Rockwell Automation DeviceNet Communications Module User Manual

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DeviceNet Com munications Module

M/N MDCOMM-DNET

Instruction Manual

D2-3520

The information in this manual is subject to change without notice.

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

Throughout this manual, the following notes are used to alert you to safety considerations:

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

Important: Identifies information th at i s c riti cal for s uc cess ful a ppl ic ati on and

property damage, or economic loss.

understanding of the product.

ATTENTION:The drive may contain high voltages that can cause injury or death. Remove all power from the drive, and then verify power has been removed before installing or removing a DeviceNet module. Failure to observe these precautions could result in severe bodily injury or loss of life.

ATTENTION:Only qualified personnel familiar with the construction and o peration of this equipment and the hazards involved should install, adjust, operate, or service this equipment. Read and un derstand this docum ent in its entirety before proceeding. Failure to observe this precaution could result in severe bodily injury or loss of life.

ATTENTION:If the DeviceNet module is transmitting control I/O to the drive, the drive may fault when you reset the mod ule. Determine how your drive will respond before resetting a module. Failure to observe this precaution could result in bodily injury and/or damage to equipment.

ATTENTION:Comm Flt Action (7) and Idle Flt Action (8) let you determine the action of the mo du le an d connected drive if communications are disrupted. By default, these parame ters fault the drive. You can set these paramete rs so that t he drive continues to run. Pr eca uti ons s ho uld be taken to ensure that the settings of these parameters do not create a hazard of injury or equipment d amage. Failure to observe this p recaution could resu lt in bodily in jury and/or damage to equipment.

ATTENTION: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 test ing. Failur e to observe this precaution c ould result in bodily injury and/or damage to equipment.

RSLinx, RSLogix, and RSNetWorx are trademarks of Rockwell Software. DeviceNet is a trademark of the Open DeviceNet Vendor Association. Window, Windows CE, Windows NT, and Microsoft are either registered trademarks or trademarks of Microsoft Corporation. MD65, VS Utilities, Reliance, MDI, and SLC are trademarks of Rockwell Automation.

CONTENTS

Chapter 1 Introduction

1.1 DeviceNet Module Features ..........................................1-1

1.2 Related Documentation.................................................1-2

1.3 Conventions Used in This Manual.................................1-3

1.4 Getting Assistance from Reliance Electric..................... 1-3

Chapter 2 Getting Started

2.1 DeviceNet Module Components....................................2-1

2.2 Required Equipment......................................................2-2

2.3 Installation Checklist...................................................... 2-3

Chapter 3 Installing the DeviceNet Module

3.1 Preparing for an Installation........................................... 3-1

3.2 Commissioning the Module ........................................... 3-1

3.3 Connecting the Module to the Network..........................3-4

3.4 Connecting the Module to the Drive ..............................3-5

3.5 Applying Power.............................................................. 3-7

Chapter 4 Configuring the DeviceNet Module

4.1 Configuration Tools........................................................ 4-1

4.2 Using the LCD OIM to Configure the Module................ 4-2

4.3 Using RSNetWorx for DeviceNet................................... 4-2

4.3.1 Setting Up RSLinx for RSNetWorx for DeviceNet4-2

4.3.2 Going Online with RSNetWorx for DeviceNet..... 4-4

4.3.3 Creating an Electronic Data Sheet (EDS) File..... 4-5

4.3.4 Accessing and Editing Parameters...................... 4-6

4.4 Setting the Node Address.............................................. 4-7

4.5 Setting the Data Rate....................................................4-7

4.6 Setting the I/O Configuration .........................................4-8

4.7 Selecting COS, Cyclic, or Polled I/O..............................4-8

4.7.1 Using COS (Change of State) Data Exchange....4-9

4.8 Setting a Fault Action................................................... 4-10

4.8.1 Setting the Fault Configuration Parameters......4-11

4.9 Resetting the Module...................................................4-12

4.10Viewing the Module Configuration............................... 4-13

Chapter 5 Configuring the Scanner

5.1 Configuring a Simple Network: An Example.................. 5-1

5.2 Setting Up the Scan List................................................5-2

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

5.3.1 Mapping the Input I/O..........................................5-5

Contents

5.3.2 Mapping the Output I/O .......................................5-6

5.4 Saving the Configuration................................................5-7

Chapter 6 Using I/O Messaging

6.1 About I/O Messaging.....................................................6-1

6.2 Understanding the I/O Image.........................................6-2

6.3 Using Logic Command/Status .......................................6-3

6.4 Using Reference/Feedback ...........................................6-3

6.5 Sample Ladder Logic Programs ....................................6-3

6.5.1 Sample ControlLogix Lad der Log ic Program.......6-4

6.5.2 Sample PLC-5 Ladder Logic Program.................6-7

6.5.3 Sample SLC Ladder Logic Program....................6-9

Chapter 7 Using Explicit Messaging

7.1 About Explicit Messaging........................................ ......7-1

7.2 Formatting Explicit Messages for a ControlLogix

Controller.......................................................................7-2

7.3 Formatting Explicit Messages for a PLC or SLC

Controller.......................................................................7-4

7.4 Running Explicit Messages ............................................7-7

7.5 ControlLogix Example....................................................7-8

7.6 PLC-5 Example............................................................7-11

7.7 SLC Example...............................................................7-13

Chapter 8 Using Multi-Drive Mode

8.1 Single-Drive Mode vs. Multi-Drive Mode........................8-1

8.2 System Wiring................................................................8-3

8.3 Understanding the I/O Image.........................................8-4

8.4 Configuring the RS-485 Network...................................8-5

8.5 Multi-Drive Ladder Logic Program Example.................. 8-6

8.6 ControlLogix Example....................................................8-8

8.7 Multi-Drive Mode Explicit Messaging...........................8-20

8.8 Additional Information..................................................8-22

Chapter 9 Troubleshooting the DeviceNet Module and Network

9.1 Understanding the Status Indicators..............................9-1

9.1.1 DRIVE Status Indicator........................................9-2

9.1.2 MS Status Indicator.............................................9-3

9.1.3 NET A Status Indicator........................................9-4

9.2 Module Diagnostic Items in Single- Drive Mode............9-5

9.3 Module Diagnostic Items in Multi-Drive Mode................9-5

9.4 Viewing and Clearing Events.........................................9-6

Appendix A Technical Specifications...................................................... A-1

Appendix B DeviceNet Module Parameters............................................. B-1

DeviceNet Communications Module

Appendix C DeviceNet Objects ................................................................C-1

Appendix D Logic Command/Status Words .............................................D-1

Glossary ..................................................................................Glossary-1

Index .......................................................................................Index-1

Contents

III

DeviceNet Communications Module

List of Figures

Figure 2.1 – Components of the DeviceNet Module...................................2-1

Figure 3.1 – Setting the Node Address/ Data Switches and

Single-/Multi-Drive Operation Jumper..................................... 3-2

Figure 3.2 – Connecting a 5-Pin Linear Plug to the Cable..........................3-5

Figure 3.3 – MDI Ports and Internal Interface Cables.................................3-6

Figure 3.4 – Mounting the Module..............................................................3-7

Figure 4.1 – Accessing the DeviceNet Parameters usi ng the LCD OIM..... 4-2

Figure 4.2 – Configure Drivers Dialog Box with a Configured Driver.......... 4-3

Figure 4.3 – Sample DeviceNet Network (Graph View).............................. 4-4

Figure 4.4 – EDS Wizard Screen................................................................ 4-5

Figure 4.5 – Sample MD65 Drive Dialog Box (Drive Parameters Tab)....... 4-6

Figure 4.6 – DeviceNet Node Address Screen on an LCD OIM................. 4-7

Figure 4.7 – DeviceNet Data Rate Screen on an LCD OIM........................ 4-7

Figure 4.8 – I/O Configuration Screen on an LCD OIM.............................. 4-8

Figure 4.9 – COS Status Mask Configuration Screen on an LCD OIM ...... 4-9

Figure 4.10 – COS Fdbk Change Configuration Screen on an LCD OIM... 4-9

Figure 4.11 – Fault Action Screens on an LCD OIM.................................4-11

Figure 4.12 – Reset Screen on an LCD OIM............................................ 4-12

Figure 5.1 – Sample DeviceNet Network....................................................5-1

Figure 5.2 – Configuration View (Graph Tab).............................................5-2

Figure 5.3 – Scanlist Page in the Scanner Module Dialog Box..................5-3

Figure 5.4 – Edit I/O Parameters Dialog Box.............................................. 5-3

Figure 5.5 – Input Page on the Scanner Module Dialog Box...................... 5-5

Figure 5.6 – Output Page on the Scanner Module Dialog Box................... 5-6

Figure 6.1 – Example of Single-Drive I/O Image........................................6-2

Figure 6.2 – Sample ControlLogix Ladder Logic Program.......................... 6-5

Figure 6.3 – Sample ControlLogix Ladder Logic Program (continued)....... 6-6

Figure 6.4 – Sample PLC-5 Ladder Logic Program.................................... 6-7

Figure 6.5 – Sample PLC-5 Ladder Logic Program (continued)................. 6-8

Figure 6.6 – Sample SLC Ladder Logic Program....................................... 6-9

Figure 6.7 – Sample SLC Ladder Logic Program (continued).................. 6-10

Figure 6.8 – Sample SLC Ladder Logic Program (continued).................. 6-11

Figure 7.1 – ControlLogix Message Format in RSLogix 5000.................... 7-2

Figure 7.2 – PLC Explicit Message Format................................................7-4

Figure 7.3 – SLC Explicit Message Format................................................7-4

Figure 7.4 – Explicit Message Process.......................................................7-7

Figure 7.5 – Data Format for a Read and Write Parameter (1 of 2)........... 7-8

Figure 7.6 – Data Format for a Read and Write Parameter (2 of 2)........... 7-9

Figure 7.7 – Sample ControlLogix Ladder Logic Program........................ 7-10

Contents

Figure 7.8 – Sample PLC-5 Ladder Logic Program..................................7-12

Figure 7.9 – Sample SLC Ladder Logic Program.....................................7-14

Figure 8.1 – Example of a Single-Drive Mode Network..............................8-1

Figure 8.2 – Example of a Multi-Drive Mode Network.................................8-2

Figure 8.3 – AK-U0-RJ45-TB2P Terminal Block Connector.......................8-3

Figure 8.4 – AK-U0-RJ45-TB2P Connector Wiring Diagram......................8-4

Figure 8.5 – Example of Multi-Drive I/O Image...........................................8-5

Figure 8.6 – Main Routine...........................................................................8-9

Figure 8.7 – Main Routine (Continued).....................................................8-10

Figure 8.8 – Drive 0 Control Routine.........................................................8-11

Figure 8.9 – Drive 0 Control Routine (Continued).....................................8-12

Figure 8.10 – Drive 1 Control Routine.......................................................8-13

Figure 8.11 – Drive 1 Control Routine (Continued)................................... 8-14

Figure 8.12 – Drive 2 Control Routine.......................................................8-15

Figure 8.13 – Drive 2 Control Routine (Continued)................................... 8-16

Figure 8.14 – Drive 3 Control Routine.......................................................8-17

Figure 8.15 – Drive 3 Control Routine (Continued)................................... 8-18

Figure 8.16 – Drive 4 Control Routine.......................................................8-19

Figure 8.17 – Drive 4 Control Routine (Continued)................................... 8-20

Figure 8.18 – Parameter Read Message Configuration............................8-21

Figure 8.19 – Parameter Write Message Configuration............................8-21

Figure 9.1 – Status Indicators (location on drive may vary)........................9-1

Figure 9.2 – VS Utilities Event View/Clear Screen......................................9-6

DeviceNet Communications Module

List of Tables

Table 2.2 – Equipment Shipped with the DeviceNet Module......................2-2

Table 2.3 – Required User-Supplied Equipment........................................2-2

Table 3.1 – Node Address Switch Settings (UP = OPEN = 1)....................3-3

Table 3.2 – Data Rate Switch Settings (UP = OPEN = 1)..........................3-3

Table 3.3 – Jumper Settings for Single- or Multi-Drive Operation..............3-4

Table 4.1 – Configuration Tools..................................................................4-1

Table 4.2 – Procedure for Setting Up RSLinx for RSNetworx for

DeviceNet ................................................................................4-3

Table 4.3 – Viewing Devices on the DeviceNet Network using

RSNetWorx..............................................................................4-4

Table 4.4 – Procedure for Creating an EDS File........................................4-5

Table 4.5 – Procedure to Access and Edit Parameters Using RSNetWorx4-6

Table 4.6 – Selections for Drive Response to Communication Fault........4-10

Table 4.7 – Fault Configuration Parameters.............................................4-11

Table 4.8 – Module Configuration Parameters.........................................4-13

Table 5.1 – Input/Output Size Configuration...............................................5-4

Table 5.2 – Scan Rates..............................................................................5-4

Table 5.3 – Scanner Module Memory Locations ........................................5-6

Table 5.4 – Scanner Module Memory Locations ........................................5-7

Table 6.1 – Tags for the Sample ControlLogix Program.............................6-4

Table 6.2 – Control File for Block Transfers...............................................6-7

Table 7.1 – ControlLogix Message Requests and Responses...................7-3

Table 7.2 – Number of Transaction Blocks Reserved for Explicit

Messaging................................................................................7-5

Table 7.3 – PLC / SLC Explicit Message Requests....................................7-5

Table 7.4 – PLC / SLC Explicit Message Responses.................................7-6

Table 7.5 – Tags for the Sample Explicit Messaging Program...................7-9

Table 7.6 – Request Data for Read of Drive Parameter 39......................7-11

Table 7.7 – Response Data for Read of Drive Parameter 39...................7-11

Table 7.8 – Request Data for Write to Drive Parameter 101....................7-11

Table 7.9 – Response Data for Write to Drive Parameter 101.................7-11

Table 7.10 – Request Data for Read of Drive Parameter 101..................7-13

Table 7.11 – Response Data for Read of Drive Parameter 101 ...............7-13

Table 7.12 – Request Data for Write to Drive Parameter 101..................7-13

Table 7.13 – Response Data for Write to Drive Parameter 101 ...............7-13

Table 8.1 – Additional Throughput Time for Logic Command/Reference... 8-3

Contents

VII

Table 9.1 – DRIVE Status Indicator: State Definitions................................9-2

Table 9.2 – MS Status Indicator: State Definitions......................................9-3

Table 9.3 – NET A Status Indicator: State Definitions................................9-4

Table 9.4 – Diagnostic Items Accessed Using VS Utilities in

Single-Drive Mode....................................................................9-5

Table 9.5 – Diagnostic Items Accessed Using VS Utilities in

Multi-Drive Mode......................................................................9-5

Table 9.6 – Event Codes and Descriptions.................................................9-7

VIII

DeviceNet Communications Module

CHAPTER 1

Introduction

This manual provides information about the DeviceNet module (MDCOMM-DNET) and using it with MD65 drives. The module is mounted in the MD65 drive and receives its required power from the drive and from the DeviceNet network.

This manual is intended for qualified electrical personnel familiar with installing, programming, and maintaining AC drives and DeviceNet networks.

1.1 DeviceNet Module Features

The DeviceNet module features the following:

• Switches that ena ble y ou to set a no de ad dress and n etwor k dat a

rate before applying power to the drive. Alternatively, you can disable the switches and use parameters to configure these features.

• A jumper that allows you to select between Single- or Multi-Drive

mode of operation. In single mode, the module represents one single drive on one node. In Multi-Drive mode, the module represents up to five drives on one node.

• A number of configurati on to ols tha t ca n be used to configure the

module and connected drive. The tools include the Operator Interface Module (OIM) on the drive, network software such as RSNetWorx for DeviceNet, or drive-configuration software such as VS Utilities.

• Status indicators that report the status of the drive

communications, module, and network. They are visible both when the cover is opened and when it is closed.

Introduction

• I/O, including L ogic Comman d/Reference, that may be co nfigured

for your application using a parameter.

• Explicit and UCMM (Un conne cted Me ssag e Manag er) mess ages

are supported.

• Multiple data exchange methods, including polled, cyclic, and

change of st ate (COS), th at can b e used t o transmi t dat a betwee n the network and module.

1-1

• User-defined fault actions that determine how the module and

MD65 drive respon d to commun ication disr uptions on th e network and controllers in idle mode.

• Faulted node recovery is supported. You can configure a device

even when it is faulted on the network if you have a configuration tool that uses faulted node recovery and have properly set module node address switches and data rate switches.

1.2 Related Documentation

Refer to the following related publications as necessary for more information. All of the publications are available from http://www.theautomationbookstore.com.

• D2-3519 MD65 AC Drive User Manual

• D2-3488 VS Utilities Getting Results Manual

Online help installed with the software

• RA-IN003A-EN-P RJ 45 Splitter Cable For Use With DSI/MDI

Products

• D2-3523 MD65 Communication Mo dul e Cov er

• DN-2.5 DeviceNet Product Overview

• DN-6.7.2 DeviceNet Cable System Planning and

Installation Manual

1-2

• DN-6.5.16 DeviceNet Starter Kit

• 1756-5.66 ControlLogix DeviceNet Scanner

Installation Instructions

• 9399-WAB32GR Getting Results with RSLinx

Online help installed with the software

• 9399-RL53GR RSLogix 5 Getting Results Guide

Online help installed with the software

• 9399-RL50GR RSLogix 500 Getting Results Guide

Online help installed with the software

• 9399-RLD300GR RSLogix 5000 Getting Results Guide

Online help installed with the software

• 9399-DNETGR RSNetWorx for DeviceNet Getting Results

Guide Online help installed with the software

• 1747-5.8 DeviceNet Scanner Module Installation

Instructions

DeviceNet Communications Module

• 1747-6.5.2 DeviceNet Scanner Module Configuration

Manual

• 1747-5.14 DeviceNet Scanner Module Installation

Instructions

• 1771-6.5.118 DeviceNet Scanner Module Configuration

Manual

1.3 Conventions Used in This Manual

The following conventions are used throughout this manual:

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

format Menu > Command. For example, if you read “Select File > Open,” you should click

the File menu and then click the Open command.

• Parameters will be referenced as follows:

Parameter Name (Parameter Number) For example: Mode (01)

• The terms MDI and DSI are used interchangeably. Both terms

refer to the serial interface.

1.4 Getting Assistance from Reliance

Electric

Introduction

If you have any questions or problems with the products described in this instruction manual, contact your local Reliance Electric sal es office.

For technical assistance, call 1-800-726-8112. Before calling, please review the trou ble sh ooting section of this manual and check the Reliance drives website for additional information. When you call this number, you will be asked for the drive model number and this instruction manual number.

1-3

1-4

DeviceNet Communications Module

CHAPTER 2

Getting Started

This chapter provides:

• A description of the DeviceNet module’s components

• A list of parts shipped with the module

• A list of user-supplied parts required for installing the module

• An installation checklist

2.1 DeviceNet Module Components

➊

➋

➌

Status Indicators



MDI Connector A 20-pin, single-row shrouded male



DeviceNet Connector A 5-pin connector to w h ic h a 5- pin linear



Node Address/Rate



Switches Mode Jumper (J2)



Figure 2.1 – Components of the DeviceNet Module

Getting Started

Three LEDs tha t in dic ate th e st atus of the connected drive, module, and network. Refer to chapter 9, Troubleshooting.

header. An Internal Interface cable is connected to this connector and a connector on the drive. See table 2.2.

plug can be connected. Switches for setting the node address

and network data rate. Selects Single- or Multi-Drive mode of

operation.

➎

➍

2-1

2.2 Required Equipment

Table 2.2 lists the equipment shipped with the DeviceNet module. When you unpa ck the module , verify th at the packa ge inc ludes all of these items.

Table 2.2 – Equipment Shipped with the DeviceNet Module

Item Description

DeviceNet module

15.24 cm (6 in) Internal Interface cable Five-pin linear DeviceNet plug (connected to the DeviceNet

connector on the module) Grounding wrist strap DeviceNet Module User Manual (D2-3520)

Table 2.3 lists user-supplied equipment also required to install and configure the DeviceNet module.

Table 2.3 – Required User-Supplied Equipment

Item Description

A small flathead screwdriver DeviceNet cable

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

Configuration tool, such as :

•LCD OIM

• VS Utilities

• RSNetWorx for DeviceNet

• Serial Converter

Computer with a DeviceNet communications module installed (such as 1784-PCD, 1784-PCID, 1784-PCIDS, or 177-KFD)

Controller configuration software (examples: RSLogix5, RSLogix500, or RSLogix 5000)

DeviceNet Cover Kit (replaces stan dard cover supplied with MD65 drive when the DeviceNet module is installed).

• B-Frame: Model Number 6MD-COMMCVRB

• C-Frame: Model Number 6MD-COMMCVRC

2-2

DeviceNet Communications Module

2.3 Installation Checklist

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



Step Action Refer to

1 Review the safety precautions for the

❒

module.

2 Verify that the MD65 drive is properly

installed.

3 Commission the module.

Set a unique node address and the appropriate data rate us in g th e s w itc he s o n the module . If desired, you can disable the switches and use parameter settings instead.

4 Install the module.

Verify that the MD65 drive and DeviceNet network are not powered. Then, connect the module to the network using a DeviceNet cable and to the drive using the Internal Interface cable. Use the captive screws to secure and grou nd the mo dule to the drive.

5 Apply power to the module.

The module receives power from the drive and network. Apply power to the network and to the drive. The status indicators should be green. If they flash re d, there i s a problem. Refer to Chapter 9, Troubleshooting.

6 Configure the module for your

application.

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

• Node address and data rate.

• I/O configuration.

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

• Fault action s.

Throughout this manual

MD65 AC Drive User Manual

Chapter 3, Installing the DeviceNet Module

Chapter 4, Configuring the DeviceNet Module

Getting Started

2-3



Step Action Refer to

7 Apply power to the DeviceNet master

❒

and other devices on the network.

Verify that the master and network are installed and functio ning in accor dance with DeviceNet standa rds, and then apply power to them.

8 Configure the scanner to communicate

with the module.

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 module data to the scan list.

• Save you r Devic eNet confi guratio n to th e scanner and a file.

9 Create a ladder logic program.

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

• Control the module and connected drive.

• Monitor or configure the drive using Explicit Messages.

DeviceNet Cable System Planning and Installation Manual

Chapter 5, Configuring the Scanner

Chapter 6, Using I/O Messaging

Chapter 7, Using Explicit Messaging

2-4

DeviceNet Communications Module

CHAPTER 3

Installing the

DeviceNet Module

Chapter 3 provides instructions for installing the DeviceNet module in an MD65 drive.

3.1 Preparing for an Installation

Before installing the DeviceNet module:

• Read the DN-2.5, and the

Installation Manual

provide informati on on selecti ng cable s, setting up a netw ork, and network bas ics.

• Verify that you have all required equipment. Refer to chapter 2, Getting Started.

3.2 Commissioning the Module

DeviceNet Product Overvi ew Manual

DeviceNet Cable System Planning and

, Publication DN-6.7.2. These manuals will

, Publication

To commission the module, you must set a unique node address and the data rate that is used by the ne twork. (Refer to the Glossary for details about data rates and node addresses.)

Important: New settings are recognized only when power is applied

Step 1. Set the node address and data rate switches as shown in

Step 2. Set the module mode jumper for Single- or Multi-Drive

Installing the DeviceNet Module

to the module. If you change a setting, cycle power.

ATTENTION: The DeviceNet module contains ESD- (Electrostatic Discharge) sensitive parts that

can be damaged if you do not follow ESD control procedures. S t atic contro l preca utions ar e requi red when handling the module. Failure to observe these precautions could result in damage to equipment.

figure 3.1.

operation. See figure 3.1 and table 3.3.

3-1

Important: If all switches are in the CLOSED position (all 0s), then

the Node Address and Data Rate are determined by parameter settings in DN Addr Cfg (02) and DN Rate Cfg (04).

Single Drive

eratio

NOD

P = OPEN =

Multi-Driv

Operatio

Switches Description Default

SW 1 Least Significant Bit (LSB) of Node Address 1 SW 2 Bit 1 of Node Address 1 SW 3 Bit 2 of Node Address 1 SW 4 Bit 3 of Node Address 1

Node 63

SW 5 Bit 4 of Node Address 1 SW 6 Most Significant Bit (MSB) of Node Address 1 SW 7 Least Significant Bit (LSB) of Data Rate 1 Autobaud SW 8 Most Significant Bit (MSB) of Data Rate 1

Figure 3.1 – Setting the Node Address/ Data Switches and Single-/Multi-Drive

Operation Jumper

3-2

DeviceNet Communications Module

Table 3.1 – Node Address Switch Settings (UP = OPEN = 1)

Switch Setting Node Switch Setting Node

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

000000 0 101100 13 100000 1 011100 14 010000 2 111100 15 110000 3 000010 16 001000 4 100010 17 101000 5 010010 18 011000 6 110010 19 111000 7 001010 20 000100 8 101010 21 100100 9 011010 22 010100 10 111010 23 110100 11 000110 24 001100 12 100110 25

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

010110 26 101101 45 110110 27 011101 46 001110 28 111101 47 101110 29 000011 48 011110 30 100011 49 111110 31 010011 50 000001 32 110011 51 100001 33 001011 52 010001 34 101011 53 110001 35 011011 54 001001 36 111011 55 101001 37 000111 56 011001 38 100111 57 111001 39 010111 58 000101 40 110111 59 100101 41 001111 60 010101 42 101111 61 110101 43 011111 62 001101 44 111111 63

Table 3.2 – Data Rate Switch Settings (UP = OPEN = 1)

Switch Setting Data

SW 7 SW 8 Rate

0 0 125 kbps 1 0 250 kbps 0 1 500 kbps 1 1 Autobaud

Installing the DeviceNet Module

3-3

Table 3.3 – Jumper Settings for Single- or Multi-Drive Operation

Jumper

Description

Setting

Right position or jumper missing

Left position Sets the module for Multi-Driv e operation mode using

Sets the module for Single-Drive mode (default setting) using a single drive connection.

Important: In this mode, connections to multiple drives must be removed since all powered and connected host s will respond to a ny message s ent by the module.

up to 5 different drives. MDI peripherals do not operate with the module in this mode.

3.3 Connecting the Module to the Network

ATTENTION: The drive may contain high voltages

that can cause injury or death. Remove all power

Step 1. Remove power from the drive. Step 2. Use static control precautions. Step 3. Remove the driv e cov er. Step 4. Connect a DeviceNet cable to the network and route it

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

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

from the drive, and then verify power has been removed before inst alling or remo ving a D evic eNet module. Failure to o bserve these pre cautions coul d result in severe bodily injury or loss of life.

through the bottom of the MD65 drive. DeviceNet thin cable with an outside diameter of 6.9 mm (0.27 in.) is recommended. (See figure 3.5.)

data rate

to figure 3.2.

Note that a 10-pin linear plug is not supported. Use the

5-pin linear plug shipped with the module.

in the Glossary.

3-4

DeviceNet Communications Module

5 4 3 2 1

Terminal Color Signal Function

5 Red V+ Power Supply 4 White CAN_H Signal High 3 Bare SHIELD Shield 2 Blue CAN_L Signal Low 1BlackV– Common

Figure 3.2 – Connecting a 5-Pin Linear Plug to the Cable

Red White

Bare Blue Black

Step 6. Insert the DeviceNet cable plug into the mating module

receptacle and secure it with the two screws. (See figure

3.3, item 3.) Verify that the colors of the wires match up with the color codes on the receptacle.

3.4 Connecting the Module to the Drive

Step 1. Remove power from the drive. Step 2. Use static control precautions. Step 3. Mount the module on the B- or C-Frame Communications

Module Cover us ing the screw on the De viceNet m odule to secure it into place. See figure 3.3. Also, refer to the installation manual that shipped with the Communications Cover (D2-3523).

• B-Frame Cover: M/N 6MD-COMMCVRB

• C-Frame Cover: M/N 6MD-COMMCVRC

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

Step 4. Conne ct the Int erna l Interface cable to the MDI port on th e

module. See figure 3.4.

drive and then to the MDI connector on the module.

Installing the DeviceNet Module

3-5

➊

➋

MDCOMM-DNET DeviceNet Module

  

3-6

MD65 Drive B and C Frames (cover removed)

MDI connector

15.24 cm (6 in) Internal Interface cable DeviceNet cable

Figure 3.3 – MDI Ports and Internal Interface Cables

➌

Back of Cover 6MD-COMMCVRB 6MD-COMMCVRC

DeviceNet Communications Module

MD65 Drive B and C Frames (cover removed)

Figure 3.4 – Mounting the Module

3.5 Applying Power

ATTENTION: Unpredictable operation may occur if

you fail to verify that p aram eter s etting s and s witch

settings are compa tible with your application . Verif y that settings are compatible with your application before applying power to the drive. Failure to observe these precautions could result in severe bodily injury or loss of life.

DeviceNet Module

Mounted on Back of Cover

Step 1. Reinstall the cover on the drive. The status indicators can

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

Step 2. Ensure that the module will have a unique address on the

network and is set at the correct da ta rate or to autoba ud. If a new data rate or address is needed, reset the switches on the module (refer to section 3.2).

Installing the DeviceNet Module

3-7

Step 3. Apply power to the drive. The module receives its power

Step 4. If the software settings for the data rate and node address

from the connected drive and network. When you apply power to the product and network for the first time, the status indicators should be green after an initialization. If the status indicators are red, there is a problem. Refer to chapter 9, Troubleshooting the DeviceNet Module and Network.

are to be used, a configur ation tool such as VS Util ities ca n be used to adjust th e re spe ct ive p a r am eter s in the mo dule.

3-8

DeviceNet Communications Module

CHAPTER 4

Configuring the

DeviceNet Module

Chapter 4 provides instructions and information for setting the

parameters in the DeviceNet module.

For a list of parameters, refer to Appendix B, DeviceNet Module

Parameters. For definitions of terms in this chapter, refer to the

Glossary.

4.1 Configuration Tools

The DeviceNet module stores parameters and other information in

its own non-volatile memory. Therefore, you must access the

module to view and edi t it s p arameters. Table 4.1 lis t s the tools that

can be used to access the module parameters.

Table 4.1 – Configuration Tools

Tool Refer To:

VS Utilities Software VS Utilities online help LCD OIM Sect ion 4.2 RSNetWorx for DeviceNet Section 4.3

RSNetWorx for DeviceNet (version 4.018) and RSLinx (version

2.40) were used for examples in this manual. Different versions of

software may differ in appearance and procedures.

Note that explicit messaging can also be used to configure a

DeviceNet module and drive. Refer to Chapter7, Using Explicit

Messaging.

Configuring the DeviceNet Module

4-1

4.2 Using the LCD OIM to Configure the Module

Use the procedure in figure 4.1 to access the parameters on the DeviceNet module using the LCD OIM (M/N MD4LCD-PNL, MD4ALCD, or MD1CC). If you are unfamiliar with the operation of the LCD OIM, refer to the OIM Quic k Referenc e (D2-350 8) for more information.

Device Sel e ct MDI Devices

DIAG PARAM

DSEL

MEM

SEL

MDI Devices

MD65

MDCOMM-DNET

Parameters Linear List

Changed Params

PARAM

DSEL

DIAG

Figure 4.1 – Accessing the DeviceNet Parameters using the LCD OIM

4.3 Using RSNetWorx for DeviceNet

RSNetWorx for DeviceNet is a Rockwell Software application that can be used to set up Devi ceNet netwo rks and con figure conn ected devices.

4.3.1 Setting Up RSLinx for RSNetWorx for DeviceNet

To use RSNetWorx for DeviceNet, you must first set up a driver in RSLinx. The driver provides a communications link between the computer and DeviceNet network. See table 4.2 and figure 4.2 for this procedure.

MEM

SEL

4-2

DeviceNet Communications Module

Table 4.2 – Procedure for Setting Up RSLinx for RSNetworx for DeviceNet

Step Action Icon

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

Drivers dialog box. See figure 4.2.

Shortcut t RSLinx

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

3. In the Available DeviceNet Drivers list, select the module connected to your computer, and then click Select. A Driver Configuration dia lo g box appears.

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

4. Type a name (if desired), and then click OK. The Configure Drivers dialog box reappears, and the new driver is in the Configured Drivers List. See figure 4.2.

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

Figure 4.2 – Configure Drivers Dialog Box with a Configured Driver

Configuring the DeviceNet Module

4-3

4.3.2 Going Online with RSNetWorx for DeviceNet

You can view the devices on a DeviceNet network by going online. A device may appear as an unrecognized device (node 63 in figure

4.3) if RSNetWorx for DeviceNet does not have an Electronic Data Sheet (EDS) file for it. See table 4.3 for the procedure to view devices.

Table 4.3 – Viewing Devices on the DeviceNet Network using RSNetWorx

Step Action Icon

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

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

3. RSNetworx browses the network and any devices on the network appear in the Configuration View. You can select Graph, Spreadsheet, or Master/Slave views. Figure

4.3 shows a sample network in a Graph view.

Shortcut to

RSNetWorx

4-4

Figure 4.3 – Sample DeviceNet Network (Graph View)

DeviceNet Communications Module

4.3.3 Creating an Electronic Data Sheet (EDS) File

If the module and drive appear as an unreco gni ze d devi ce , create an EDS file for it using the procedure in table 4.4.

Table 4.4 – Procedure for Creating an EDS File

Step Action Icon

1. Right-click the “Unrecognized Device” icon, and select Register Device in the menu. The EDS Wizard (figure 4.4) appears.

2. Click Next to display the next step.

3. Select Upload EDS, and then click Next.

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

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

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

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

8. Click Finish to finish the EDS creation. A new icon represent s the M D65 driv e and mo dule i n the Configuration View.

MD65 AC Drive

Figure 4.4 – EDS Wizard Screen

Configuring the DeviceNet Module

4-5

4.3.4 Accessing and Editing Parameters

Parameters in the drive and module can be edited with RSNetWorx using the procedure in table 4.5. The module parameters are appended to the list of drive parameters.

Table 4.5 – Procedure to Access and Edit Parameters Using RSNetWorx

Step Action Icon

1. After creating an EDS file, right-click on the icon for the MD65 drive and module and select Properties. The MD65 Drive dialog box appears.

2. Click the Parameters tab (figure 4.5). If an EDS Editor message appears, click Upload to load the parameter values in the drive to the computer.

Parameters are displayed in numeric al order under Parameter. You can either scroll through the list or select a specific group of parameters in the Group s box. T he availab le groups and the numbers of the module parameters will vary based on the type of drive that is connected to the module.

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

4. Click Apply to save changes to the device.

MD65 AC Drive

4-6

MD65 1P 110V 1.5HP

Figure 4.5 – Sample MD65 Drive Dialog Box (Drive Parameters Tab)

DeviceNet Communications Module

4.4 Setting the Node Address

The value of DN Addr Cfg (2) determines the node address if all of the module DIP switches are in the CLOSED position (all 0s). 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.

Step 1. Set the value of DN Addr Cfg (3) to a uniqu e node ad dress.

See figure 4.6.

DN Addr Cfg

Parameter: #

VALUE LIMITS SEL

Figure 4.6 – DeviceNet Node Address Screen on an LCD OIM

Step 2. Reset the module. Refer to section 4.9, Resetting the

Module, for this procedure.

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

4.5 Setting the Data Rate

The value of DN Rate Cfg (4) determines the Devic eNet d at a rate if all of the module DIP switches are in the CLOSED positio n (all 0s). The Autobaud setti ng will det ect the da ta rate used on t he netwo rk if another device is se ttin g the da ta ra te. Your application may re quire a different s etting.

Step 1. Set the value of DN Rate Cfg (4) to the data rate at which

your network is operating.

DN Rate Cfg

Parameter: #

Autobaud 3

VALUE LIMITS SEL

004



002

Default = 63



Value Baud Rate

0 125 kbps 1 250 kbps 2 500 kbps 3 Autobaud (Default)

Figure 4.7 – DeviceNet Data Rate Screen on an LCD OIM

Step 2. Reset the module. Refer to section 4.9 for this procedure.

Configuring the DeviceNet Module

4-7

4.6 Setting the I/O Config uration

The I/O configuration determines the number of drives that will be represented on the ne twork as one node by the mo dule. I f the Mode Jumper is set to the Single-Mode position, only one drive is represented by the module, and DSI I/O Cfg (15) has no effect. If the Mode Jumper is set to the Multi-Drive position, up to five drives can be represented as one node by the module.

Step 1. Set the value in DSI I/O Cfg (15).

DSI I/O Cfg

Parameter: #

Drive 0 0

VALUE LIMITS SEL

Figure 4.8 – I/O Configuration Screen on an LCD OIM

Value Description

015

0 Driv e 0 ( Def ault) 1Drives 0-1 2Drives 0-2



3Drives 0-3 4Drives 0-4

Mode Jumper Position

Single Multi-Drive



   

Drive 0 is the MD65 drive with the MDCOMM-DNET

module installed. Drives 1 through 4 are MD65 drives that multi-drop to the RS485 port on Drive 0. Refer to chapter 8, Using Multi-Drive Mode for more information.

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

to accept the Logic Command and Reference from the module. For example, set Start Source (P036) and Speed Reference (P038) in an MD65 drive to Comm Port.

Step 3. Reset the module. Refer to section 4.9 for this procedure.

4.7 Selecting COS, Cyclic, or Polled I/O

The data exchange (s ometime s called allo cation) is the method that the module uses to exchange data on the DeviceNet network. The module can be configured to use one of the following data exchanges:

• COS (change of state)

• Polled and COS

•Cyclic

• Polled and cyclic

• Polled

4-8

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

DeviceNet Communications Module

Cyclic and polled da ta exchanges are configured in the scanne r, so you only need to set the I/O configuration in the module. COS data exchange must be configured in both the module and the scanner. You need to set the I/O configuration and COS parameters in the module.

4.7.1 Using COS (Change of State) Data Exchange

Step 1. Set the bits in the Logic Status word that should be

checked for changes in COS Status Mask (12). The bit definitions for the Status Mask will depend on the drive to which you are connected. Refer to the drive documentation.

COS Status Mask

Parameter: #

VALUE LIMITS SEL

Figure 4.9 – COS Status Mask Configuration Screen on an LCD OIM

012



Value Description

0 Ignore this logic bit. (Default) 1 Check this logic bit.

Step 2. Set the amount of change to the Feedback that is re quired

to trigger a Change of State message in COS Fdbk Change (13).

COS Fdbk Change

Parameter: #

VALUE LIMITS SEL

Figure 4.10 – COS Fdbk Change Configuration Screen on an LCD OIM

013



The module is now configured for COS data exchange. You must configure the scanner to allocate it using COS (see chapter 5, Configuring the Scanner).

Configuring the DeviceNet Module

4-9

4.8 Setting a Fault Action

By default, when communications are disrupted (for example, a cable is disconnected) or the scanner is idle, the drive responds by faulting if it is using I/O from the network.

You can configure a different response to communication disruptions using Comm Flt Action (7) and a different response to an idle scanner using Idle Flt Action (8).

ATTENTION: Comm Flt Action (7) and Idle Flt Action (8) let you determine the action of the module and

To set the fault action:

Set the values of Comm Flt Action (7) and Idle Flt Action (8) to the desired response s as shown in tabl e 4.6. See fig ure 4.11 for sample LCD OIM Fault Action Screens.

connected drive if commun ications are disru pted or the scanner is idle. By default, thes e parameters fault the drive. You can set these para meters so th at the drive continues to run. Precautions s hould be t aken to ensure that the settings of these parameters do not create a hazard of injury o r equip ment damag e. Failure to observe thes e precauti ons cou ld result in bodily injury or damage to, or destruction of, equipment.

4-10

Table 4.6 – Selections for Drive Response to Communication Fault

Value Action Description

0 Fault The drive is faulted and stopped. (Default) 1 Stop The drive is stopped, but not faulted. 2 Zero Data The drive is sent 0 for output data after a

3 Hold Last The drive continues in its present state

4 Send Flt

Cfg

communications di sruption. This do es not command a stop.

after a communications disruption. The drive is sent the data that you set in

the fault configuration parameters Flt Cfg Logic (10) and Flt Config Ref (11).

DeviceNet Communications Module

Comm Flt Action

Parameter: #

007

Idle Flt Action

Parameter: #

008

Fault 0

VALUE LIMITS SEL

Figure 4.11 – Fault Action Screens on an LCD OIM



VALUE LIMITS SEL

Fault 0

Changes to these par ameters t ake ef fect immed iately. A reset is not required.

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

4.8.1 Setting the Fault Configuration Parameters

If you set Comm Fl t Acti on (7 ) or I dle Flt Action (8) t o “Send Flt Cfg,” the values in parameters shown in table 4.7 are sent to the drive after a communications fault and/or idle fault occurs. You must set these parameters to values required by your application.

Table 4.7 – Fault Configuration Parameters

Parameter Name Description

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

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

Changes to these par ameters t ake ef fect immed iately. A reset is not required.

Logic Command.

the drive as a Reference.



Configuring the DeviceNet Module

4-11

4.9 Resetting the Module

Changes to switch settings on some module parameters require that you reset the module before the new settings take effect. You can reset the module by cycling power to the drive or by using Reset Module (6).

ATTENTION: If the module is transmitting control I/O to the drive, the drive may faul t whe n yo u res et

Set Reset Module (6) to 1 = Reset Module. See figure 4.12.

the module. Determin e how your driv e w ill res pond before resetting a connected module. Failure to observe these precautions could result in bodily injury or damage to equipment.

Reset Module

Parameter: #

Ready 0

VALUE LIMITS SEL

Figure 4.12 – Reset Screen on an LCD OIM

When you enter 1= Reset Module, the module will be immediately reset. When you enter 2 = Set Defaults, the module will set all module parameters to their factory-default settings. The value of this parameter will be restored to 0 = Ready after the module is reset.

006

Value Description

0 Ready (Default) 1 Reset Module 2Set Defaults



4-12

DeviceNet Communications Module

4.10 Viewing the Module Configuration

The parameters in table 4.8 provide information about how the module is configured. You can view these parameters at any time.

Table 4.8 – Module Configuration Parameters

Number Name Description

01 Mode The mode in which the module is set

03 DN Addr

Actual

05 DN Rate

Actual

09 DN

Active Config

16 DSI I/O

Actual

(0 = Single drive operation, or 1 = Multi-Drive operation).

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

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

• The value of DN Addr Config (2) if the switches have been disabled.

• An old address of the switches or parameter if they have been changed and the module has not been reset.

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

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

• The value of DN Rate Config (4) if the switches have been disabled.

• An old data rate of the switches or parameter if they have been changed and the module has not been reset.

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

Indicating the drives that make up the node: Values: 0 = Drive 0 1 = Drives 0-1 2 = Drives 0-2 3 = Drives 0-3 4 = Drives 0-4

Configuring the DeviceNet Module

4-13

4-14

DeviceNet Communications Module

CHAPTER 5

Configuring the Scanner

A scanner is a separate module of a multi-module controller or a built-in component of a single-module controller that provides communication with a module connected to a network.

Chapter 5 provides instructions on how to configure a scanner to communicate with the DeviceNet module and the connected MD65 drive.

5.1 Configuring a Simple Network: An Example

After the module is co nfig ure d, th e c onn ec ted drive and module wil l be a single node on the network. This chapter provides the steps that are needed to configure a simple network like the network shown in figure 5.1. In our example, we will configure the drive for using Logic Command/Status and Reference Feedback over the network.

Node 0 SLC 500 Controller with 1747-SDN Scanner

Configuring the Scanner

Node 62 Computer with 1784-PCD and RSNetWorx for DeviceNet

DeviceNet

Node 1

MD65 Drive with DeviceNet Module

Figure 5.1 – Sample DeviceNet Network

5-1

5.2 Setting Up the Scan List

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

Step 1. Go online with RSNetWorx for DeviceNet. Refer to section

4.3.2. The devices on the network are displayed in the configuration view as shown in figure 5 .2.

MD65 Drive

Figure 5.2 – Configuration View (Graph Tab)

5-2

Step 2. Right-click the DeviceNet scanner (node 00 in figure 5.2

and select Properties. The Scanner Module dialog box appears.

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

create an EDS file for i t an d t hen co nfi gure it. Create an EDS file by following the instructions in section 4.3. Configure the scanner using the General and Module tabs. Click Help or refer to your scanner documentation if you need more information.

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

upload.

Step 4. Click Upload. Data is uploaded fro m the scanner, and then

the Scanlist page (figure 5.3) appears.

Step 5. Select the Automap on Add box (a checkmark will

appear).

Step 6. Under Available Devi ces , s elect the drive, and then click >

(right arrow) to add it to the scanlist. See figure 5.3.

DeviceNet Communications Module

01, MD65

Figure 5.3 – Scanlist Page in the Scanner Module Dialog Box

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

Parameters. The Edit I/O Parameters dialog box (figure

5.4) appears.

Configuring the Scanner

Figure 5.4 – Edit I/O Parameters Dialog Box

5-3

Step 8. Select the type(s) of data exchange (Polled, Change of

State, and/or Cyclic). In our example, we selected Polled.

Step 9. Type the number of bytes that are required for your I/O in

the Input Size and Output Size boxes. The size will depend on the I/O that you enabled in the module. This information can be found in DSI I/O Actual (16) in the module. Table 5.1 shows common configuration Input/ Output sizes.

In our example, we typed 4 in the Input Size and Output Size boxes because the Mode Jumper on the module is set to “Single” (default) and DSI I/O Active (16) is set to “Drive 0” (only one drive being connected). Logic Command/Referen ce us es 4 bytes and Logic St atu s/ Feedback uses 4 bytes.

Table 5.1 – Input/Output Size Configuration

Logic

Input

Output

Size

88 12 12 16 16 20 20

Command/

Status

Reference/

Feedback

    

Parameter 16 -

(DSI I/O Active)

Drive 0 Single Drives 0-1 Drives 0-2 Drives 0-3 Drives 0-4

Parameter 1 -

(Mode)

Multi-Drive

Step 10. Set the scan rate. See table 5.2.

Table 5.2 – Scan Rates

5-4

Data Exchange Rate to set

Polled Polled Rate

Change of State Heartbeat Rate

Cyclic Send Rate

Step 11. Click OK. If you changed any settings, a Scanner Applet

asks if it is OK to unmap the I/O. Click Yes to continue. The Edit I/O Parameters dialog box closes and then the Scanner Module dialo g box (figure 5.2 ) reappears . You will map the I/O in the next section in this chapter.

DeviceNet Communications Module

5.3 Mapping the Drive Data in the Scanner

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

5.3.1 Mapping the Input I/O

Step 1. In the Scanner Module dialog box, click the Input t ab. See

figure 5.5. (If necessary, right-click the scanner in the configuration view (figure 5.2) to display this dialog box.)

01, MD65 AC Drive

Figure 5.5 – Input Page on the Scanner Module Dialog Box

If you selected the Automap on Add box in the Scanlist page (figure 5.3), RSNetWorx has already mapped the I/O. If it is not mapped, click Automap to map it. If you need to change the mapping, click Advanced and change the settings.

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

from table 5.3.

Configuring the Scanner

01, MD65 w/MDCOMM-DNET 01, MD65 w/MDCOMM-DNET

5-5

Table 5.3 – Scanner Module Memory Locations

Scanner Memory Locations

1747-SDN Discrete or M-File 1756-DNB Assembly Data 1771-SDN Block Xfer 62 – 57

In our example, we are using a 1747-SDN and selected Discrete. Step 3. In the Start Word box, select the word in memory at which

the data should s tar t. In our e xampl e, we selec ted 1. L ogic Status and Speed Feedback information will be found in I:1.1 and I:1.2, respectively.

5.3.2 Mapping the Output I/O

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

See figure 5.6. To display this dialog box, right-click the scanner in the configuration view (figure 5.2).

01, MD65 AC Drive

5-6

01, MD65 w/MDCOMM-DNET 01, MD65 w/MDCOMM-DNET

Figure 5.6 – Output Page on the Scanner Module Dialog Box

DeviceNet Communications Module

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

1747-SDN Discrete or M-File 1756-DNB Assembly Data 1771-SDN Block Xfer 62 – 57

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

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

from table 5.4.

Table 5.4 – Scanner Module Memory Locations

Scanner Memory Locations

the data should s tar t. In our e xampl e, we selec ted 1. L ogic Command and S peed Refere nce dat a sh ould be w ritten to O:1.1 and O:1.2, respectively.

5.4 Saving the Conf ig ur ation

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

Step 1. In the Scanner Module dial og box (figure 5.6), click Apply

to save the configuration to the scanner. A Scanner Configuration Applet appears and asks if it is OK to download the changes.

Step 2. Click Yes to download the changes. The changes are

downloaded and then the Scanner Module dialog box

reappears. Step 3. Click OK to close the Scanner Module dialog box. Step 4. Select File > Save. If this is the first time that you saved

the project, the Save As di alog bo x appe ars. Na vigat e to a

folder , type a file nam e, and clic k Save to save the

configuration to a file.

Configuring the Scanner

5-7

5-8

DeviceNet Communications Module

CHAPTER 6

Using I/O Messaging

Chapter 6 provides information and examples that explain how to use I/O Messaging to control an MD65 drive.

ATTENTION: The examples in this publication are intended solely for purposes of example. There are

6.1 About I/ O Messaging

On DeviceNet networks, I/O Messaging is used to transfer the data that controls the MD65 drive and sets its Reference.

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

• The size of I/O can be configured by selecting the number of

attached dri v es (Single- or Multi-Drive mode).

• Change of state, cyclic, or polled data exchange me thods can be

used.

many variables and requirem en ts with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. Failure to observe this precaution could resu lt in bodily in jury or dama ge to equipment.

Chapter 4, Configuring the DeviceNet Module, and chapter 5, Configuring the Scanner, discuss how to configure the DeviceNet module and scanner on the network for these options. The Glossary defines the dif fe rent options. This chapter discusses how to us e I/O after you have configured the module and scanner.

Using I/O Messaging

6-1

6.2 Understanding th e I/O Image

The DeviceNet specification requires that the terms

output

be defined from scanner’s point of view.

input

and

Output I/O is data that is o utput from the sc anner and c onsumed by the DeviceNet module.

Input I/O is status data that is produced by the module and consumed as input by the scanner. The I/O image table will vary based on the configuration of the Mode Jumper (J2) on the module and DSI I/O C onfig (15). The image table always uses consecutive words starting at word 0.

Figure 6.1 illustrates an example of a Single-Drive I/O image (6-bit words).

MDI

MD65 Drives

Logic Command Reference

Logic Status Feedback

Message

Handler

Controller

Scanner

Output

Image

(Write)

Input Image (Read)

Message

Handler

DeviceNet

Module

Word and I/O

0 Logic Command 1 Reference

0 Logic Status 1 Feedback

Message

Buffer

6-2

Figure 6.1 – Example of Single-Drive I/O Image

Single-Drive mode is the typic al con figuration, where one node consists of an MD65 drive with a DeviceNet module.

For Multi-Drive m ode, where o ne n ode c an c onsist of up to 5 d rives, refer to chapter 8, Using Multi-Drive Mode.

DeviceNet Communications Module

6.3 Using Logic Command/Status

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

This manual contains the bit definitions for compatible products available at the time of publication in Appendix D, Logic Command/Status Words. For other products, refer to the corresponding documentation.

6.4 Using Reference/Feedback

When enabled, Ref erence/Fee dback alw ays begin s at word 1 in t he I/O image. The Reference (16 bits) is produced by the controller and consumed by the module. The Feedback (16 bits) is produced by the module and consumed by the controller.

Size Valid Values In I/O Image Example

16-bit -32768 to 32767 Word 1 Figure 6.1

6.5 Sample Ladder Logic Programs

The sample ladder logic programs work with MD65 drives.

Functions of the Sample Programs

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

• Obtain status information from the drive.

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

stop).

• Send a Reference to the drive.

Module Settings for the Sample Programs

• Node address 1 is set using the switches.

• The module is configured for Single-Drive mode (mode jumper is

set to “Single”).

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

Scanner Settings for the Example Programs

• The scanner is node 0 on the DeviceNet network.

• The scanner is in slot 1.

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

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

Using I/O Messaging

6-3

Logic Command/St atus Words

These examples use the Logic Command word and Logic Status word for MD65 drives. Refe r to Append ix D, Logic Co mmand/Status Words to view these. The definition of the bits in these words may vary if you are using a different MDI product. Refer to the documentation for your drive.

6.5.1 Sample ControlLogix Ladder Logic Program

Table 6.1 – Tags for the Sample ControlLogix Program

Ta g Name Type Tag Name Type

Local:1:I D INT[] DriveFeedback INT Local:1:O DINT[] DriveInputImage INT[2] DriveCommandClearFault BOOL DriveOutputImage IN T[2] DriveCommandJog BOOL DriveReference INT DriveCommandStart BOOL DriveStatusFaulted BOOL DriveCommandStop BOOL DriveStatusRunning BOOL

6-4

DeviceNet Communications Module

Sample ControlLogix program with an MD65 drive at node address 1.

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

This section retrieves the Logic Status and Feedback data from the scanner and moves it to

specifc tags for use elsewhere in the ladder program.

Local:3:O.CommandRegister.Run

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

DriveInputImage[0].0

DriveInputImage[0].1

DriveInputImage[0].3

DriveInputImage[0].7

DriveInputImage[0].8

7 Copy File

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

Command bits and Reference) and writes them to the scanner for output over the network.

DriveCommandStop

DriveCommandStart

DriveCommandJog

DriveCommandClearFaults

Source DriveInputImage[1] Dest DriveFeedback Length 1

DriveStatusForward

DriveStatusFaulted

DriveStatusAtReference

COP

DriveOutputImage[0].0

DriveOutputImage[0].1

DriveOutputImage[0].2

DriveOutputImage[0].3

DriveStatusReady

DriveStatusActive

Figure 6.2 – Sample ControlLogix Ladder Logic Program

Using I/O Messaging

6-5

DriveCommandForward

DriveOutputImage[0].4

13 /

14 Copy File

15 Copy File

DriveCommandForward

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

DriveOutputImage[0].5

COP

Source DriveReference Dest DriveOutputImage[1] Length 1

COP

Figure 6.3 – Sample ControlLogix Ladder Logic Program (continued)

For the explicit mess age port ion of th is sam ple la dder pro gram, s ee figure 7.7.

6-6

DeviceNet Communications Module

6.5.2 Sample PLC-5 Ladder Logic Program

Table 6.2 – Control File for Block Transfers

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

BT20:0000000000 62 0 9 0 0000 BT20:1000000000 62 0 10 0 0000

Sample PLC-5 program with an MD65 drive at DeviceNet node address 1.

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

N9:0 = Scanner Status word N9:1 = MD65 (node 1) Logic Status N9:2 = MD65 (node 1) Feedback

Note that the Feedback for the MD65 drive is received in Hz and not in engineering units. For example, "300" equates to 30.0 Hz (the decimal point is always implied) .

0000

BT20:0

BTR

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

Setup Screen

EN DN ER

This rung enables the DeviceNet scanner.

0001

Figure 6.4 – Sample PLC-5 Ladder Logic Program

Using I/O Messaging

1771-SDN Scanner Enable bit

N10:0

6-7

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

N10:0 = Scanner Control word N10:1 = MD65 (node 1) Logic Command N10:2 = MD65 (node 1) Reference

Note that the Reference for the MD65 drive is set in Hz and not in engineering units. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

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

0002

BT20:1

BTW

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

Setup Screen

Figure 6.5 – Sample PLC-5 Ladder Logic Program (continued)

For the explicit mess age port ion of th is sam ple la dder pro gram, s ee figure 7.8.

EN DN ER

6-8

DeviceNet Communications Module

6.5.3 Sample SLC Ladder Logic Program

SLC 5/03 example program with an MD65 at DeviceNet node address 1.

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

0000

This section of rungs control the Logic Command bits for the MD65 drive. The

0001

0002

0003

0004

0005

B3:0 bits would be controlled elsewhere in the user program.

Node 1 Stop Command

B3:0

Node 1 Start Command

B3:0

Node 1 Jog Command

B3:0

Node 1 Clear Faults Command

B3:0

Node 1 Forward Command

B3:0

Node 1 Stop Command

B3:0

Node 1 Logic Command STOP

Node 1 Logic Command START

Node 1 Logic Command JOG

Node 1 Logic Command CLEAR FAULTS

Node 1 Logic Command FORWARD

1747-SDN Scanner Enable bit

O:1

1747-SDN

O:1

1747-SDN

O:1

1747-SDN

O:1

1747-SDN

O:1

1747-SDN

O:1

1747-SDN

Figure 6.6 – Sample SLC Ladder Logic Program

Using I/O Messaging

6-9

0006

0007

0008

0009

0010

Node 1 Forward Command

B3:0

This rung controls the Reference for the MD65 drive. N7:0 would be controlled elsewhere in the user program. Note that the Reference for the MD65 drive is set in Hz and not in engineering units. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

This section of rungs displays the Logic Status bits for the MD65 drive. The B3:1 bits would be used elsewhere in the user program.

Node 1 Logic Status READY

I:1

1747-SDN

Node 1 Logic Status ACTIVE

I:1

1747-SDN

Node 1 Logic Status ROTATING FORWARD

I:1

1747-SDN

Node 1 REFERENCE (Hz)

Node 1 Logic Command REVERSE

O:1

1747-SDN

MOV

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

Node 1 READY

B3:1

Node 1 ACTIVE

B3:1

Node 1 ROTATING FORWARD

B3:1

6-10

Figure 6.7 – Sample SLC Ladder Logic Program (continued)

DeviceNet Communications Module

0011

0012

0013

Node 1 Logic Status FAULTED

I:1

1747-SDN

Node 1 Logic Status AT REFERENCE

I:1

This rung displays the Feedback word for the MD65 drive. N7:1 would be used elsewhere in the user program. Note that the Feedback for the MD65 drive is set in Hz and not in engineering units. For example, "300" equates to 30.0 Hz (the decimal point is always implied).

1747-SDN

Node 1 FEEDBACK (Hz)

MOV

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

Node 1 FAULTED

B3:1

Node 1 AT REFERENCE

B3:1

Figure 6.8 – Sample SLC Ladder Logic Program (continued)

Using I/O Messaging

6-11

6-12

DeviceNet Communications Module

CHAPTER 7

Using Explicit

Messaging

Chapter 7 provides information and examples that explain how to use Explicit Messaging to mon itor and configure the module and the connected MD65 drive.

ATTENTION: The examples in this publication are intended solely for p urposes of example. There are

many variables and requirem en ts with any application. Rockwe ll Automatio n does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication. Failure to observe this precaution could resu lt in bodily i njury or dama ge to equipment.

ATTENTION: If Explicit Messages are programmed to write parameter data to non-volatile storage (NVS) frequently , the NVS will qu ickly 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. Failure to observe this prec aution could result in dam age to, or destruction of, equipment.

7.1 About Explicit Messaging

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

Using Explicit Messaging

7-1

7.2 Formatting Explicit Messages for a ControlLogix Controller

ControlLogix scanners accommodate both downloading Explicit Message Requests and uploading Explicit Message Responses. The scanner module can accommodate one request or response for each transaction block. Each transaction block must be formatted as shown in figu re 7.1. Re fer to ta ble 7.1 for a de script ion of the data that is required in each box (items 1–9).









 







Figure 7.1 – ControlLogix Message Format in RSLogix 5000

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

7-2

When using a 1756-DNB scanner, five Explicit Messages can be executed at a time.

DeviceNet Communications Module

Table 7.1 – ControlLogix Message Requests and Responses

Box Description

Message Type



The message type must be CIP Generic.

Service Type/Service Code



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

Class



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

Instance



The object ID is an inst anc e of a Devic eNe t class. Refer to Appendix C, DeviceNet Objects, for available instances.

Attribute



The attribute is a class or instance attribute. Refer to Appendix C, DeviceNet Objects, for available attributes.

Source Element



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

Source Length



This box cont ain s the numb er of b ytes of se rvice dat a to be sent or received in the message.

Destination



This box contains the name of the tag that will receive service response d at a f r om the m od ule and drive. A tag must be specified even if it is not used.

Path



The path includes the following:

• Name of the DeviceNet scanner.

• Communic ati on port on the front of the 1756-D NB scanner. Always 2.

• Node address of the DeviceNet module. This is set with switches or pa ramete rs in the DeviceNet modu le.

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

Using Explicit Messaging

7-3

7.3 Formatting Explicit Messages for a PLC or SLC Controller

Transaction blocks in PLC and SLC scanners accommodate both downloading Explicit Message Requests and uploading Explicit Message Responses. The scanner module can accommodate one request or response for each transaction block. Each transaction block must be formatted as shown in fi gure 7.2 or figure 7.3.

Request Response

Bit 15 0 15 0 Word 0 TXID Command TXID Status

Port Size Port Size Service Address Service Address Class Service Response Data Instance

Attribute Word 6 - 31 Service Data Word 32 TXID Command TXID Status

Port Size Port Size

Service Address Service Address

Class Service Response Data

Instance

Attribute Word 38 - 63 Service Data

Figure 7.2 – PLC Explicit Message Format

7-4

Request Response

Bit 15 0 15 0 Word 0 TXID Command TXID Status

Port Size Port Size

Service Address Service Address

Class Service Response Data

Instance

Attribute Word 6 - 31 Service Data

Figure 7.3 – SLC Explicit Message Format

Refer to tables 7.2 and 7.3 for a description of the data that is required in each word.

DeviceNet Communications Module

Table 7.2 identifies the number of transaction blocks within a scanner that are reserved for Explicit Messaging.

Table 7.2 – Number of Transaction Blocks Reserved for Explicit Messaging

Scanner

No. of Transaction

Blocks

Words in Each

Transaction Block Refer To

1747-SDN 10 32 Figure 7.3 1771-SDN 10 32 (two blocks can

Figure 7.2

be moved at once)

Table 7.3 – PLC / SLC Explicit Message Requests

Word Description

0 Command (Least Significant Byte)

The Command is a code that instructs the scanner how to administer the request during each download. 00 = Ignore transaction block (empty) 01 = Execute this transaction block 02 = Get status of transaction TXID 03 = Reset all client/server transactions 04 = Delete this transaction block (available only for SLC) 05 – 255 = Reserved

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

1 Size (Least Significant Byte)

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

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

2 Address (Least Significant Byte)

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

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

3 Class

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

4 Instance

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

5 Attribute

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

6 – 31 Request Data

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

Using Explicit Messaging

7-5

Table 7.4 – PLC / SLC Explicit Message Responses

Word Description

0 Status (Least Significant Byte)

One of the following status codes is provided during each upload: 00 = Ignore transaction block (empty) 01 = Transaction completed successfully 02 = Transaction in progress (not ready) 03 = Slave not in scan list 04 = Slave offline 05 = DeviceNet port disabled or offline 06 = Transaction TXID unknown 08 = Invalid command code 09 = Scanner out of buffers 10 = Other client/server transaction in progress 11 = Could not connect to slave device 12 = Response data too large for block 13 = Invalid port 14 = Invalid size specified 15 = Connection busy 16 – 255 = Reserved

TXID (Most Significant Byte) The transaction ID is a 1-byte integer in word 31 with a range of 1 to

255. It is assigned in the ladder logic program when the processor creates and downloads a request to the scanner. The scanner uses it to track the transaction to completion. It returns this value with the response that matches the request downloaded by the processor.

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

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

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

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

3 - 31

Response Data

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

7-6

Refer to table 7.3 for a description of the words in a PLC/SLC Explicit Message request.

DeviceNet Communications Module

7.4 Running Explicit Messages

There are five basic events in the Explicit Messaging process as shown in figure 7.4. Th e details of each step will vary depending on the controller (ControlLogix, PLC, or SLC). Refer to the documentation for your controller.

Important: There must be a request message and a response

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



Set up and send Explicit Message Request



Complete Explicit Message



Retrieve Explicit Message Response

You format the required data and set up the ladder logic



program to send an Explicit Message reque st to the sc anner module (download).

The scanner module transmits the Explicit Message



Request to the slave device over the DeviceNet network. The slave device transmits the Explicit Message Response



back to the scanne r. The data is store d i n t he sc an ner buffer. The controller retrieves the Explicit Mess age Response fro m



the scanner’s buffer (upload). The Explicit Message is co mp lete. If you are using a PLC or



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





Using Explicit Messaging

Figure 7.4 – Explicit Message Process

7-7

7.5 ControlLogix Example

Data Format for a Read and Write Parameter

The data in this example is for an MD65 drive at node address 1. Refer to section 7.2 for a description of the content in each box.

7-8

Configuration Value Description Refer to . . .

Service Code Object Type Object ID Object Attribute

Figure 7.5 – Data Format for a Read and Write Parameter (1 of 2)

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

Get_Attribute_Single Parameter Object Parameter Address Parameter Value

DeviceNet Communications Module

Page C-10 Page C-8

Page C-9

Configuration Value Description Refer to . . .

Service Code Object Type Object ID Object Attribute

Figure 7.6 – Data Format for a Read and Write Parameter (2 of 2)

Table 7.5 – Tags for the Sample Explicit Messaging Program

Tag Names

for Read Message Type

PerformParameterRead BOOL PerformParameterWrite BOOL ParameterRDMessage MESSAGE ParameterWRMessage MESSAGE ParameterRDValue INT ParameterWRValue INT

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

Get_Attribute_Single Parameter Object Parameter Address Parameter Value

Tag Na mes

for Write Messages Type

Page C-10 Page C-8

Page C-9

Using Explicit Messaging

7-9

Ex plic it M essaging Ex am ple

PerformParameterRead

Type - CIP Generic Message Control ParameterRDMessage

MS G

...

EN DN ER

(End)

PerformParameterWrite

Type - CIP Generic Message Control ParameterWRMessage

MS G

Figure 7.7 – Sample ControlLogix Ladder Logic Program

For the I/O message portion of this sample ladder program, see figure 6.3.

...

EN DN ER

7-10

DeviceNet Communications Module

7.6 PLC-5 Example

Data Format for a Read and Write Parameter

The data in this example is for an MD65 drive at node address 1. Refer to section 7.2 for a description of the content of the data file.

Table 7.6 – Request Data for Read of Drive Parameter 39

Address Value (hex) Description Refer to ...

N11:0 0101 TXID = 01, Command = 01 (execute) Section 7.3 N11:1 0006 Port = 00, Size = 06 bytes Section 7.3 N11:2 0E01 Service = 0E (Get_Attribute_Single) Page C-10

Address = 01 (Node Address) Section 7.3 N11:3 000F Class = 0F (Parameter Object) Page C-8 N11:4 0027 Instance = Parameter 39 (27 hex) N11:5 0001 Attribute = 01 (Parameter Value) Page C-9

Table 7.7 – Response Data for Read of Drive Parameter 39

Address Value (h ex) Description Refer to ...

N11:100 0101 TXID = 01, Status = 01 (successful) Section 7.3 N11:101 0002 Port = 00, Size = 02 bytes Section 7.3 N11:102 8E01 Service = 8E (successful),

Address = 01 (Node Address)

N11:103 0064 Response Data = 1000 100 (64 HEX) = 10.0

seconds

Section 7.3

Table 7.8 – Request Data for Write to Drive Parameter 101

Address Value (hex) Description Refer to ...

N11:0 0101 TXID = 01, Command = 01 (execute) Section 7.3 N11:1 0008 Port = 00, Size = 08 bytes Section 7.3 N11:2 1001 Service = 10 (Set_Attribute_Single) Page C-10

Address = 01 (Node Address) Section 7.3 N11:3 000F Class = 0F (Parameter Object) Page C-8 N11:4 0027 Instance = Parameter 39 (27 hex) N11:5 0001 Attribute = 01 (Parameter Value) Page C-9 N11:6 0064 Data = 100 (64 hex) = 10.0 seconds

Table 7.9 – Response Data for Write to Drive Parameter 101

Address Value (h ex) Description Refer to ...

N11:100 0101 TXID = 01, Status = 01 (successful

transaction)

N11:101 0000 Port = 00, Size = 00 bytes Section 7.3 N11:102 9001 Service = 90 (successful)

Address = 01 (Node Address)

Using Explicit Messaging

Section 7.3

7-11

Ladder Logic Program

Explicit Messaging Example

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

Send Explicit Message

0003

B3:0

B3:0 ONS

BTW

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

Setup Screen

MOV

MOV Move Source 0 0< Dest N11:100 257<

EN DN ER

0004

0005

7-12

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

BT20:2

CMP

CMP Comparison Expression N11:100 <> N11:0

BTR

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

Setup Screen

BT20:3

EN DN ER

END

Figure 7.8 – Sample PLC-5 Ladder Logic Program

DeviceNet Communications Module

7.7 SLC Example

Data Format for a Read and Write Parameter

The data in this example is for an MD65 drive at node address 1. Refer to section 7.2 for a description of the content of the data file.

Table 7.10 – Request Data for Read of Drive Parameter 101

Address Value (hex) Description Refer to ...

N9:10 0101 TXID = 01, Command = 01 (execute) Section 7.3 N9:11 0006 Port = 00, Size = 06 bytes Section 7.3 N9:12 0E01 Service = 0E (Get_Attribute_Single) Page C-10

Address = 01 (Node Address) Section 7.3 N9:13 000F Class = 0F (Parameter Object) Page C-8 N9:14 0027 Instance = Parameter 39 (27 hex) N9:15 0001 Attribute = 01 (Parameter Value) Page C-10

Table 7.11 – Response Data for Read of Drive Parameter 101

Address Value (hex) Description Refer to ...

N9:50 0101 TXID = 01, Status = 01 (successful) Section 7.3 N9:51 0002 Port = 00, Size = 02 bytes Section 7.3 N9:52 8E01 Service = 8E (successful)

Address = 01 (Node Address) N9:53 0064 Response Data = 100 (64 hex) = 10.0 seconds

Table 7.12 – Request Data for Write to Drive Parameter 101

Address Value (hex) Description Refer to ...

N9:10 0101 TXID = 01, Command = 01 (execute) Section 7.3 N9:11 0008 Port = 00, Size = 08 bytes Section 7.3 N9:12 1001 Service = 10 (Set_Attrib ute_Single) Page C-10

Address = 01 (Node Address) Section 7.3 N9:13 000F Class = 0F (Parameter Object) Page C-8 N9:14 0027 Instance = Parameter 39 (27 hex) N9:15 0001 Attribute = 01 (Parameter Value) Page C-9 N9:16 0064 Data = 100 (64 hex) = 10.0 seconds

Section 7.3

Table 7.13 – Response Data for Write to Drive Parameter 101

Address Value (hex) Description Refer to ...

N9:50 0101 TXID = 01, Status = 01 (successful transaction) Section 7.3 N9:51 0000 Port = 00, Size = 00 bytes Section 7.3 N9:52 9001 Se rvice = 90 (success ful)

Address = 01 (Node Address)

Using Explicit Messaging

Section 7.3

7-13

Ladder Logic Program Important: T o origina te a scanner tran saction, us e a copy operation

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

Explicit Messaging Example

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

0014

0015

B3:2

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

I:1

1747-SDN

COP

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

COP

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

B3:2

U 0

0016

7-14

EQU

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

MVM

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

END

Figure 7.9 – Sample SLC Ladder Logic Program

For the I/O message portion of this sample ladder program, see figure 6.6.

DeviceNet Communications Module

CHAPTER 8

Using Multi-Drive Mode

Chapter 8 provides information and a ControlLogix ladder example to explain how to use Multi-Drive mode.

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

8.1 Single-Drive Mode vs. Multi-Drive Mode

Single-Drive mode is a typical network installation, where a single DeviceNet node consists of a single drive with an MDCOMM-DNET module (figure 8.1).

intended solely for purp oses of ex ample. There are many variables and requirem en ts with any application. Rockwel l Automation d oes not assum e responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

MD65 Drive with MDCOMM-DNET

Figure 8.1 – Example of a Single-Drive Mode Network

Multi-Drive mode is an altern ative to the typic al network inst allati on, where a single DeviceNet node can consist of one to five drives (figure 8.2). The first drive must be an MD65 drive with an MDCOMM-DNET module. The remaining drives can be MD65 or MD60 drives, and they are da is y-c ha ine d ov er R S-48 5 w ith the fi rst drive.

Using Multi-Drive Mode

1 drive per node

MD65 Drive with MDCOMM-DNET

DeviceNet

MD65 Drive with MDCOMM-DNET

8-1

MD65 Drive

up to 5 drives per node

DeviceNet

Up to 4 MD65 or MD60 Drives

AK-U0-RJ45-TB2P

Connector w/3rd Party

Terminating Resistor

MDCOMM-DNET

AK-U0-RJ45-TB2PRS-485

Figure 8.2 – Example of a Multi-Drive Mode Network

AK-U0-RJ45-TB2P

Connector w/3rd Party

Terminating Resistor

Benefits of Multi-Drive mode include:

• Lower hardware costs. Only one MDCOMM-DNET module is needed for up to five d rives. M D60 drive s can a lso be us ed for the daisy-chained drives instead of MD65 drives.

• Reduces the network node count (DeviceNet is 63 nodes maximum). For example, in Single-Drive mode 30 drives would consume 30 nodes. In Multi-Drive mode, 30 drives can be connected in 6 nodes.

• Provides a means to put MD60 drives on DeviceNet (MD60 drives do not have an internal communications module slot).

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

The trade-offs of Multi-Drive mode include:

• If the MD65 drive with the MDCOMM-DNET module is powered down, then communications with the daisy-chained drives are disrupted, and the drives will take the appropriate communications loss action set in each drive.

• Communications throughput to the daisy-chained drives will be slower than if each drive was a separate node on DeviceNet (Single-Drive mode). This is becau se the MD C OMM -D NE T module 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 receiv ed by each drive is shown in table 8.1.

8-2

DeviceNet Communications Module

Table 8.1 – Additional Throughput Time for Logic Command/Reference

Drive

MD65 w/MDCOMM-DNET 0 ms MD65 w/MDCOMM-DNET plus 1 drive +24 ms MD65 w/MDCOMM-DNET plus 2 drives +48 ms MD65 w/MDCOMM-DNET plus 3 drives +72 ms MD65 w/MDCOMM-DNET plus 4 drives +96 ms

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

• The RSNetWorx Par ameter editor cannot be us ed.

• Since the RS-485 ports are used for daisy-chaining the drives, there is no connection for a peripheral device such as an OIM.

• The AK-U0-RJ45-SC1 Splitter Cable cannot be used to add a second connection for a peripheral device.

8.2 System Wiring

To daisy-chain t he drives off the MD65 drive w ith the MDCOMM-DNET module (Drive 0), use the AK-U0-RJ45-TB2P terminal block connector (figure 8.3).

Additional Throughput Time

versus Single-Drive Mode

Figure 8.3 – AK-U0-RJ45-TB2P Terminal Block Connector

The wiring diagram for using AK-U0-RJ45-TB2P terminal block connectors is shown in figure 8.4.

Using Multi-Drive Mode

8-3

MD65 Drive

with MDCOMM-DNET

Drive

120 Ω ¼ Watt

Resistor

Figure 8.4 – AK-U0-RJ45-TB2P Connector Wiring Diagram

Drive

8.3 Understanding th e I/O Image

The DeviceNet specification requires that the terms

output

be defined from the scanner’s point of view. Therefore, Output I/O is dat a tha t i s o utp ut from the scanner and consumed by the DeviceNet module. Input I/O is status data that is produced by the module and consumed as input by the scanner. The I/O image table will vary based on the:

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

parameter 15 (DSI I/O Cfg). The image table always uses consecutive words starting at word 0.

Figure 8.5 illustrates the Multi-Drive I/O image with 16-bit words.

Drive

input

120 Ω

¼ Watt

Resisto

and

8-4

DeviceNet Communications Module

Controller

Scanner

Output Image (Write)

DeviceNet

Module

Word and I/O

0 Logic Command 1 Reference

2 Logic Command 3 Reference

4 Logic Command 5 Reference

6 Logic Command 7 Reference

8 Logic Command 9 Reference

MDI

MD65 Drive 0

MD65 Drive 1

MD65 Drive 2

MD65 Drive 3

MD65 Drive 4

0 Logic Status 1 Feedback

2 Logic Status

Input Image (Read)

Message

Handler

Figure 8.5 – Example of Multi-Drive I/O Image

3 Feedback 4 Logic Status

5 Feedback 6 Logic Status

7 Feedback 8 Logic Status

9 Feedback

Message

Buffer

MD65 Drive 0

MD65 Drive 1

MD65 Drive 2

MD65 Drive 3

MD65 Drive 4

8.4 Configuring the RS-485 Network

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

Parameter Value

P36 - (Start Source) 5 (“RS485 [MDI] Port”) P38 - (Speed Reference) 5 (“RS485 [MDI] Port”) A103 - (Comm Data Rate) 4 (“19.2K”) A104 - (Comm Node Addr) 1-247 (must be unique) A107 - (Comm Format) 0 (“RTU 8-N-1”)

Note that the RS-485 network is fixe d at 19.2K ba ud, 8 dat a bits , no parity, and 1 stop bit.

Using Multi-Drive Mode

8-5

Important: Comm Loss Action (A105) and Comm Loss Time

The following Multi-Drive parameters must be set in the MDCOMM-DNET module:

15 - (DSI I/O Cfg) 0 = Drive 0 connected

17 - (Drv 0 Addr) = Parameter A104 - (Comm Node Address) in Drive 0 18 - (Drv 1 Addr) = Parameter A104 - (Comm Node Address) in Drive 1 19 - (Drv 2 Addr) = Parameter A104 - (Comm Node Address) in Drive 2 20 - (Drv 3 Addr) = Parameter A104 - (Comm Node Address) in Drive 3 21 - (Drv 4 Addr) = Parameter A104 - (Comm Node Address) in Drive 4

After setting the MDCOMM-DNET parameters, set the module Mode Jumper from Single-Drive operation to Multi-Drive operation, and reset the module or cycle power. Refer to section 3.2, Commissioning the Mo dul e.

(A106) in the daisy-chained drives are not used in Multi-Driv e mode. If the RS-485 cable is disconnected or broken, the disconnected drive(s) will fault. On the DeviceNet side, Comm Flt Action (7) and Idl e Flt Act ion (8) in the MDCOMM-DNET module determine the action taken for ALL of the drives on the Multi-Drive node.

Parameter Value

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

8.5 Multi-Drive Ladder Logic Program Example

The example ladder logic program demonstrates using Multi-Drive mode with five drives. See figure 8.2 for a system layout diagram.

Function of the Program Example

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

• View status information from the drives such as Ready, Fault, At

Speed, and Feedback.

• Control th e driv es u sing va riou s Log ic Com mand bit s (Stop, Start,

etc.) and Reference.

• Perform a single parameter read and write for each drive. The

example uses drive parameter 39 (Accel Time) for both so you can see (read) the change after a write is performed.

8-6

DeviceNet Communications Module

Module Settings for the Example Program

• The Mode Jumper on the module is set to the Multi-Drive operation position. See section 3.2, Commissioning the Module.

• All DIP switches on the module are set to CLOSED (all 0s). See section 3.2, Commis sioning the M odule. The actua l node address will be set via a software parameter.

• The following module parameters are set:

Parameter Value Description

02 - (DN Addr Cfg) 1 DeviceNet node address

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

17 - (Drv 0 Addr)

1 Modbus address of Drive 0

18 - (Drv 1 Addr) 2 Modbus address of Drive 1

19 - Drv 2 Addr) 3 Modbus address of Drive 2 20 - (Drv 3 Addr) 4 Modbus address of Drive 3 21 - (Drv 4 Addr) 5 Modbus address of Drive 4

The settings for these parameters must match the parameter A104 (Comm Node Addr) settings in the respective drives.

Important: Drive node addresses change only after a power cycle.

Drive Settings for the Program Example

Parameter

P36 - (Start Source) 5 5 5 5 5

P38 - (Speed Reference) 5 5 5 5 5

A103 - (Comm Data Rate) 4 4 4 4 4

A104 - (Comm Node Addr)

A105 - (Comm Loss Action) 0 0 0 0 0

A106 - (Comm Loss Time) 5 5 5 5 5

A107 - (Comm Format) 0 0 0 0 0

The settings for these parameters must match the respective parameter

settings in the module (parameter 17 (Drive 0 Address) through parameter 21 (Drive 4 Address)).

Using Multi-Drive Mode

Value

Drive 0 Drive 1 Drive 2 Drive 3 Drive 4

12345

8-7

8.6 ControlLogix Example

The following common Tags are used:

Tag Name Type Description

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

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

Drive Input Image INT [10] Input Image Table

Drive Output Image INT [10] Output Image Table

The following Tags are used for Drive 0:

Tag 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

Drive 0 Command Forward BOOL Logic Command bit 4 Drive 0 Reference INT Speed Reference

Drive 0 Status Ready BOOL Logic Status bit 0 (READY) Drive 0 Status Active BOOL Logic Status bit 1 (ACTIVE) Drive 0 Status Forward BOOL Logic Status bit 3 (FORWARD) Drive 0 Status Faulted BOOL Logic Status bit 7 (FAULT) Drive 0 Status At Reference BOOL Logic Status bit 8 (AT SPEED) Drive 0 Feedback INT Speed Feedback Perform Parameter Read 0 BOOL Initiates the parameter read Parameter RD Value 0 INT Read value of the parameter Parameter RD Message 0 MESSAGE Get_Attribute_Single (Read) Perform Parameter Write 0 BOOL Initiates the parameter value Parameter WR Value 0 INT Write value to the parameter Parameter WR Message 0 MESSAGE Set_Attribute_Single (Write)

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

FAULTS) (FORWARD)

8-8

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

Main Routine

The Main Routine tells the 1756-DNB scanner to run, reads the network Input Image from the scanner, calls the various drive control subroutines, and writes the network Output Image to the scanner. See figure 8.6.

DeviceNet Communications Module

ControlLogix MultiDrive example program with an MD65 drive at node address 1. Four MD65/MD60 drives are daisy-chained to the main MD65 drive via their RJ45 ports (RS-485). In this mode, up to FIVE MD65/MD60 drives can exist on ONE DeviceNet node.

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

This section retrieves the Logic Status and Feedback data for all five drives from the scanner, and moves it to specific INT tags for use elsewhere in the ladder program. The input image is as follows: 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 (6) 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

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

Drive 0 controls subroutine.

Drive 1 controls subroutine.

3 Jump To Subroutine

Drive 2 controls subroutine.

Drive 3 controls subroutine.

Drive 4 controls subroutine.

6 Jump To Subroutine

JSR Jump To Subroutine Routine Name Drive0

JSR Routine Name Drive1

JSR Jump To Subroutine Routine Name Drive2

JSR Jump To Subroutine Routine Name Drive3

JSR Routine Name Drive4

Figure 8.6 – Main Routine

Using Multi-Drive Mode

8-9

This section 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 1 Logic Command and Reference Drive Output Image (4) and Drive Output Image (5) = Drive 2 Logic Command and Reference

Drive Output Image (6) and Drive Output Image (7) = Drive 3 Logic Command and Reference Drive Output Image (8) and Drive Output Image (9) = Drive 4 Logic Command and Reference

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

(End)

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

COP

Figure 8.7 – Main Routine (Continued)

Drive 0 - Drive 4 Control Routines

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

8.8 for Drive 0, figure 8.10 for Drive 1, figu re 8.1 2 for D riv e 2, fi gure

8.14 for Drive 3, and figure 8.16 for Drive 4.

8-10

DeviceNet Communications Module

Drive 0 Control Subroutine

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

DriveInputImage[0].0

Drive0StatusReady

DriveInputImage[0].1

5 Copy File

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

DriveInputImage[0].3

DriveInputImage[0].7

DriveInputImage[0].8

Drive0CommandStop

Drive0CommandStart

Drive0CommandJog

Drive0CommandClearFaults

Drive0CommandForward

Source DriveInputImage[1] Dest Drive0Feedback Length 1

Drive0StatusActive

Drive0StatusForward

Drive0StatusFaulted

Drive0StatusAtReference

COP

DriveOutputImage[0].0

DriveOutputImage[0].1

DriveOutputImage[0].2

DriveOutputImage[0].3

DriveOutputImage[0].4

Drive0CommandForward

11 /

12 Copy File

Using Multi-Drive Mode

DriveOutputImage[0].5

COP

Source Drive0Reference Dest DriveOutputImage[1] Length 1

Figure 8.8 – Drive 0 Control Routine

8-11

Explicit Messaging Example

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

PerformParameterRead0

Type - CIP Generic Message Control ParameterRDMessage0

MS G

...

EN DN ER

PerformParameterWrite0

15 Return

(End)

Type - CIP Generic Message Control ParameterWRMessage0

MS G

Figure 8.9 – Drive 0 Control Routine (Continued)

RET

...

EN DN ER

8-12

DeviceNet Communications Module

Drive 1 Control Subroutine

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

DriveInputImage[2].0

Drive1StatusReady

DriveInputImage[2].1

5 Copy File

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

DriveInputImage[2].3

DriveInputImage[2].7

DriveInputImage[2].8

Drive1CommandStop

Drive1CommandStart

Drive1CommandJog

Drive1CommandClearFaults

Drive1CommandForward

Source DriveInputImage[3] Dest Drive1Feedback Length 1

Drive1StatusActive

Drive1StatusForward

Drive1StatusFaulted

Drive1StatusAtReference

COP

DriveOutputImage[2].0

DriveOutputImage[2].1

DriveOutputImage[2].2

DriveOutputImage[2].3

DriveOutputImage[2].4

Drive1CommandForward

11 /

12 Copy File

Using Multi-Drive Mode

DriveOutputImage[2].5

COP

Source Drive1Reference Dest DriveOutputImage[3] Length 1

Figure 8.10 – Drive 1 Control Routine

8-13

Explicit Messaging Example

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

PerformParameterRead1

Type - CIP Generic Message Control ParameterRDMessage1

MS G

...

EN DN ER

PerformParameterWrite1

15 Return

(End)

Type - CIP Generic Message Control ParameterWRMessage1

MS G

Figure 8.11 – Drive 1 Control Routine (Continued)

RET

...

EN DN ER

8-14

DeviceNet Communications Module

Drive 2 Control Subroutine

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

DriveInputImage[4].0

DriveInputImage[4].1

5 Copy File

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

DriveInputImage[4].3

DriveInputImage[4].7

DriveInputImage[4].8

Drive2CommandStop

Drive2CommandStart

Drive2CommandJog

Source DriveInputImage[5] Dest Drive2Feedback Length 1

Drive2StatusReady

Drive2StatusActive

Drive2StatusForward

Drive2StatusFaulted

Drive2StatusAtReference

COP

DriveOutputImage[4].0

DriveOutputImage[4].1

DriveOutputImage[4].2

Drive2CommandClearFaults

Drive2CommandForward

11 /

12 Copy File

Using Multi-Drive Mode

DriveOutputImage[4].3

DriveOutputImage[4].4

DriveOutputImage[4].5

COP

Source Drive2Reference Dest DriveOutputImage[5] Length 1

Figure 8.12 – Drive 2 Control Routine

8-15

Explicit Messaging Example

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

PerformParameterRead2

Type - CIP Generic Message Control ParameterRDMessage2

MS G

...

DN ER

PerformParameterWrite2

15 Return

(End)

Type - CIP Generic Message Control ParameterWRMessage2

MS G

Figure 8.13 – Drive 2 Control Routine (Continued)

RET

...

EN DN ER

8-16

DeviceNet Communications Module

Drive 3 Control Subroutine

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

DriveInputImage[6].0

DriveInputImage[6].1

5 Copy File

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

DriveInputImage[6].3

DriveInputImage[6].7

DriveInputImage[6].8

Drive3CommandStop

Drive3CommandStart

Drive3CommandJog

Source DriveInputImage[7] Dest Drive3Feedback Length 1

Drive3StatusReady

Drive3StatusActive

Drive3StatusForward

Drive3StatusFaulted

Drive3StatusAtReference

COP

DriveOutputImage[6].0

DriveOutputImage[6].1

DriveOutputImage[6].2

Drive3CommandClearFaults

Drive3CommandForward

11 /

12 Copy File

Using Multi-Drive Mode

DriveOutputImage[6].3

DriveOutputImage[6].4

DriveOutputImage[6].5

COP

Source Drive3Reference Dest DriveOutputImage[7] Length 1

Figure 8.14 – Drive 3 Control Routine

8-17

Explicit Messaging Example

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

PerformParameterRead3

Type - CIP Generic Message Control ParameterRDMessage3

MS G

...

EN ER

PerformParameterWrite3

15 Return

(End)

Type - CIP Generic Message Control ParameterWRMessage3

MS G

Figure 8.15 – Drive 3 Control Routine (Continued)

RET

...

EN ER

8-18

DeviceNet Communications Module

Drive 4 Control Subroutine

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

DriveInputImage[8].0

Drive4StatusReady

DriveInputImage[8].1

5 Copy File

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

DriveInputImage[8].3

DriveInputImage[8].7

DriveInputImage[8].8

Drive4CommandStop

Drive4CommandStart

Drive4CommandJog

Drive4CommandClearFaults

Drive4CommandForward

Source DriveInputImage[9] Dest Drive4Feedback Length 1

Drive4StatusActive

Drive4StatusForward

Drive4StatusFaulted

Drive4StatusAtReference

COP

DriveOutputImage[8].0

DriveOutputImage[8].1

DriveOutputImage[8].2

DriveOutputImage[8].3

DriveOutputImage[8].4

Drive4CommandForward

11 /

12 Copy File

Using Multi-Drive Mode

DriveOutputImage[8].5

COP

Source Drive4Reference Dest DriveOutputImage[9] Length 1

Figure 8.16 – Drive 4 Control Routine

8-19

Explicit Messaging Example Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the

desired parameter number. For example, to access parameter 39 an Instance of 21543 (21504 + 39) is used.

PerformParameterWrite4

Type - CIP Generic Message Control ParameterRDMessage4

MS G

...

EN DN ER

PerformParameterRead4

15 Return

(End)

Type - CIP Generic Message Control ParameterWRMessage4

MS G

RET

...

EN DN ER

Figure 8.17 – Drive 4 Control Routine (Continued)

8.7 Multi-Drive Mode Explicit Messaging

Parameter addressing for Explicit messaging is different in Multi-Drive mode 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 module and up to 5 drives. The parameters in the module and each of the drives are offset by 400 hex (1024 decimal):

Instance Device Parameter

4000h (16384 dec) - 43FFh MDCOMM-DNET 0 - 1023 4400h (17408 dec) - 47FFh Drive 0 0 - 1023 4800h (18432 dec) - 4BFFh Drive 1 0 - 1023 4C00h (19456 dec) - 4FFFh Drive 2 0 - 1023 5000h (20480 dec) - 53FFh Drive 3 0 - 1023 5400h (21504 dec) - 57FFh Drive 4 0 - 1023

8-20

For example, to access parameter P39 (Accel Time 1) in each of the drives, the following Instances would be used:

• Drive 0 Instance = 17447 (17408 + 39)

• Drive 1 Instance = 18471 (18432 + 39)

• Drive 2 Instance = 19495 (19456 + 39)

• Drive 3 Instance = 20519 (20480 + 39)

• Drive 4 Instance = 21543 (21504 + 39)

DeviceNet Communications Module

Drive 0 Explicit Message Example

The Explicit message examples in the ControlLogix example program perform a read (Get_Attribute_Single) and a write (Set_Attribute_Single) to parameter 39 (Accel Time 1). The configuration for the read is shown in figure 8.18 and the write is shown in figure 8.19.

Figure 8.18 – Parameter Read Message Configuration

Figure 8.19 – Parameter Write Message Configuration

Using Multi-Drive Mode

8-21

The Class Code is “ f ” for the Parameter Object and the Instance Attribute is “1” to sel ect retrieving the parameter value. See Appendix C for more information. The Instance value is “17447” to access parameter 39 (Accel Time 1).

The Explicit messages for Dr ive 1 to Driv e 4 are identic al excep t for the Instance values:

• Drive 1 Instance = 18471 (18432 + 39)

• Drive 2 Instance = 19495 (19456 + 39)

• Drive 3 Instance = 20519 (20480 + 39)

• Drive 4 Instance = 21543 (21504 + 39)

8.8 Additional Information

• When the MD65 drive with the MDCOMM-DN ET (Drive 0) is powered up, all configured daisy-chained drives must be present before an I/O connection is allo wed on Devic eNet (i.e., before the drives can be controlled).

• If the MD65 drive with the MDCOMM-DNET module (Drive 0) is powered down, communica tions with the four daisy-chained drives (Drive 1 to Drive 4) are disrupted and the drives will fault.

• If any of the daisy -chain ed drive s (Dri ve1 to Dr ive 4) a re powe red down, the respective Input Image (Logic Status and Feedback) sent to the scanner will be zeros, a nd the NET A and PO RT LE Ds on the MDCOMM-DN ET m od ule w il l f las h red. Status information from the scanner will not indicate there is a fault at the node.

8-22

DeviceNet Communications Module

CHAPTER 9

Troubleshooting th e

DeviceNet Module

and Network

Chapter 9 contains information for troubleshooting the DeviceNet module and network.

9.1 Understanding the Status Indicators

The DeviceNet module has three status indicators. They can be viewed on the module or through the drive cover. See figure 9.1.

➊

➋

➌

Number Status Indicator Description Refer to...

DRIVE MDI Connection Status 9.1.1



MS Module Status 9.1.2



NET A DeviceNet Status 9.1.4



NET B Not Used for DeviceNet -



Figure 9.1 – Status Indicators (location on drive may vary)

Troubleshooting the DeviceNet Module and Network

DRIVE

➊

➋ ➌ ➍

9-1

9.1.1 DRIVE Status Indicator

Table 9.1 – DRIVE Status Indicator: State Definitions

Status Cause Corrective Action

Off The module is not

Flashing Red

Solid Red

powered or is not connected properly to the drive.

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

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

•

Securely connect the module to the drive using the ribbon cable.

•

Apply power to the drive.

•

Clear any drive faults.

•

Verify that cables are securely connected.

•

Cycle power to the drive.

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

Another MDI peripheral is using the same MDI port as the module.

Flashing Green

Solid Green

Orange Daisy-chained drives in

The module is establishing an I/O connection to the drive or (DSI I/O Config) is configured for all I/O disabled.

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

Multi-Drive mode are not all MD60 or MD65 drives.

V erify that all MDI cables are securely connected and not damaged. Replace cables if necessary.

•

No Action. This status indicator will turn solid green or red.

•

Verify Parameter 15, (DSI I/O Config) settings.

•

Normal behavior if no MDI (DSI) I/O is enabled.

No Action.

Use MD60 and MD65 drives for the daisy-chained drives.

9-2

DeviceNet Communications Module

9.1.2 MS Status Indicator

Table 9.2 – MS Status Indicator: Stat e Definitions

Status Cause Corrective A ction

Off The module is not

Flashing Red

Solid Red

Flashing Green

Solid Green

powered.

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

The module has failed the hardware test.

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

The module is operational and transferring I/O data.

•

Securely connect the module to the drive using the ribbon cable.

•

Apply power to the drive.

•

Clear faults in the drive.

•

Cycle power to the drive.

•

If cycling power does not correct the problem, the parameter settings may have been corrupted. Reset defaults and reconfigure the module.

•

If resetting defaults does not correct the problem, flash the module with the latest firmware release.

•

For Multi-Drive mode, determine which drive is missing or faulted. Check cabling and configuration settings (see chapter 8).

•

Cycle power to the drive.

•

Replace the module.

•

Place the scanner in RUN mode.

•

Program the controller to recognize and transmit I/O to the module.

•

Configure the module for the program in the controller.

•

Normal behavior if no MDI I/O is enabled.

No action.

Troubleshooting the DeviceNet Module and Network

9-3

9.1.3 NET A Status Indicator

Table 9.3 – NET A Status Indicator: State Definitions

Status Cause Corrective Actions

Off The module and/or

Flashing Red

Solid Red Failed duplicate node

Flashing Green

Solid Green

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

A DeviceNet I/O connection has timed out.

detection test or bus off condition exists.

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

The module is properly connected and communicating on the network.

•

Securely connect the module to the drive using the Internal Interface cable and to the network using a DeviceNet cable.

•

Correctly connect the DeviceNet cable to the DeviceNet plug.

•

Apply power to the drive and network.

•

Place the scanner in RUN mode, or apply power to the peer device that will send I/O.

•

Check the amount of traffic on the network.

•

Configure the module to use a unique node address on the DeviceNet network.

•

Configure the module to use the correct network data rate.

•

Ensure network has correct media installed.

•

Place the controller in RUN mode, or apply power to the peer device that will send I/O.

•

Program a controller or peer device to recognize and transmit I/O to the module.

•

Configure the module for the program in the controller or the I/O from the peer device.

No action required.

9-4

DeviceNet Communications Module

Rockwell Automation DeviceNet Communications Module User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual