for the requested service.

(4)

Class ID for the DPI Parameter Object.

9 or A (Hex.) Attribute number for the Parameter Value attribute.

(5)

Name of the tag for any service data to be sent from the scanner

(6)

or bridge to the adapter/drive.

(3)

menu. When choosing a Service Type other than “Custom” from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable).

parameter value will remain even after the drive is power c ycled. Important: When set t o “9,” be very cau tious as th e EEPROM may quickly exceed its life cycle and cause the drive to malfunction. Important: If you need to make frequent parameter changes using Explicit Messages, set Host parameter C121 [Comm Write Mode] to 1 “RAM only”.

using DPI Parameter Object Class code 0x93 for explicit messaging.

Also, the Source Length field on the Message Configuration screen must correspond to th e selected Data Type in bytes (for example, 2 bytes for an INT). See the drive documentation to determine the size of the p arameter and its data type.

DeviceNet_Scanner, 2, 1 The path is the route that the message will follow.

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Chapter 6 Using Explicit Messaging

CompactLogix – Explanation of Request and Response Data for Read/ Write Multiple Messaging

The data structures in Data Structures for Scattered Read Messages on page 61 and Data Structures for Scattered Write Messages and can accommodate up to 64 parameters in a single message. In the Response Message, a parameter number with Bit 15 set indicates that the associated parameter value field contains an error code (parameter number in response data will be negative).

The PowerFlex 525 Adjustable Frequency AC Drive User Manual, publication

520-UM001

lists the data type for each parameter.

on page 62 use 16-bit words

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Data Structures for Scattered Read Messages

Request (Source Data) Response (Destination Data)

INT 0 Parameter Number INT 0 Parameter Number

1Pad 1Parameter Value

2 Parameter Number 2 Parameter Number

3Pad 3Parameter Value

4 Parameter Number 4 Parameter Number

5Pad 5Parameter Value

6 Parameter Number 6 Parameter Number

7Pad 7Parameter Value

8 Parameter Number 8 Parameter Number

9Pad 9Parameter Value

10 Parameter Number 10 Parameter Number

11 Pad 11 Parameter Value

12 Parameter Number 12 Parameter Number

13 Pad 13 Parameter Value

14 Parameter Number 14 Parameter Number

15 Pad 15 Parameter Value

16 Parameter Number 16 Parameter Number

17 Pad 17 Parameter Value

18 Parameter Number 18 Parameter Number

19 Pad 19 Parameter Value

20 Parameter Number 20 Parameter Number

21 Pad 21 Parameter Value

22 Parameter Number 22 Parameter Number

23 Pad 23 Parameter Value

24 Parameter Number 24 Parameter Number

25 Pad 25 Parameter Value

26 Parameter Number 26 Parameter Number

27 Pad 27 Parameter Value

28 Parameter Number 28 Parameter Number

29 Pad 29 Parameter Value

30 Parameter Number 30 Parameter Number

31 Pad 31 Parameter Value

32 Parameter Number 32 Parameter Number

33 Pad 33 Parameter Value

34 Parameter Number 34 Parameter Number

35 Pad 35 Parameter Value

...

62 Parameter Number 62 Parameter Number

63 Pad 63 Parameter Value

...

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Data Structures for Scattered Write Messages

Request (Source Data) Response (Destination Data)

INT 0 Parameter Number INT 0 Parameter Number

1 Parameter Value 1 Pad

2 Parameter Number 2 Parameter Number

3 Parameter Value 3 Pad

4 Parameter Number 4 Parameter Number

5 Parameter Value 5 Pad

6 Parameter Number 6 Parameter Number

7 Parameter Value 7 Pad

8 Parameter Number 8 Parameter Number

9 Parameter Value 9 Pad

10 Parameter Number 10 Parameter Number

11 Parameter Value 11 Pad

12 Parameter Number 12 Parameter Number

13 Parameter Value 13 Pad

14 Parameter Number 14 Parameter Number

15 Parameter Value 15 Pad

16 Parameter Number 16 Parameter Number

17 Parameter Value 17 Pad

18 Parameter Number 18 Parameter Number

19 Parameter Value 19 Pad

20 Parameter Number 20 Parameter Number

21 Parameter Value 21 Pad

22 Parameter Number 22 Parameter Number

23 Parameter Value 23 Pad

24 Parameter Number 24 Parameter Number

25 Parameter Value 25 Pad

26 Parameter Number 26 Parameter Number

27 Parameter Value 27 Pad

28 Parameter Number 28 Parameter Number

29 Parameter Value 29 Pad

30 Parameter Number 30 Parameter Number

31 Parameter Value 31 Pad

32 Parameter Number 32 Parameter Number

33 Parameter Value 33 Pad

34 Parameter Number 34 Parameter Number

35 Parameter Value 35 Pad

...

62 Parameter Number 62 Parameter Number

63 Parameter Value 63 Pad

...

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Execute_Scattered_Read_Message

Message Message Control Scattered_Read_Message

MSG

EN DN ER

CompactLogix Example Ladder Logic Program to Read Multiple Parameters

A Scattered Read message is used to read the values of multiple parameters. This read message example reads the values of these five 16-bit parameters in a PowerFlex 525 drive:

• Host parameter b001[Output Freq]

• Host parameter b003 [Output Current]

• Host parameter b004 [Output Voltage]

• Host parameter b005 [DC Bus Voltage]

• Host parameter b017 [Output Power]

See DPI Parameter Object

on page 117 (Class code 0x93) for parameter

numbering.

Example Controller Tags to Read Multiple Parameters

Operation Controller Tags for Scattered Read Message Data Types

XIC Execute_Scattered_Read_Message BOOL

MSG Scattered_Read_Message MESSAGE

Example Ladder Logic to Read Multiple Parameters

CompactLogix – Formatting a Message to Read Multiple Parameters

Scattered Read Message Configuration Screens

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Chapter 6 Using Explicit Messaging

The following table identifies the data that is required in each box to configure a message to read multiple parameters.

Configuration Tab Example Value Description

Message Type CIP Generic Used to access the DPI Parameter Object in the adapter.

Service Type

Service Code

Class 93

Instance 0 (Dec.) Required for scattered messages.

Attribute 0 (Hex.) Required for scattered messages.

Source Element Scattered_Read_Request

Source Length 20 bytes

Destination Scattered_Read_Response

Communication Tab Example Value Description

Path

Tag Ta b Example Value Description

Name Scattered_Read_Message The name for the message.

(1) The default setting for Service Type is “Custom,” enabling entry of a Service Code not available from the Service Type pull-down

(2) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder (for this example,

(3) See Explicit Messaging Class Code Compatibility with PowerFlex 525 Drives on page 55 for limitations of PowerFlex 525 drives when

(4) In this example, we are reading five 16-bit parameters. Each parameter being read requires two contiguous INT registers. Therefore,

(5) The controller tag for “Scattered_Read_Response” must be the same size as the controller tag for “Scattered_Read_Request” (for

(1)

(2)

menu. When choosing a Service Type other than “Custom” from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable).

using DPI Parameter Object Class code 0x93 for explicit messaging.

a controller tag was created with its Data Type field set to “INT[10].” Also, the Source Length field on the Message Configuration screen must correspond to the selected Data Type in bytes (for this example, 20 bytes for an INT[10] array). Scattered read messages always assume that every parameter be ing read is a16-bit parameter, regardless of its actual size. Maximum message length is 256 bytes which can read up to 6 4 parameters, regardless of their size.

this example, 20 bytes), but can be a different data type.

Custom Required for scattered messages.

0x32 (Hex.) Code for the requested service.

(3)

(4)

DeviceNet_Scanner, 2, 1 The path is the route that the message will follow.

Class ID for the DPI Parameter Object.

(4)

Name of the tag for any service data to be sent from the scanner or bridge to the adapter/drive.

Number of bytes of service data to be sent in the message.

(5)

The tag where the data that is read is stored.

CompactLogix Example Scattered Read Request Data

In this message example, we use the data structure in Example Scattered Read

Request Data on page 65 in the source tag named Scattered Read Request to read

these five 16-bit parameters in a PowerFlex 525 drive:

• Host parameter b001 [Output Freq]

• Host parameter b003 [Output Current]

• Host parameter b004 [Output Voltage]

• Host parameter b005 [DC Bus Voltage]

• Host parameter b017 [Output Power]

See DPI Parameter Object numbering.

64 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

on page 117 (Class code 0x93) for parameter

Using Explicit Messaging Chapter 6

Example Scattered Read Request Data

CompactLogix Example Scattered Read Response Data

The Scattered Read Request message reads the multiple parameters and returns their values to the destination tag (Scattered_Read_Response). Example

Scattered Read Response Converted Data on page 65 shows the parameter

values.

Example Scattered Read Response Converted Data

In this message example, the Host parameters have the following values:

PowerFlex 525 Drive Parameters Read Value

b001 [Output Freq] 50.00 Hz

b003 [Output Current] 0.01 Amp (No load)

b004 [Output Voltage] 179.6V AC

b005 [DC Bus Voltage] 349V DC

b017 [Output Power] 0 kW (No load)

CompactLogix Example Ladder Logic Program to Write Multiple Parameters

A Scattered Write message is used to write to multiple parameters. This write message example writes the following values to these five 16-bit parameters in a PowerFlex 525 drive:

PowerFlex 525 Drive Parameters Write Value

A442 [Accel Time 2] 11.10 Sec

A443 [Decel time 2] 22.20 Sec

A415 [Preset Freq 5] 33.30 Hz

A416 [Preset Freq 6] 44.40 Hz

A417 [Preset Freq 7] 55.50 Hz

See DPI Parameter Object

on page 117 (Class code 0x93) for parameter

numbering.

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Chapter 6 Using Explicit Messaging

IMPORTANT

Execute_Scattered_Write_Message

Message Message Control Scattered_Write_Message

MSG

EN DN ER

Example Controller Tags to Write Multiple Parameters

Operation Controller Tags for Scattered Write Message Data Types

XIC Execute_Scattered_Write_Message BOOL

MSG Scattered_Write_Message MESSAGE

Example Ladder Logic to Write Multiple Parameters

If you need to make frequent parameter changes using Explicit Messages, set Host parameter C121 [Comm Write Mode] to 1 “RAM only”.

CompactLogix – Formatting a Message to Write Multiple Parameters

Scattered Write Multiple Message Configuration Screens

66 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

The following table identifies the data that is required in each box to configure a message to write multiple parameters.

Configuration Tab Example Value Description

Message Type CIP Generic Used to access the DPI Parameter Object in the adapter.

Service Type

Service Code

Class 93

Instance 0 (Dec.) Required for scattered messages.

Attribute

Source Element Scattered_Write_Request

Source Length 20 bytes

Destination Scattered_Write_Response

Communication Tab Example Value Description

(1)

(2)

Custom Required for scattered messages.

0x34 (Hex.) Code for the requested service.

(4)

Class ID for the DPI Parameter Object.

0 (Hex.) Required for scattered messages.

(5)

Name of the tag for any service data to be sent from the scanner or bridge to the adapter/drive.

(5)

Number of bytes of service data to be sent in the message.

(6)

The tag where the data that is read is stored.

Using Explicit Messaging Chapter 6

Configuration Tab Example Value Description

(3)

Path

Tag Ta b Example Value Description

Name Scattered_Write_Message The name for the message.

(1) The default setting for Service Type is “Custom,” enabling entry of a Service Code not available from the Service Type pull-down

menu. When choosing a Service Type other than “Custom” from the pull-down menu, an appropriate Hex. value is automatically assigned to the Service Code box which is dimmed (unavailable).

(2) Scattered writes always write parameter values to the drive’s Non-Volatile Storage (EEPROM) memory, so these values will remain

even after the drive is power cycled. Important: Be very cautious as the EEPROM may quickly exceed its life cycle and cause the drive to malfunction. Important: If you need to make frequent parameter changes using Explicit Messages, set Host parameter C121 [Comm Write Mode] to 1 “RAM only”.

(3) Click Browse to find the path, or type in the name of the device listed in the I/O Configuration folder (for this example,

(4) See Explicit Messaging Class Code Compatibility with PowerFlex 525 Drives

using DPI Parameter Object Class code 0x93 for explicit messaging.

(5) In this example, we are writing to five 16-bit parameters. Each parameter being written to requires two contiguous INT registers.

Also, the Source Length field on the Message Configuration screen must correspond to the selected Data Type in bytes (for this example, 20 bytes for an array of ten INTs). Scattered write messages always assume that every parameter being written to is a 16bit parameter, regardless of its actual size. Maximum message length is 256 bytes which can write up to 64parameters, regardless of their size. For parameter numbering, see DPI Parameter Object

(6) The controller tag for “Scattered_Write_Response” must be the same size as the controller tag for “Scattered_Write_Request” (for

this example, 20 bytes). An array of INTs is suggested to be able to read any error codes that are returned.

DeviceNet_Scanner, 2, 1 The path is the route that the message will follow.

on page 55 for limitations of PowerFlex 525 drives when

on page 117 (Class code 0x93).

CompactLogix Example Scattered Write Request Data

In this message example, we use the source tag (Scattered_Write_Request) to write new values to these 16-bit parameters:

PowerFlex 525 Drive Parameters Write Value

A442 [Accel Time 2] 11.10 Sec

A443 [Decel time 2] 22.20 Sec

A415 [Preset Freq 5] 33.30 Hz

A416 [Preset Freq 6] 44.40 Hz

A417 [Preset Freq 7] 55.50 Hz

See DPI Parameter Object numbering. Example Scattered Write Request Converted Data the parameter values.

Example Scattered Write Request Converted Data

on page 117 (Class code 0x93) for parameter

on page 67 shows

CompactLogix Example Scattered Write Response Data

The results of the message appear in the destination tag named Scattered_Write_Response (Example Scattered Write Response Data

page 68). Values of “0” indicate no errors occurred.

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Example Scattered Write Response Data

68 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Chapter 7

Esc

Sel

Esc

Sel

Esc

Sel

One drive per node

DeviceNet

PowerFlex 525 with 25-COMM-D

Using Multi-Drive Mode

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

Top ic Pa ge

Single-Drive Mode vs. Multi-Drive Mode

System Wiring 71

Understanding the I/O Image 71

Configuring the RS-485 Network 72

Multi-Drive Ladder Logic Program Example 73

CompactLogix Example Using Generic Profile 74

Multi-Drive Mode Explicit Messaging 82

Additional Information 83

Single-Drive Mode vs. MultiDrive Mode

ATT EN TI ON : Risk of injury or equipment damage exists. The examples in this

publication are intended solely for purposes of example. There are many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

Single-drive mode is a typical network installation, where a single DeviceNet node consists of a single drive with a 25-COMM-D DeviceNet adapter.

Single-Drive Mode Example for Network

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

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Chapter 7 Using Multi-Drive Mode

IMPORTANT

Esc

Sel

Up to 5 drives per node

DeviceNet

Up to four daisy-chained PowerFlex drives (PowerFlex 4M s hown)

RS-485 cable

PowerFlex 525 as master drive

AK-U0-RJ45-TB2P connector with terminating resistor (120 Ω)

AK-U0-RJ45-TB2P

Example for Network on page 70). The first drive must be a PowerFlex 525 drive.

The remaining drives can be any PowerFlex drive which supports Multi-drive.

For the examples in the chapter, we will use the PowerFlex 525 as a Master drive with four daisy-chained PowerFlex 4M drives.

Multi-Drive Mode Example for Network

Benefits of Multi-drive mode include:

• Lower hardware costs. No need to purchase additional communication adapters for daisy-chained drives.

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

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

The trade-offs of Multi-drive mode include:

• If the PowerFlex 525 with DeviceNet adapter is powered down, then communications with the daisy-chained drives is 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-drive mode). This is because the DeviceNet 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 Additional Throughput Time

PowerFlex 525 0 ms

PowerFlex 525 plus 1 drive +24 ms

PowerFlex 525 plus 2 drives +48 ms

PowerFlex 525 plus 3 drives +72 ms

PowerFlex 525 plus 4 drives +96 ms

versus Single-Drive Mode

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Using Multi-Drive Mode Chapter 7

To PowerFlex 525 with DeviceNet adapter

To Drive #2 To Drive #3 To Drive #4 To Drive #5

120 Ω, 1/4 W

resistor

120 Ω, 1/4 W resisto r

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

• The RSNetWorx Parameter editor cannot be used to access the Host parameters. It can only access the parameters on the DeviceNet adapter.

• Since the RS-485 ports are used for daisy-chaining the drives, there is no connection for a peripheral device such as a HIM or USB converter module (1203-USB). DSI Splitter cables cannot be used to add a second connection for a peripheral device.

System Wiring

To daisy-chain the drives of the PowerFlex 525, the 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 below.

Understanding the I/O Image

The AK-U0-RJ45-TB2P comes with (5) terminal block connectors and (2) terminating resistors.

The terms input and output are defined from the scanner’s point of view. Therefore, Output I/O is data that is output from the scanner and consumed by the adapter. Input I/O is status data that is produced by the adapter and consumed as input by the scanner.

The I/O image table will vary based on the configuration of Host parameters C169 [MultiDrv Sel] and C175 [DSI I/O Cfg]. The image table always uses consecutive words starting at word 0.

The Multi-Drive Example of I/O Image

on page 72 for an illustration of the

Multi-drive I/O image with 16-bit words.

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Chapter 7 Using Multi-Drive Mode

Multi-Drive Example of I/O Image

Controller

Scanner

Output Image (Write)

Input Image (Read)

DeviceNet

Drive 0

Drive 1

Drive 2

Drive 3

Drive 4

Drive 0

Drive 1

Drive 2

Drive 3

Drive 4

Adapter

Wor d and I /O

Logic CommandWord 0

ReferenceWord 1

Logic CommandWord 2

ReferenceWord 3

Logic CommandWord 4

ReferenceWord 5

Logic CommandWord 6

ReferenceWord 7

Logic CommandWord 8

ReferenceWord 9

Logic StatusWord 0

FeedbackWord 1

Logic StatusWord 2

FeedbackWord 3

Logic StatusWord 4

FeedbackWord 5

Logic StatusWord 6

FeedbackWord 7

Logic StatusWord 8

FeedbackWord 9

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

Configuring the RS-485 Network

Message Handler

Message

Buer

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

The following parameters must be set in the daisy-chained PowerFlex 4M drives and not in the master drive:

Parame ter Value

P106 [Start Source] 5 “Comm Port”

P108 [Speed Reference] 5 “Comm Port”

C302 [Comm Data Rate] 4 “19.2K”

C303 [Comm Node Addr] 1...247 (must be unique)

C306 [Comm Format] 0 “RTU-8-N-1”

Note: The RS-485 Multi-drive network is fixed at 19.2K baud rate, 8 data bits, no parity, and 1 stop bit.

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IMPORTANT

Parameters [Comm Loss Action] and [Comm Loss Time] in the daisy-chained drives are still used in Multi-drive mode. If the RS-485 cable is disconnected or broken, the disconnected drive(s) will take the corresponding Comm Loss Action(s). On the DeviceNet side, Device parameters 06 [Comm Flt Actn] and 07 [Idle Flt Actn] in the DeviceNet adapter determine the action taken for ALL of the drives on the Multi-drive node.

The following Multi-drive parameters must be set in the master PowerFlex 525 drive:

Parameter Configuration for Multi-Drive Mode

Parame ter Value

P046 [Start Source 1] 4 “Network Opt”

P047 [Speed Reference1] 4 “Network Opt”

C169 [MultiDrv Sel] 0 “Disabled”

1 “Network Opt” 2 “EtherNet/IP” Note: Drive must be power cycled after setting this parameter.

C171 [Drv 1 Addr] C124 [RS485 Node Addr] in Drive 1

C172 [Drv 2 Addr] C124 [RS485 Node Addr] in Drive 2

C173 [Drv 3 Addr] C124 [RS485 Node Addr] in Drive 3

C174 [Drv 4 Addr] C124 [RS485 Node Addr] in Drive 4

C175 [DSI I/O Cfg] 0 “Drive 0”

1 “Drive 0-1” 2 “Drive 0-2” 3 “Drive 0-3” 4 “Drive 0-4”

Multi-Drive Ladder Logic Program Example

Parameters can be set using a DSI peripheral (22-HIM-A3 or 22-HIM-C2S) only when parameter C169 [MultiDrv Sel] is set to 0 “Disabled”.

The example ladder program demonstrates using Multi-drive mode with five drives. See Multi-Drive Mode Example for Network a system layout diagram. See Multi-Drive Example of I/O Image

on page 70 for an example of

on page 72 for

the number of 16-bit input and output words to use for your application. In this example, the number of input words is 10 and the number of output words is 10.

Function of the Example Program

The example program provided is for the CompactLogix family, but other Logixbased controllers can also be used similarly. This example program enables you to:

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

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Chapter 7 Using Multi-Drive Mode

IMPORTANT

• 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 PowerFlex 4M drive parameter P109 [Accel Time 1] for both so you can see (read) the change after a write is performed.

Drive 0 (PowerFlex 525) Settings for the Example Program

• Parameter C169 [MultiDrv Sel] is set to 1 “Network Opt”.

• The following parameters are set:

Parameter Value Description

P046 [Start Source 1] 4 “Network Opt”

P047 [Speed Reference1] 4 “Network Opt”

C175 [DSI I/O Cfg] 4 “Drive 0-4” (5 drives on 1 node)

C171 [Drv 1 Addr]

C172 [Drv 2 Addr] 2 Modbus address of Drive 2

C173 [Drv 3 Addr] 3 Modbus address of Drive 3

C174 [Drv 4 Addr] 4 Modbus address of Drive 4

(1) The settings for these parameters must match the node address settings in the respective daisy-chained drives.

(1)

1 Modbus address of Drive 1

CompactLogix Example Using Generic Profile

Drive 1...4 (PowerFlex 4M) Settings for the Example Program (in all drives)

The following parameters are set:

Value

Parameter Drive 1 Drive 2 Drive 3 Drive 4

P106 [Start Source] 5555

P108 [Speed Reference] 5 5 5 5

C302 [Comm D ata Rate] 4 4 4 4

C303 [Comm Node Addr] 1 2 3 4

C304 [Co mm Loss Acti on] 0 0 0 0

C305 [Comm Loss Time] 5.0 s 5.0 s 5.0 s 5.0 s

C306 [Comm For mat] 0 0 0 0

Cycle drive power after making these settings.

The following common Tags are used:

Tag Name Type Description

Local:1:O AB:1769_SDN_364Bytes:O:0 1769-SDN I/O

Local:1:I AB:1769_SDN_496Bytes:I:0

Accel_Time_1 INT –

Drive_Input_Image INT [10] Input Image Table

Drive_Output_Image INT [10] Output Image Table

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Using Multi-Drive Mode Chapter 7

The following Tags are used for Drive 0:

Tag Name 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 2 (FORWARD)

Drive_0_Status_Faulted BOOL Logic St atus 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)

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_Attritbute_Single (Write)

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

Main Routine

The Main Routine tells the 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 Main Routine

on page 76.

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Chapter 7 Using Multi-Drive Mode

Main Routine

CompactLogix DeviceNet Multi-drive example program with a PowerFlex 525 and DeviceNet adapter at node address 1. Four PowerFlex 4M drives are daisy-chained to the main PowerFlex 525 using their RJ45 ports (RS-485). In this mode, up to ve PowerFlex drives can exist on one DeviceNet node.

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

This rung retrieves the Logic Status and Feedback data for all ve drives from the scanner (DINTs), and moves it to specic INT tags for use elsewhere in the ladder program. The input image is as follows:

Drive_Input_Image[0] and Drive_Input_Image[1] = Drive 0 Logic Status and Feedback Drive_Input_Image[2] and Drive_Input_Image[3] = Drive 1 Logic Status and Feedback Drive_Input_Image[4] and Drive_Input_Image[5] = Drive 2 Logic Status and Feedback Drive_Input_Image[5] and Drive_Input_Image[7] = Drive 3 Logic Status and Feedback Drive_Input_Image[8] and Drive_Input_Image[9] = Drive 4 Logic Status and Feedback

Local:3:O.CommandRegister.Run

Copy File Source Dest Length

COP

Drive_Input_Image[0]

Local:1:I.Data[0]

Drive 0 control subroutine.

Drive 1 control subroutine.

Drive 2 control subroutine.

Drive 3 control subroutine.

Drive 4 control subroutine.

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

Drive_Output_Image[0] and Drive_Output_Image[1] = Drive 0 Logic Command and Reference Drive_Output_Image[2] and Drive_Output_Image[3] = Drive 0 Logic Command and Reference Drive_Output_Image[4] and Drive_Output_Image[5] = Drive 0 Logic Command and Reference Drive_Output_Image[6] and Drive_Output_Image[7] = Drive 0 Logic Command and Reference Drive_Output_Image[8] and Drive_Output_Image[9] = Drive 0 Logic Command and Reference

(End)

JSR Jump To Subroutine Routine Name Drive0

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

Copy File Source Dest Length

COP

Drive_Output_Image[0]

Local:1:O.Data[0]

Drive 0...4 Control Routines

The following 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:

Control Routine See page...

Drive 0 77

Drive 1 78

Drive 2 79

Drive 3 80

Drive 4 81

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Using Multi-Drive Mode Chapter 7

Explicit Messaging Example

Drive 0 Control Subroutine

Drive 0 Control Routine

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

Drive_Input_Image[0].0 Drive_0_Status_Ready

Drive_Input_Image[0].1 Drive_0_Status_Active

Drive_Input_Image[0].3 Drive_0_Status_Forward

Drive_Input_Image[0].7 Drive_0_Status_Faulted

Drive_Input_Image[0].8 Drive_0_Status_At_Reference

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

Drive_0_Command_Stop Drive_Output_Image[0].0

Drive_0_Command_Start Drive_Output_Image[0].1

Drive_0_Command_Jog Drive_Output_Image[0].2

Drive_0_Command_Clear_Faults Drive_Output_Image[0].3

Drive_0_Command_Forward Drive_Output_Image[0].4

Drive_0_Command_Forward Drive_Output_Image[0].5

Copy File Source Dest Length

COP

Drive_Input_Image[1]

Drive_0_Feedback

Drive 0 parameters are accessed by referencing the desired parameter number. For example, to access parameter P041 an Instance of 41 is used.

Perform_Parameter_Read_0

Perform_Parameter_Write_0

(End)

Type – CIP Generic Message Control Parameter_RD_Message_0

Type – CIP Generic Message Control Parameter_WR_Message_0

Copy File Source Dest Length

MSG

COP

Drive_0_Reference

Drive_Output_Image[1]

RET

Return from Subroutine

EN DN ER

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Chapter 7 Using Multi-Drive Mode

Explicit Messaging Example

Drive 1 Control Subroutine

Drive 1 Control Routine

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

Drive_Input_Image[2].0 Drive_1_Status_Ready

Drive_Input_Image[2].1 Drive_1_Status_Active

Drive_Input_Image[2].3 Drive_1_Status_Forward

Drive_Input_Image[2].7 Drive_1_Status_Faulted

Drive_Input_Image[2].8 Drive_1_Status_At_Reference

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

Drive_1_Command_Stop Drive_Output_Image[2].0

Drive_1_Command_Start Drive_Output_Image[2].1

Drive_1_Command_Jog Drive_Output_Image[2].2

Drive_1_Command_Clear_Faults Drive_Output_Image[2].3

Drive_1_Command_Forward Drive_Output_Image[2].4

Drive_1_Command_Forward Drive_Output_Image[2].5

Drive 1 parameters are accessed by adding 18432 decimal (4800 hex) to the desired parameter number. For example, to access parameter P109 an Instance of 18541 (18432 + 109) is used.

Perform_Parameter_Read_1

Perform_Parameter_Write_1

Type – CIP Generic Message Control Parameter_RD_Message_1

Type – CIP Generic Message Control Parameter_WR_Message_1

Copy File Source Dest Length

MSG

COP

Drive_Input_Image[3]

Drive_1_Feedback

COP

Drive_1_Reference

Drive_Output_Image[3]

EN DN ER

(End)

78 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

RET

Return from Subroutine

Explicit Messaging Example

Drive 2 Control Subroutine

Using Multi-Drive Mode Chapter 7

Drive 2 Control Routine

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

Drive_Input_Image[4].0 Drive_2_Status_Ready

Drive_Input_Image[4].1 Drive_2_Status_Active

Drive_Input_Image[4].3 Drive_2_Status_Forward

Drive_Input_Image[4].7 Drive_2_Status_Faulted

Drive_Input_Image[4].8 Drive_2_Status_At_Reference

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

Drive_2_Command_Stop Drive_Output_Image[4].0

Drive_2_Command_Start Drive_Output_Image[4].1

Drive_2_Command_Jog Drive_Output_Image[4].2

Drive_2_Command_Clear_Faults Drive_Output_Image[4].3

Drive_2_Command_Forward Drive_Output_Image[4].4

Drive_2_Command_Forward Drive_Output_Image[4].5

Drive 2 parameters are accessed by adding 19456 decimal (4C00 hex) to the desired parameter number. For example, to access parameter P109 an Instance of 19565 (19456 + 109) is used.

Perform_Parameter_Read_2

Perform_Parameter_Write_2

Type – CIP Generic Message Control Parameter_RD_Message_2

Type – CIP Generic Message Control Parameter_WR_Message_2

Copy File Source Dest Length

MSG

COP

Drive_Input_Image[5]

Drive_2_Feedback

COP

Drive_2_Reference

Drive_Output_Image[5]

EN DN ER

RET

(End)

Return from Subroutine

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Chapter 7 Using Multi-Drive Mode

Explicit Messaging Example

Drive 3 Control Subroutine

Drive 3 Control Routine

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

Drive_Input_Image[6].0 Drive_3_Status_Ready

Drive_Input_Image[6].1 Drive_3_Status_Active

Drive_Input_Image[6].3 Drive_3_Status_Forward

Drive_Input_Image[6].7 Drive_3_Status_Faulted

Drive_Input_Image[6].8 Drive_3_Status_At_Reference

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

Drive_3_Command_Stop Drive_Output_Image[6].0

Drive_3_Command_Start Drive_Output_Image[6].1

Drive_3_Command_Jog Drive_Output_Image[6].2

Drive_3_Command_Clear_Faults Drive_Output_Image[6].3

Drive_3_Command_Forward Drive_Output_Image[6].4

Drive_3_Command_Forward Drive_Output_Image[6].5

Drive 3 parameters are accessed by adding 20480 decimal (5000 hex) to the desired parameter number. For example, to access parameter P109 an Instance of 20589 (20480 + 109) is used.

Perform_Parameter_Read_3

Perform_Parameter_Write_3

Type – CIP Generic Message Control Parameter_RD_Message_3

Type – CIP Generic Message Control Parameter_WR_Message_3

Copy File Source Dest Length

MSG

COP

Drive_Input_Image[7]

Drive_3_Feedback

COP

Drive_3_Reference

Drive_Output_Image[7]

EN DN ER

(End)

80 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

RET

Return from Subroutine

Explicit Messaging Example

Drive 4 Control Subroutine

Using Multi-Drive Mode Chapter 7

Drive 4 Control Routine

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

Drive_Input_Image[8].0 Drive_4_Status_Ready

Drive_Input_Image[8].1 Drive_4_Status_Active

Drive_Input_Image[8].3 Drive_4_Status_Forward

Drive_Input_Image[8].7 Drive_4_Status_Faulted

Drive_Input_Image[8].8 Drive_4_Status_At_Reference

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

Drive_4_Command_Stop Drive_Output_Image[8].0

Drive_4_Command_Start Drive_Output_Image[8].1

Drive_4_Command_Jog Drive_Output_Image[8].2

Drive_4_Command_Clear_Faults Drive_Output_Image[8].3

Drive_4_Command_Forward Drive_Output_Image[8].4

Drive_4_Command_Forward Drive_Output_Image[8].5

Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number. For example, to access parameter P109 an Instance of 21613 (21504 + 109) is used.

Perform_Parameter_Read_4

Perform_Parameter_Write_4

Type – CIP Generic Message Control Parameter_RD_Message_4

Type – CIP Generic Message Control Parameter_WR_Message_4

Copy File Source Dest Length

MSG

COP

Drive_Input_Image[9]

Drive_4_Feedback

COP

Drive_4_Reference

Drive_Output_Image[9]

EN DN ER

RET

(End)

Return from Subroutine

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Chapter 7 Using Multi-Drive Mode

Multi-Drive Mode Explicit Messaging

Parameter addressing for Explicit messaging is different in Multi-drive than with Single-drive mode. In Single-drive 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 five drives. The parameters in the adapter and each of the drives are offset by 400 hex (1024

decimal):

Instance (Hex.) Instance (Dec.) Device Parameter

0x0000...0x3FFF 0...16383 DeviceNet Adapter parameters 0...1023

0x4000...0x43FF 16384...17407 DeviceNet Adapter parameters 0...1023

0x4400...0x47FF 17408...18431 Drive 0 0...1023

0x4800...0x4BFF 18432...19455 Drive 1 0...1023

0x4C00...0x4FFF 19456...20479 Drive 2 0...1023

0x5000...0x53FF 20480...21503 Drive 3 0...1023

0x5400...0x57FF 21504...22527 Drive 4 0...1023

0x5800...0x5BFF 22528...23551 DeviceNet Adapter parameters 0...1023

For example, to access [Accel Time 1] (parameter P041 in PowerFlex 525 and P109 in PowerFlex 4M) in each of the drives, the following Instances would be used:

• Drive 0 (PowerFlex 525) Instance = 17449 (17408 + 41)

• Drive 1 (PowerFlex 4M) Instance = 18541 (18432 + 109)

• Drive 2 (PowerFlex 4M) Instance = 19565 (19456 + 109)

• Drive 3 (PowerFlex 4M) Instance = 20589 (20480 + 109)

• Drive 4 (PowerFlex 4M) Instance = 21613 (21504 + 109)

Drive 1 Explicit Message Example

The Explicit message examples in the ControlLogix example program perform a read and a write to PowerFlex 4M parameter P109 [Accel Time 1]. The configuration for the read is shown in Parameter Read Message Configuration

page 83 and the write is shown in Parameter Write Message Configuration on page 83.

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Parameter Read Message Configuration

Parameter Write Message Configuration

Using Multi-Drive Mode Chapter 7

Additional Information

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 for more information. The Instance value is “18541” to access parameter P109 [Accel Time 1] in the first daisy-chained drive.

The Explicit message for Drive 1 to Drive 4 are identical except for the Instance values, see Multi-Drive Mode Explicit Messaging

on page 82 for examples.

• When the PowerFlex 525 drive with the 25-COMM-D DeviceNet adapter (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 525 drive with the 25-COMM-D DeviceNet adapter (Drive 0) is powered down, communications with the four daisy-chained drives (Drive 1 to Drive 4) are disrupted and the drives will take their corresponding Comm Loss Actions.

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Chapter 7 Using Multi-Drive Mode

• If any of the daisy-chained drives (Drive 1 to Drive 4) are powered down, the respective Input Image (Logic Status and Feedback) will be set to zero, and the NET A and PORT LEDs on the adapter will flash red. Status information will not indicate there is a fault at the node, and the I/O connection will not be dropped.

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Chapter 8

Esc

Sel

➊

➋

25-COMM-D PowerFlex 525 Frame A shown

➌

➍

➊

➋

➌

➍

Item Status Indicator Description Page

➊ PORT DSI Connection Status 86 ➋ MOD Adapter Status 86 ➌ NET A DeviceNet Status 87 ➍ NET B Not used for DeviceNet –

Troubleshooting

This chapter provides information for diagnosing and troubleshooting potential problems with the adapter and network.

Top ic Pa ge

Understanding the Status Indicators

PORT Status Indicator 86

MOD Status Indicator 86

NET A Status Indicator 87

Viewing Adapter Diagnostic Items 87

Viewing and Clearing Events 88

Understanding the Status Indicators

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

Status Indicators

FWD

ENET LINK

EtherNet/IP

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Chapter 8 Troubleshooting

PORT Status Indicator

MOD Status Indicator

This red/green bicolor LED indicates the status of the adapter’s connection to the drive as shown in the table below.

Status Cause Corrective Actions

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

Flashing red The adapter is not receiving communication

Solid red The drive has refused an I/O connection

Flashing green

Solid green The adapter is properly connected and is

Orange Daisy-chained drives in Multi-drive mode

from the drive, connected drive is faulted, or a drive is missing in Multi-drive mode.

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 Host parameter C175 [DSI I/O Config] is configured for all I/O disabled.

communicating with the drive.

are not all Allen-Bradley drives (PowerFlex 525/4/40).

DeviceNet 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 drive 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.

• Ver ify Host parameter C175 [DSI I/O Config] settings.

• Normal behavior if no DSI I/O is enabled.

No Action.

Use Allen-Bradley PowerFlex 525/4/40’s for the daisychained drives.

This red/green bicolor LED indicates the status of the option module as shown in the table below.

Status Cause Corrective Actions

Off The adapter is not powered or is not

Flashing red The adapter has failed the firmware test,

Solid red The ada pter has fail ed the hardware test. • Cycle power to the drive.

Flashing green

Solid green The adapter is operational and transferring

connected properly to the drive.

connected drive is faulted, or a drive is missing in Multi-drive mode.

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

I/O data.

• Securely connect the adapter to the drive using the DeviceNet cable.

• Apply power to the drive.

• Clear any drive faults.

• 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 adapter.

• 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).

Chapter 7

• Replace the adapter.

• Place the scanner in RUN mode.

• Program the I/O controller to recognize and transmit I/O

to the adapter.

• Configure the adapter for the program in the controller.

• Normal behavior if no DSI /IO is enabled.

No Action.

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Troubleshooting Chapter 8

NET A Status Indicator

Viewing Adapter Diagnostic Items

This red/green bicolor LED indicates the status of the network connection as shown in the table below.

Status Cause Corrective Actions

Off The adapter and/or network is not powered

Flashing red A DeviceNet I/O connection has timed out. • Place the scanner in RUN mode, or apply power to the

Solid red Failed duplicate node detection test or bus

Flashing green

Solid green The adapter is properly connected and

or adapter is not connected properly to the drive.

off condition exists.

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

communicating on the network.

• Securely connect the adapter to the drive, and the adapter to the network using DeviceNet cables.

• Correctly connect the DeviceNet cable to the DeviceNet plug.

• Apply power to the drive and network.

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.

• Make sure 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.

If you encounter unexpected communications problems, the adapter’s diagnostic items may help you or Rockwell Automation personnel troubleshoot the problem. The diagnostic parameters for the DeviceNet adapter can be viewed using the PowerFlex 22-HIM-A3/-C2S HIM.

DeviceNet Adapter Diagnostic Parameters

No. Name Description

01 Reserved –

02 Drv 0 Logic Command The present value of the Logic Command being transmitted to the drive (single drive

03 Drv 0 Reference The present value of the Reference being transmitted to the drive (single drive mode) or

04 Reserved –

05 Drv 0 Logic Sts The present value of the Logic Status being received from the drive (single drive mode) or

06 Drv 0 Feedback The present value of the Feedback being received from the drive (single drive mode) or

07 Drv 1 Logic Cmd The present value of the Logic Command being transmitted to drive 1 (multi-drive mode)

08 Drv 1 Reference The present value of the Reference being transmitted to drive 1 (multi-drive mode) by

09 Drv 1 Logic Sts The present value of the Logic Status being received from drive 1 (multi-drive mode) by

10 Drv 1 Feedback The present value of the Feedback being received from drive 1 (multi-drive mode) by this

11 Drv 2 Logic Cmd The present value of the Logic Command being transmitted to drive 2 (multi-drive mode)

12 Drv 2 Reference The present value of the Reference being transmitted to drive 2 (multi-drive mode) by

13 Drv 2 Logic Sts The present value of the Logic Status being received from drive 2 (multi-drive mode) by

14 Drv 2 Feedback The present value of the Feedback being received from drive 2 (multi-drive mode) by this

mode) or drive 0 (multi-drive mode) by this adapter.

drive 0 (multi-drive mode) by this adapter.

by this adapter.

this adapter.

adapter.

by this adapter.

this adapter.

adapter.

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Chapter 8 Troubleshooting

DeviceNet Adapter Diagnostic Parameters

No. Name Description

15 Drv 3 Logic Cmd The present value of the Logic Command being transmitted to drive 3 (multi-drive mode)

by this adapter.

16 Drv 3 Reference The present value of the Reference being transmitted to drive 3 (multi-drive mode) by

this adapter.

17 Drv 3 Logic Sts The present value of the Logic Status being received from drive 3 (multi-drive mode) by

this adapter.

18 Drv 3 Feedback The present value of the Feedback being received from drive 3 (multi-drive mode) by this

adapter.

19 Drv 4 Logic Cmd The present value of the Logic Command being transmitted to drive 4 (multi-drive mode)

by this adapter.

20 Drv 4 Reference The present value of the Reference being transmitted to drive 4 (multi-drive mode) by

this adapter.

21 Drv 4 Logic Sts The present value of the Logic Status being received from drive 4 (multi-drive mode) by

this adapter.

22 Drv 4 Feedback The present value of the Feedback being received from drive 4 (multi-drive mode) by this

adapter.

23 Input Size The size of the input image in bytes transferred from the network to the drive.

24 Output Size The size of the output image in bytes transferred from the drive to the network.

25 DL Fr Net 01 Val The current datalink value being transmitted from this adapter to the drive (single drive

mode).

26 DL Fr Net 02 Val The current datalink value being transmitted from this adapter to the drive (single drive

mode).

27 DL Fr Net 03 Val The current datalink value being transmitted from this adapter to the drive (single drive

mode).

28 DL Fr Net 04 Val The current datalink value being transmitted from this adapter to the drive (single drive

mode).

29 DL To Net 01 Val The current datalink value being received from the drive by this adapter (single drive

mode).

30 DL To Net 02 Val The current datalink value being received from the drive by this adapter (single drive

mode).

31 DL To Net 03 Val The current datalink value being received from the drive by this adapter (single drive

mode).

32 DL To Net 04 Val The current datalink value being received from the drive by this adapter (single drive

mode).

33 Opt Comm Errs Number of errors that have been detected on the interface between the drive and the

adapter.

34 Net Rx Errs The present value of the DeviceNet CAN Receive Error Counter register.

35 Net Rx Errs Max The maximum value of the DeviceNet CAN Receive Error Counter register.

36 Net Tx Errs The present value of the DeviceNet CAN Transmit Error Counter register.

37 Net Tx Errs Max The maximum value of the DeviceNet CAN Transmit Error Counter register.

38 CAN Error s The number of er rors reporte d by the DeviceNet ha rdware that did n ot appear in [Net Rx

Errs Max] or [Next Tx Errs Max].

39 Boot Flash Count The number of times the boot firmware in the adapter has been flash updated.

40 App Flash Count The number of times the application firmware in the adapter has been flash updated.

41 Data Rate Sw The present value of the data rate switches.

42 Net Addr Sw The present value of the node address switches.

Viewing and Clearing Events

The adapter has an event queue to record significant events that occur in the operation of the adapter. When such an event occurs, an entry consisting of the event’s numeric code and a timestamp is put into the event queue. You can view the event queue using the PowerFlex 22-HIM-A3/-C2S HIM or Connected Components Workbench.

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Troubleshooting Chapter 8

The event queue can contain up to 32 entries, which are stored in RAM— making the event queue volatile, meaning a power cycle will clear the event queue. If the event queue becomes full, a new entry replaces the oldest entry. Only a power cycle, event queue clear operation, or the corruption of the RAM group containing the event queue will clear the event queue contents.

Many events in the event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Allen-Bradley personnel troubleshoot the problem. The following events may appear in the event queue:

Adapter Events

Code Event Description

Adapter Events

1 No Event Text displayed in an empty event queue entry.

2 Device Power Up The adapter was powered up normally.

3 Device Reset The adapter was commanded to reset from the network or DSI.

4 EEPROM CRC Error The EEPROM checksum/CRC is incorrect. The functionality of the adapter will be

5 App Updated The adapter application firmware was flash updated.

6 Boot Updated The adapter boot firmware was flash updated.

7 Watchdog Timeout The software watchdog detected a failure and reset the adapter.

10 DSI Detected The adapter dete cted that the DSI device is connected.

11 DSI Removed The adapter detected that the DSI device was disconnected.

12 DSI Logon The adapter has established communications with the DSI device.

13 DSI Timeout The adapter has lost communications with the DSI device.

14 DSI Brand Flt The brand of the DSI device is different from the adapter.

15 Host 0 Logon The adapter has established communications with host 0.

16 Host 1 Logon The adapter has established communications with host 1.

17 Host 2 Logon The adapter has established communications with host 2.

18 Host 3 Logon The adapter has established communications with host 3.

19 Host 4 Logon The adapter has established communications with host 4.

20 Host 0 Timeout The adapter has lost communications with host 0.

21 Host 1 Timeout The adapter has lost communications with host 1.

22 Host 2 Timeout The adapter has lost communications with host 2.

23 Host 3 Timeout The adapter has lost communications with host 3.

24 Host 4 Timeout The adapter has lost communications with host 4.

25 Host 0 Brand Flt The brand of host 0 is different from the adapter.

26 Host 1 Brand Flt The brand of host 1 is different from the adapter.

27 Host 2 Brand Flt The brand of host 2 is different from the adapter.

28 Host 3 Brand Flt The brand of host 3 is different from the adapter.

29 Host 4 Brand Flt The brand of host 4 is different from the adapter.

30 Manual Reset The adapter was reset manually.

40 Net Link Up 24V power was regained on DeviceNet. DeviceNet communication can be re-

41 Net Link Down 24V power was lost on DeviceNet. DeviceNet communication is impossible.

42 Net Dup Address The adapter uses the same IP address as another device on the network.

43 Net Comm Fault The adapter detected a communications fault on the network and has performed the

44 Net Sent Reset The adapter received a reset from the network.

limited. Default parameter values must be loaded to clear this condition.

DSI Events

Network Events

established.

“Comm Flt” action specified by the user.

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 89

Chapter 8 Troubleshooting

Adapter Events

Code Event Description

45 Net IO Close An I/O connection from the network to the adapter was closed.

46 Net Idle Fault The adapter detec ted a network idle condition on the network and has performed the

“Idle Flt” action specified by the user.

47 Net IO Open An I/O connec tion from the network to the adapter has been opened.

48 Net IO Timeout An I/O connection from the network to the adapter has timed out.

49 Net IO Size Err The adapter received an incorrectly sized I/O packet.

50 PCCC IO Close The device sending PCCC Control messages to the adapter has set the PCCC Control

Timeout to zero.

51 PCCC IO Open The adapter has begun receiving PCCC Control messages (the PCCC Control Timeout

was previously set to a non-zero value).

52 PCC C IO Timeo ut The adapte r has not re ceived a PCCC Control mes sage for lo nger than the PCCC Cont rol

Timeout.

53 Msg Ctrl Open The timeout attribute in either the CIP Register or Assembly object was written with a

non-zero value, allowi ng control messages to be sent to the adapter.

54 Msg Ctrl Close The timeout attribute in either the CIP Register or Assembly object was written with a

zero value, disallowing control messages to be sent to the adapter.

55 Msg Ctrl Timeout The timeout attribute in either the CIP Register or Assembly object elapsed between

accesses of those objects.

58 Net Bus Off The network has experienced a Bus Off condition.

59 Net Poll Timeout A Polled I/O connection has timed out.

60 Net IO Frag Err A network I/O fragment was received out of sequence. Possible line noise problem.

61 Net COS Timeout A Change of State (COS) connection has timed out.

62 Net Poll Alloc A Polled connection has been allocated.

63 Net COS Alloc A Change of State (COS) I/O connection has been allocated.

64 Net Poll Close A Polled I/O connection was explicitly closed.

65 Net COS Close A Change of State (COS) I/O connection was explicitly closed.

Adapter Specific Events

69 Module Defaulted The adapter has been set to defaults.

90 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Specifications

Appendix A presents the specifications for the adapter.

Appendix A

Communication

Electrical

Mechanical

Environmental

Network

Protocol Data Rates

Drive

Protocol DSI

Consu mption

Drive Network

Dimensions

Height Length Widt h

Weight 39 g (1.38 oz.)

Tem p er at u re

Operating Storage

Relative Humidity -5...95% noncondensing

DeviceNet 125 Kbps, 250 Kbps, 500 Kbps, or Autobaud (default)

150 mA @ 5V supplied through the drive 60 mA @ 24V supplied through DeviceNet Use the 60 mA value to size the network current draw from the power supply.

21 mm (0.83 in.)

141.8 mm (5.58 in.)

48.4 mm (1.9 in.)

-10...50 °C (14...149 °F)

-40...85 °C (-40...185 °F)

Regulatory Compliance

See the PowerFlex 525 Adjustable Frequency AC Drive User Manual, publication 520-UM001

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 91

for regulatory compliance information.

Appendix A Specifications

Notes:

92 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Appendix B

Adapter Parameters

Appendix B provides information about the adapter parameters.

Top ic Pa ge

Paramete rs 93

Device

The adapter parameters are displayed in a Numbered List view order.

Device Parameters

Parameter

No. Name and Description Details

01 [MultiDrv Sel]

Sets the configuration of the drive that is in multi-drive mode. A reset or power cycle is required after selection is made.

02 [DLs From Net Cfg]

Sets the number of contiguous controller-to-drive Datalinks (additional parameters) that are included in the network I/O connection. Logic Command and Reference are always included in the I/O connection. This parameter controls how many of the contiguous Host [Opt Data Out x] parameters (four maximum) are active. For example, if this parameter value is set to ‘4’, then

Host parameters C165 [Opt Data Out 1] through C168 [Opt Data Out 4] will be updated.

03 [DLs From Net Act]

Displays the value of Device parameter 02 [DLs From Net Cfg] at the time the drive was reset. This is the number of actual contiguous controller-to-drive Datalinks that the drive is expecting.

04 [DLs To Net Cfg]

Sets the number of contiguous drive-to-controller Datalinks (additional parameters) that are included in the network I/O connection. Logic Status and Feedback are always included in the I/O connection. This parameter controls how many of the contiguous Host [Opt Data In x] parameters (four maximum) are active. For example, if this parameter value is set to ‘4’, then

Host parameters C161 [Opt Data In 1] through C164 [Opt Data In 4] will be updated.

05 [DLs To Net Act]

Displays the value of Device parameter 04 [DLs To Net Cfg] at the time the drive was reset. This is the number of actual contiguous drive-to-controller Datalinks that the controller is expecting.

06 [Net Addr Src]

Displays the source from which the adapter’s node address is taken. This will be either the Node Address switches (See

Setting the Node Address and Data Rate Using the DIP Switches on page 16) or the value of Device parameter 07 [Net Addr

Cfg].

Default: 0 = Disabled Valu es: 0 = D isabled

Typ e: R ead Onl y Reset Required: No

Default: 0 Minimum: 0 Maximum: 4 Typ e: Re a d/ Wri te Reset Required: Yes

Minimum: 0 Maximum: 4 Typ e: R ead Onl y Reset Required: No

Default: 0 Minimum: 0 Maximum: 4 Typ e: Re a d/ Wri te Reset Required: Yes

Minimum: 0 Maximum: 4 Typ e: R ead Onl y Reset Required: No

Values: 0 = Switches

Typ e: R ead Onl y Reset Required: No

1 = Network Opt 2 = EtherNet/IP

1 = Parameters

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 93

Appendix B Adapter Parameters

ATTENTION: Risk of injury or equipment damage exists. If the adapter

is transmitting I/O that controls the drive, the drive may fault when you reset the adapter. Determine how your drive will respond before resetting the adapter.

Parameter

No. Name and Description Details

07 [Net Addr Cfg]

Sets the network node address for the adapter when Device parameter 06 [Net Addr Src] is set to 1 “Parameters”.

08 [Net Addr Act]

Displays the actual network node address used by the adapter.

09 [Net Rate Cfg]

Sets the network data rate at which the adapter communicates when the Data Rate switch (See Setting the Node Address and

Data Rate Using the DIP Switches on page 16) is set to position

‘3’. (Updates Device parameter 10 [Net Rate Act] after a reset.)

10 [Net Rate Act]

Displays the actual network data rate being used by the adapter.

11 [COS Status M ask]

Sets the mask for the 32-bit Logic Status word. Unless they are masked out, the bits in the Logic Status word are checked for changes when the adapter is allocated using COS (Change of State). If a bit changes, it is reported as a change in the Change of State operation.

If the mask bit is ‘0’ (Off), the bit is ignored. If the mask bit is ‘1’ (On), the bit is checked.

Important: The bit definitions in the Logic Status word for PowerFlex 520-Series drives are shown in Appendix D

12 [COS Fdbk Change]

Sets the amount of acceptable error (positive or negative) that the Feedback word can change before it is reported as a change in the COS (Change of State) operation.

13 [COS/Cyc Interval]

Displays the amount of time that a scanner will wait to check for data in the adapter.

When COS (Change of State) data exchange has been configured, this is the maximum amount of time between scans. Scans will occur sooner if data changes.

When Cyclic data exchange has been configured, this interval is the fixed time between scans.

14 [Reset Module]

No action if set to 0 “Ready”. Resets the adapter if set to 1 “Reset Module”. Restores the adapter to its fac tory default settings if set to 2 “Set Defaults”. This parameter is a command. It will be reset to 0 “Ready” after the command has been performed.

Default: 63 Minimum: 0 Maximum: 63 Typ e: Re a d/ Wri te Reset Required: Yes

Minimum: 0 Maximum: 63 Typ e: R ead Onl y Reset Required: No

Default: 0 = 125kbps Values: 0 = 125kbps

Typ e: Re a d/ Wri te Reset Required: Yes

Values: 0 = 125kbps

Typ e: R ead Onl y Reset Required: No

Default: 0000 0000 0000 0000

Minimum: 0000 0000 0000 0000

Maximum: 1111 1111 1111 1111

Typ e: Re a d/ Wri te Reset Required: No

Default: 0 Minimum: 0.000 Maximum: 3.40282 x 10 Typ e: Re a d/ Wri te Reset Required: No

Minimum: 0.000 s Maximum: 65.535 s Typ e: R ead Onl y Reset Required: No

Default: 0 = Ready Valu es: 0 = R eady

Typ e: Re a d/ Wri te Reset Required: No

1 = 250kbps 2 = 500kbps 3 = Autobaud

1 = 250kbps 2 = 500kbps 3 = Autobauding

0000 0000 0000 0000

1111 1111 1111 1111

1 = Reset Module 2 = Set Defaults

94 Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013

Parameter

ATTENTION: Risk of injury or equipment damage exists. Device

parameter 15 [Comm Flt Actn] lets you determine the action of the adapter and connected drive if communications are disrupted. By default, this parameter faults the drive. you can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected drive).

ATTENTION: Risk of injury or equipment damage exists. Device parameter 16 [Idle Flt Actn] lets you determine the action of the adapter and connected drive if the scanner is idle. By default, this parameter faults the drive. you can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected drive).

No. Name and Description Details

15 [Comm Flt Action]

Sets the action that the adapter and drive will take if the adapter detects that I/O communication has been disrupted. This setting is effective only if I/O that controls the drive is transmitted through the adapter. When communication is reestablished, the drive will automatically receive commands over the network again.

Default: 0 = Fault Valu es: 0 = Fault

Typ e: Re a d/ Wri te Reset Required: No

Adapter Parameters Appendix B

1 = Stop 2 = Zero Data 3 = Hold Last 4 = Send Flt Cfg

16 [Idle Flt Action]

Sets the action that the adapter and drive will take if the adapter detects that the controller is in program mode or faulted. This setting is effective only if I/O that controls the drive is transmitted through the adapter. When the controller is put back in Run mode, the drive will automatically receive commands over the network again.

17 [Flt Cfg Logic]

Sets the Logic Command data that is sent to the drive if any of the following is true:

• Device parameter 15 [Comm Flt Action] is set to ‘4’ (Send Flt Cfg) and I/O communication is disrupted.

• Device parameter 16 [Idle Flt Action] is set to ‘4’ (Send Flt Cfg) and the controller is idle.

Important: The bit definitions in the Logic Command word for PowerFlex 520-Series drives are shown in Appendix D

Default: 0 = Fault Valu es: 0 = Fault

1 = Stop 2 = Zero Data 3 = Hold Last

4 = Send Flt Cfg Typ e: Re a d/ Wri te Reset Required: No

Default: 0000 0000 0000 0000

Minimum: 0000 0000 0000 0000

Maximum: 1111 1111 1111 1111

Typ e: Re a d/ Wri te

Reset Required: No

0000 0000 0000 0000

1111 1111 1111 1111

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 95

Appendix B Adapter Parameters

Parameter

No. Name and Description Details

18 [Flt Cfg Ref]

Sets the Reference data that is sent to the drive if any of the following is true:

• Device parameter 15 [Comm Flt Action] is set to ‘4’ (Send Flt Cfg) and I/O communication is disrupted.

• Device parameter 16 [Idle Flt Action] is set to ‘4’ (Send Flt

Default: 0 Minimum: -3.40282 x 10 Maximum: 3.40282 x 10 Typ e: Re a d/ Wri te Reset Required: No

Cfg) and the controller is idle.

[Flt Cfg DL 1]

[Flt Cfg DL 2]

[Flt Cfg DL 3]

[Flt Cfg DL 4]

Sets the data that is sent to the Datalink in the drive if any of the following is true:

• Device parameter 15 [Comm Flt Actn] is set to 4 “Send Flt Cfg” and the I/O Communication is disrupted.

• Device parameter 16 [Idle Flt Actn] is set to 4 “Send Flt Cfg”

Default: 0 Default: 0 Default: 0 Default: 0 Minimum: 0 Maximum: 4294967295 Typ e: Re a d/ Wri te Reset Required: No

and the controller is set into Program or Idle mode.

23 [DSI I/O Act]

Valu es: 0 = D rive 0 Actv

Indicates which drives the 25-COMM-D is communicating with, in both single-drive and multi-drive modes.

Typ e: R ead Onl y Reset Required: No

1 = Drive 1 Actv 2 = Drive 2 Actv 3 = Drive 3 Actv 4 = Drive 4 Actv

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Appendix C

TIP

DeviceNet Objects

Appendix C presents information about the DeviceNet objects that can be accessed using Explicit Messages. For information on the format of Explicit Messages and example ladder logic programs, see Chapter 6

Messaging.

Object Class Code Page Object Class Code Page

Hex. Dec. Hex. Dec.

Identity Object

Assembly Object 0x04 4 100 DPI Device Object 0x92 146 114

Connection Object 0x05 5 101 DPI Parameter Object 0x93 147 117

Parameter Object 0x0F 15 106 DPI Diagnostic Object 0x99 153 125

Parameter Group Object 0x10 16 109

0x01 1 98 PCCC Object 0x67 103 111

, Using Explicit

Supported Data Types

See the DeviceNet specification for more information about DeviceNet objects. Information about the DeviceNet specification is available on the ODVA web site (http://www.odva.org

Data Type Description

BOOL 8-bit value – low bit is true or false

BOOL[x] Array of n bits

CONTAINER 32-bit parameter value - sign extended if necessary

DINT 32-bit signed integer

INT 16-bit signed integer

LWORD 64-bit unsigned integer

REAL 32-bit floating point

SHORT_STRING Struct of: USINT length indicator (L); USINT[L] characters

SINT 8-bit signed integer

STRINGN Struct of : UINT character length indicator (W); UINT length indicator (L); USINT[W x L] string data

STRING[x] Array of n characters

STRUCT Struc ture name only – no size in addition to elements

TCHAR 8 or 16-bit character

UDINT 32-bit unsigned integer

UINT 16-bit unsigned integer

USINT 8-bit unsigned integer

Rockwell Automation Publication 520COM-UM001A-EN-E - April 2013 97

Appendix C DeviceNet Objects

Identity Object

Class Code

Hexadecimal Decimal

0x01 1

Services

Implemented for:

Service Code Class Instance Service Name

0x01 Yes Yes Get_Attribute_All

0x05 No Yes Reset

0x0E Yes Yes Get_Attribute_Single

Instances (Single-Drive)

Instance Description

0Class

1 Host Drive

2 22-SCM-232 or 22-HIM-* (when present)

3 25-COMM-D

Instances (Multi-Drive)

Instance Description

0Class

1 25-COMM-D

Class Attributes

Attribute ID Access Rule Name Data Type Description

1 Get Revision UINT 1

2 Get Max Instance UINT Total number of instances

Instance Attributes

Attribute ID Access Rule Name Data Type Description

1 Get Vendor ID UINT 1 = Allen-Bradley

2 Get D evice Type UINT 149

3 Get Product Code UINT Number identifying product name and rating

4 Get Revision:

Major Minor

5 Get Status UNIT Bit 0 = Owned

6 Get Serial Number UDINT Unique 32-bit number

STRUCT of:

USINT USINT

Value varies Value varies

Bit 2 = Configured Bit 10 = Recoverable fault Bit 11 = Unrecoverable fault

98 Rockwell Automation Publication 520COM-UM001A-EN-E - April 2013

DeviceNet Objects Appendix C

Attribute ID Access Rule Name Data Type Description

7 Get Product Name SHORT_STRING Product name and rating

9GetConfiguration

Consi stency Val ue

102 Get Subminor

Revision

WORD Checksum of configuration information

UDINT Further revision information

Rockwell Automation Publication 520COM-UM001A-EN-E - April 2013 99

Appendix C DeviceNet Objects

IMPORTANT

Assembly Object

Class Code

Hexadecimal Decimal

0x04 4

Services

Implemented for:

Service Code Class Instance Service Name

0x0E Yes Yes Get_Attribute_Single

0x10 Yes Yes Set_Attribute_Single

Instances

Instance Description

1 Status Data – All I/O data being read from the DSI device (read-only)

2 Command Data – All I/O data written to the DSI device (read/write)

Class Attributes

Attribute ID Access Rule Name Data Type Description

1 Get Revision UINT 2

2 Get Max Instance UINT 2

100 Set Control Timeout UINT Control timeout in seconds

Instance Attributes

Attribute ID Access Rule Name Data Type Description

1 Get Number of Members UINT 1

2 Get Members List ARRAY of STRUCT:

UINT UINT

3 Get Conditional

4 Get Size UINT Size of assembly data in bits

(1) For instance 1, access rule for the data attribute is Get. For instance 2, it is Get/Set.

(1)

Packe d EPATH

Array of Bits Data to be transferred

Setting instance attribute 3 can be done only when the Control Timeout (class attribute 100) has been set to a non-zero value.

Size of member data Size of member path Member path

100 Rockwell Automation Publication 520COM-UM001A-EN-E - April 2013

Rockwell Automation 25-COMM-D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Table of Contents

Overview

Recommended Documentation

Manual Conventions

Getting Started

Components

Features

Understanding Parameter Types

Compatible Products

Required Equipment

Equipment Shipped with the Drive

User-Supplied Equipment

Safety Precautions

Quick Start

Installing the Adapter

Preparing for an Installation

Commissioning the Adapter

Setting the Node Address and Data Rate Using the DIP Switches

Setting Single-Drive or Multi-Drive Mode

Connecting the Adapter to the Drive

Connecting the Adapter to the Network

Applying Power

Start-Up Status Indication

Configuring/Verifying Key Drive Parameters

Configuring the Adapter

Configurat ion Tools

Using the Drive Keypad Interface to Access Parameters

Using the PowerFlex 4-Class HIM to Access Parameters

Setting the Node Address

Setting the Data Rate

Setting the I/O Configuration

Using Master-Slave Hierarchy (Optional)

Configuring a Master-Slave Hierarchy

Selecting COS, Cyclic, or Polled I/O

Using COS (Change of State) Data Exchange (Optional)

Setting a Fault Action

Changing the Fault Action

Setting the Fault Configuration Parameters

Resetting the Adapter

Restoring Adapter Parameters to Factory Defaults

Viewing the Adapter Status Using Parameters

Updating the Adapter Firmware

Configuring the I/O

Using RSLinx Classic

CompactLogix Example

Adding the Controller to the I/O Configuration

Adding the Scanner to the I/O Configuration

Using RSNetWorx for DeviceNet Software to Configure and Save the I/O Configuration to the Scanner

Setting Datalinks in the Drive (Optional)

Downloading the Project to the Controller and Going Online

Using the I/O

About I/O Messaging

Understanding the I/O Image

Using Logic Command/Status

Using Reference/Feedback

Using Datalinks

Example Ladder Logic Program

Functions of the Example Programs

Logic Command/Status Words

CompactLogix Example

Creating Ladder Logic Using the Logix Designer Generic Profile (all versions)

Using Explicit Messaging

About Explicit Messaging

Performing Explicit Messaging

CompactLogix Examples

CompactLogix Example Ladder Logic Program to Read a Single Parameter

CompactLogix – Formatting a Message to Read a Single Parameter

CompactLogix Example Ladder Logic Program to Write a Single Parameter

CompactLogix – Formatting a Message to Write a Single Parameter

CompactLogix – Explanation of Request and Response Data for Read/ Write Multiple Messaging

CompactLogix Example Ladder Logic Program to Read Multiple Parameters

CompactLogix – Formatting a Message to Read Multiple Parameters

CompactLogix Example Ladder Logic Program to Write Multiple Parameters

CompactLogix – Formatting a Message to Write Multiple Parameters

Using Multi-Drive Mode