schneider VW3 A3 309 User Guide

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Altivar 61/71

DeviceNet™ card

User’s manual

VW3 A3 309

11/2010

1755877

www.schneider-electric.com

While every precaution has been taken in the preparation of this document, Schneider Electric SA assumes no liability for any omissions or errors it may contai n, nor for any damages resulting from the application or use of the information herein.

The products described in this document may be changed or modified at any time, either from a technical point of view or in the way they are operated. Their de scription can in no way be considered contractual.

Before you begin_____________________________________________________________________________________________ 3 Documentation structure_______________________________________________________________________________________ 4 Introduction_________________________________________________________________________________________________ 5

Presentation _____________________________________________________________________________________________ 5

Notation ______________________________________________ __________________________________________________ 5 Quick start__________________________________________________________________________________________________ 6 Hardware setup _____________________________________________________________________________________________ 7

Receipt _________________________________________________________________________________________________ 7

Hardware description ______________________________________________________________________________________ 7

Installing the card in the drive________________________________________________________________________________ 7

Coding the switches _______________________________________________________________________________________ 8 Wiring to the network ___________________________________________ _____________________________________________ 10

Cable routing practices____________________________________________________________________________________ 10

Wiring the DeviceNet connector_____________________________________________________________ ________________ 10 Configuring by the drive HMI __________________________________________________________________________________ 12

Configuring the control ____________________________________________________________________________________ 12

Configuring the communication scanner ______________________________________________________________________ 17

Configuring the fault management __________________________________ _________________________________________ 19

Configuring monitored parameters___________________________________________________________________________ 20 Configuring by a network tool__________________________________________________________________________________ 21

Network tool ________________________________________________________________________________ ____________ 21

Going online with RSNetWorx ______________________________________________________________________________ 21

Creating an EDS file______________________________________________________________________________________ 21

Configuring the DeviceNet scanner __________________________________________________________________________ 22

Editing parameters of the drive______________________________________________________________________________ 27

Editing objects of the drive _________________________________________________________________________________ 32 Creating a PLC program______________________________________________________________________________________ 35

Using I/O messaging _____________________________________________________________________________________ 35

Using explicit messaging __________________________________________________________________________________ 35 Diagnostics by the drive HMI __________________________________________________________________________________ 36

Checking the node address and the data rate __________________________________________________________________ 36

Signalling LED __________________________________________________________________________________________ 37

Monitoring the control______________________________________________________________________________ _______ 38

Monitoring the communication scanner _______________________________________________________________________ 39

Troubleshooting the communication fault______________________________________________________________________ 40

Troubleshooting the card fault ______________________________________________________________________________ 41 DeviceNet objects___________________________________________________________________________________________ 42

Supported classes _______________________________________________________________________________________ 42

Identity object ___________________________________________________________________________________________ 43

Message router object ____________________________________________________________________________________ 46

DeviceNet object_________________________________________________________________________________________ 47

Assembly object _________________________________________________________________________________________ 49

Connection object________________________________________________________________________________________ 60

Motor data object ________________________________________________________________________________________ 64

Control supervisor object _________________________________________ _________________________________________ 65

AC/DC Drive Object ____________________________ __________________________________________________________ 67

Acknowledge handler object________________________________________________________________________________ 68

Application objects _______________________________________________________________________________________ 69

DeviceNet interface object _________________________________________________________________________________ 70

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1. Before you begin

Read and understand these instructions before performing any procedure with thi s drive.

DANGER

HAZARDOUS VOLTAGE

• Read and understand the Installation Ma nual before inst alling or op erating the Al tivar 71 drive. Installati on, adjustme nt, repair, and maintenance must be performed by qualified personnel.

• The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.

• Many parts of this variable speed drive, including the printe d circuit cards, operate at the line voltage. DO NOT TOUCH. Use only electrically insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with voltage prese nt.

• DO NOT short across terminals PA and PC or across the DC bus capacitors.

• Install and close all the covers before applying power or starting and stopping the drive.

• Before servicing the variable speed drive

- Disconnect all power.

- Place a “DO NOT TURN ON” label on the variable speed drive disconnect.

- Lock the disconnect in the open position.

• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15 MINUTES to allow the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the Installation Manual to verif y that t he DC vol tage is l ess than 45 VDC. Th e drive LEDs are not accurate indic ators of the absence of DC bus voltage.

Electric shock will result in death or serious injury.

CAUTION

DAMAGED EQUIPMENT

Do not install or operate any drive that appears damaged.

Failure to follow this instruction can result in equipment damage.

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2. Documentation structure

The following Altivar 61/71 technical documents are available on the Web site www.schneider-electric.com.

b Installation manual

This manual describes:

• How to assemble the drive

• How to connect the drive

b Programming manual

This manual describes:

• The functions

• The parameters

• How to use the drive HMI (integrated HMI and graphic HMI)

b Communication parameters manual

This manual describes:

• The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network

• The operating modes specific to communication (state chart)

• The interaction between communication and local control

b Modbus, CANopen®, Ethernet™, Profibus, INTERBUS, Uni-Telway, DeviceNet™, Modbus Plus, Fipio, etc., manuals

These manuals describe:

• Connection to the bus or network

• Configuration of the communication-specific parameters via the integrated HMI or the graphic HMI

• Diagnostics

• Software setup

• The communication services specific to the protocol

b Altivar 58/58F migration manual

This manual describes the differences between the Altivar 71 and the Altivar 58/58F. It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.

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3. Introduction

3. 1. Presentation

The DeviceNet communication card (catalog number VW3 A3 309) is used to connect an Altivar 61/71 drive to a DeviceNet network. The communication card has an open-style 5-pin connector for connection to the network. Data exchanges give access to all Altivar 61/71 functions:

• Downloading configuration and adjustment parameters,

• Command,

• Monitoring,

• Diagnostics. DeviceNet cables and connecting accessories must be ordered separately. The graphic display terminal or the integrated display terminal can be used to access numerous functions for communication diagnostics.

Note: All features regarding torque control are not available for ATV61 drives.

3. 2. Notation

Drive terminal displays

The graphic display terminal menus are shown in square brackets. Example: [1.9 COMMUNICATION].

The integrated 7-segment display terminal menus are shown in round brackets. Example: (COM-).

Parameter names are displayed on the graphic display terminal in square brackets. Example: [Fallback speed]

Parameter codes are displayed on the integrated 7-segment display terminal in round brackets. Example: (LFF).

Formats

Hexadecimal values are written as follows: 16# Binary values are written as follows: 2#

Vocabulary

Depending on DeviceNet document and tools, equivalent wordings are used. The table below shows vocabulary used in the present document and other corresponding definitions.

In this document Other Comments

Node address DeviceNet address, MAC ID Data rate Baud rate kbit/s kBPS, kbps, k Setpoint Reference, target Path Object Address Class, instance, attribute

The reader should avoid mixing two terms:

- DeviceNet scanner, which is the master device on the DeviceNet network.

- Communication scanner, which is a function inside the Altivar drive.

Abbreviations

Req. = Required Opt. = Optional

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4. Quick start

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

Step Refer to 1 Review the safety precautions for the Altivar drive and DeviceNet card. Installation manual 2 Verify that the Altivar drive is properly installed. Installation manual 4 Install the DeviceNet card in the drive.

Verify that the Altivar drive is not powered. Then, dismount the drive cover, mount the card in the drive. Finally mount the cover.

4 Commission the DeviceNet card.

Verify that the Altivar drive is not powered. Set a unique node address and the appropriate data rate using the switches on the card. If desired, you can disable the switches and use parameter settings instead.

5 Connect the drive to the DeviceNet network.

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

6 Apply power to the drive.

The card receives power from the drive. Apply power to the drive. The status indicator should be green.If it flashes red, there is a problem (refer to 10. 2. Signalling LED

7 Configure the drive for your application.

Select the functions and set the parameters as required by your application.

8 Configure the drive behaviour and I/O interface for DeviceNet by the drive HMI.

Choose the suitable assemblies for your application (refer to 7. 1. Conf iguring the control If assemblies 100 or 101 are used, select the commands assigned to the control word (refer

the Programming manual).

Installation manual

5. Hardware setup

6. Wiring to the network

10. Diagnostics by the drive HMI

Programming manual

Communication parameters manual

7. Configuring by the drive HMI

Set the parameters for the following features as requiredby your application:

 Control and setpoint channels (refer to 7. 1. Configuring the control  If assemblies 100 or 101 are used, input and output assignments

(refer to 7. 2. Configuring the communication scanner

 Behaviour on communication fault (refer to 7. 3. Configuring the fault management  The parameters that you would like to monitor by the drive HMI for diagnostics

(refer to 7. 4. Configuring monitored parameters

9 Apply power to the DeviceNet master and other devices on the network.

Verify that the master and network are instal led and fu nction ing in accordance wi th De viceNe t standards, and then apply power to them.

10 Configure the scanner to communicate with the drive.

Use a network tool such as RSNetWorx for Devi ceNet to configure the scanne r on the network. Make sure to:

 Set up the scan list,  Map the drive data to the scan list,  Save your DeviceNet configuration to the scanner and a file.

11 Configure the drive by the network tool.

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

 If the data rate switches (7 and 8) are set to 1, Node address and data rate,  If you do not use default assemblies (100 or 101), select (and configure) assemblies.

12 Create a PLC program

 Control the drive using I/O (assemblies).  Monitor or configure the drive using Explicit Messages.

DeviceNet master manuals (DeviceNet cable system planning and Installation manual ...)

8. 4. Configuring the DeviceNet scanner

8. 5. Editing parameters of the drive

9. Creating a PLC program

DeviceNet master manuals

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5. Hardware setup

Open-style 5-pin connector

Configuration switches (data rate and node address)

Bicolour LED

5. 1. Receipt

• Check that the card reference printed on the label is the same as that on the delivery note corresponding to the purchase order.

• Remove the option card from its packaging and check that it has not been damag ed in transit.

5. 2. Hardware description

5. 3. Installing the card in the drive

Refer to the Installation manual.

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5. Hardware setup

Data

rate

Node

address

hight = OFF = 0 low = ON = 1

5. 4. Coding the switches

b Switches description

b Overriding the switches

When switches 7 and 8 are set in position low (ON = 1), the d ata rate and the no de address of the dri ve must be set b y a network tool (refer to 8. Configuring by a network tool). Default values are 125 kbit/s and node address 63.

b Coding the data rate

All devices connected to the DeviceNet network must communicate at the same data rate: 125, 250, or 500 kbit/s. The table below shows the switch settings that configure the DeviceNet data rate on the drive.

Switch 7 Switch 8 Data rate

0 0 125 kbit/s 0 1 250 kbit/s 1 0 500 kbit/s 1 1 The DeviceNet data rate and the node address of the drive must be set by a net work tool.

Any change to the switch setting takes effect at the next power-up.

b Coding the node address

All devices connected to the DeviceNet network must have a unique address, ranging from 0 to 63 (decimal). If the data rate swithes (7 and 8) are both set to 1 (on), the switches 1 to 6 are i gnored an d the nod e address must be set by a network tool

(default value = 63). The table below lists the switch setting for each valid node address.

Any change to the switch setting takes effect at the next power-up.

Node

address

00 00 0000 16 01 0000 32 10 0000 48 11 0000 01 00 0001 17 01 0001 33 10 0001 49 11 0001 02 00 0010 18 01 0010 34 10 0010 50 11 0010 03 00 0011 19 01 0011 35 10 0011 51 11 0011 04 00 0100 20 01 0100 36 10 0100 52 11 0100 05 00 0101 21 01 0101 37 10 0101 53 11 0101 06 00 0110 22 01 0110 38 10 0110 54 11 0110 07 00 0111 23 01 0111 39 10 0111 55 11 0111 08 00 1000 24 01 1000 40 10 1000 56 11 1000 09 00 1001 25 01 1001 41 10 1001 57 11 1001

10 00 1010 26 01 1010 42 10 1010 58 11 1010 11 00 1011 27 01 1011 43 10 1011 59 11 1011 12 00 1100 28 01 1100 44 10 1100 60 11 1100 13 00 1101 29 01 1101 45 10 1101 61 11 1101 14 00 1110 30 01 1110 46 10 1110 62 11 1110 15 00 1111 31 01 1111 47 10 1111 63 11 1111

Switches

12 3456

Node

address

Switches

12 3456

Node

address

Switches

12 3456

Node

address

Switches

12 3456

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5. Hardware setup

Data rate = 250 kbit/s (switches 7 and 8 = 2#01) Node address = 25 (switches 1 to 6 = 2#01 1001)

Data rate = 500 kbit/s (switches 7 and 8 = 2#10) Node address = 52 (switches 1 to 6 = 2#11 0100)

b Examples

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6. Wiring to the network

6. 1. Cable routing practices

When wiring Altivar 61/71 drives to a DeviceNet network, follow all wiring practices required by national and local electrical codes. Also observe the following guidelines:

• Avoid areas of high temperature, moisture, vibration, or other mechanical stress.

• Secure the cable where necessary to prevent its weight and the weight of other cables from pulling or twisting the cable.

• Use cable ducts, raceways, or other structures to protect th e cable. Use these structures for signal wiring paths. They must not contain power wiring.

• Avoid sources of electrical interference th at can induce noise into the cabl e. Use the maximum practicable separat ion from such sources.

When planning cable routing within a building, follow these guidelines:

• Maintain a minimum separation of 1 m from the following equipment :

- air conditioners and large blowers,

- elevators and escalators,

- radios and televisions,

- intercom and security systems,

- fluorescent, incandescent, and neon lighting fixtures.

• Maintain a minimum separation of 3 m from the following equipment :

- line and motor power wiring,

- transformers,

- generators,

- alternators.

When wiring in electrical equipment rooms or large electrical equipment line-ups, observe the following guidelines for cable segregation and separation of circuits:

• Use metallic conduit for drive wiring. Do not run control network and power wiring in the same conduit.

• Separate non-metallic conduits or cable trays used to carry power wiring from metallic conduit carrying low-level control network wiring by at least 300 mm.

• Separate metallic conduits carrying power wiring or low-level control network wiring by at least 80 mm.

• Cross the metallic conduits and non-metallic conduits at right angles whenever power and control network wiring cross.

• Attenuate conducted emissions from the dri ve to the line in some installations to p revent interf erence with telecommunicat ion, radio, and sensitive electronic equipment. Such inst ances may require attenua ting filters. Consu lt the Altivar catalog for selection and appli cation of these filters.

6. 2. Wiring the DeviceNet connector

The figures and the table below show the pin-outs of the card connectors. The removable DeviceNet female connector attaches to the network cable.

1234

DeviceNet card male connector Removable DeviceNet female connector

Pin Name Color

1GND Black 2 CAN_L Blue 3SHIELD Bare 4CAN_H White 5V+ Red

Line termination: If the drive is the first or the last device on the DeviceNet net wo rk, a li ne termi nat or (1 21 removable DeviceNet female connector, between pins 2 and 4 (CAN_L and CAN_H).

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Ω resistor) must be wired on the

6. Wiring to the network

The ODVA standards (Release 2.0) specify 7 types of cables for use in DeviceNet networks:

• Thick cable

• Thin cable

• Flat cable

• Cable I

• Cable II

• Cable IV

• Cable V

The table below lists main specifications of cables. For more information, refer to the ODVA specifications.

Type of cable Data conductor pair size Power conductor pair size Data impedance

Thick cable 18 AWG 15 AWG 120 Thin cable 24 AWG 22 AWG 120 Flat cable 16 AWG 16 AWG 120 Cable I 24 AWG 22 AWG 120 Cable II 18 AWG 15 AWG 120 Cable IV 18 AWG 16 AWG 120 Cable V 18 AWG 16 AWG 120

Ω +/- 10 % (at 1 MHz) Ω +/- 10 % (at 1 MHz) Ω +/- 10 % (at 500 kHz) Ω +/- 10 % (at 1 MHz) Ω +/- 10 % (at 1 MHz) Ω +/- 10 % (at 500 kHz) Ω +/- 10 % (at 500 kHz)

The maximum permissible length of the network cable depends an the data rate and the type of cable.

Type of cable Data rate

125 kbit/s 250 kbit/s 500 kbit/s

Thick cable 500 m (1640 ft) 250 m (820 ft) 100 m (328 ft) Thin cable 100 m (328 ft) 100 m (328 ft) 100 m (328 ft) Flat cable 420 m (1378 ft) 200 m (656 ft) 75 m (246 ft) Cable I 100 m (328 ft) 100 m (328 ft) 100 m (328 ft) Cable II 500 m (1640 ft) 250 m (820 ft) 100 m (328 ft) Cable IV - - Cable V 420 m (1378 ft) 200 m (656 ft) 75 m (246 ft)

For maximum length of the drops refer to table, whatever type of cable:

Data rate Cu m ulat ive dr op Maximum drop

125 kbit/s 156 m (516 ft) 6 m (20 ft) 250 kbit/s 78 m (256 ft) 6 m (20 ft) 500 kbit/s 39 m (128 ft) 6 m (20 ft)

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7. Configuring by the drive HMI

7. 1. Configuring the control

b Principle

By the configuration of the control, it is possible to decide from what channel the drive receives its commands and setpoint, either permanently or depending on a switching command.

Numerous configurations are possible. For more information, refer to the Programming manual and Communication parameters manual. The following configurations are some of the possibilities available.

M Control with communication scanner

If the default assemblies (100, 101) are selected, all possibilities of Altivar 61/71 drive are available. It is possible to use all profiles and modes of the drive:

- I/O profile,

- Drivecom profiles with separate or non separate mode.

By the configuration of the communication scanner, it is possible to assign any relevant parameter of the drive to the 4 input and 4 output variables of the assemblies. See the input / output interface with the PLC can be fully customised depending on the application.

The use of the communication scanner is als the best way to interface with a "Controller Inside" card.

M Control according to ODVA AC drive profile

The ODVA AC drive profile is activated when one of the following assembl ies is selected:

• 20: Basic speed control output

• 21: Extended speed control output

• 22: Speed and torque control output

• 23: Extended speed and torque control output

• 70: Basic speed control input

• 71: Extended speed control input

• 72: Speed and torque control input

• 73: Extended speed and torque control input

The advantage of using the ODVA drive profile standard is the interchangeability with other brands. The drive must be configured in the Drivecom profile with separate mode.

The DeviceNet card translates the commands, behaviour and monitoring information from of ODVA profi le (on the network) to the Drivecom profile (in the drive).

M Control according to Allen-Bradley® drive profi le

The Allen-Bradley® Drive profile is activated when one of the following assemblies is selected:

• 103: Allen-Bradley® drive output

• 104: Allen-Bradley® drive input

• 105: Allen-Bradley® drive input with parameters

If you need to replace Allen-Bradley® drives, in an existing application, this profile is a good way to minimise the modifications. The drive must be configured in the Drivecom profile with separate mode.

The DeviceNet card translates the commands, behaviour and monitoring information from of Allen-Bradley® drive profile (on the network) to the Drivecom profile (in the drive).

Note 1: If the DeviceNet communication is active while changing a configuration parameter, it will generate an EPF2 fault. Note 2: When changing (CHCF) [Profile], assemblies are set to their default values.

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7. Configuring by the drive HMI

b Available configurations

M If you use the communication scanner:

• 100: Communication scanner output

• 101: Communication scanner input there is no limitation in the configuration of the control.

The examples below are only possible if you use the communication scanner.

M If you use the ODVA AC drive profile or Allen-Bradley® Drive profile, that is, the assemblies:

• 20: Basic speed control output

• 21: Extended speed control output

• 22: Speed and torque control output

• 23: Extended speed and torque control output

• 70: Basic speed control input

• 71: Extended speed control input

• 72: Speed and torque control input

• 73: Extended speed and torque control input

• 103: Allen-Bradley® drive output

• 104: Allen-Bradley® drive input

• 105: Allen-Bradley® drive input with parameters only some configurations are permitted, they are listed in the table below.

Parameter Permitted value Comment

Profile Drivecom profile separate The run commands are in Drivecom profile,

Setpoint 1 configuration Network card Setpoint 1 comes from DeviceNet. Setpoint 1B configuration Terminals Setpoint 2 comes from terminals (AI1 or AI2). Setpoint 2 configuration Terminals Setpoint 2 comes from terminals (AI1 or AI2). Command 1 configuration Network card Command 1 comes from DeviceNet. Command 2 configuration Terminals Command 2 comes from terminals. Setpoint switching Network card bit 13 Bit 13 of the control word switches the setpoint (1 <-> 1B or 1 <-> 2). Command switching Network card bit 12 Bit 12 of the control word switches the command.

the command and the reference can come from different channels.

Configuration via the graphic display terminal or the integrated display terminal:

Case 1: Setpoint 1B is connected to the functions (Summing, PID, etc) which remain active even after switching.

Menu Parameter Permitted value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 channel] (Fr1) [Com. card] (nEt) [Ref.1B channel] (Fr1b) [Ref. AI1] (AI1) or [Ref. AI2] (AI2) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [C312] (C312)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

Case 2: Setpoint 2 is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference (summing, PID, etc.) are inhibited.

Menu Parameter Permitted value

[1.6 - COMMAND] (CtL-) [1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

Note: It is not possible to configure the display terminal as a channel. To switch to the display terminal, use the function force local and assign the parameter [Forced local Ref.] to [HMI] (LCC).

[Ref 1B switching] (rCb) [C313] (C313)

[Profile] (CHCF) [Separate] (SEP) [Ref.1 channel] (Fr1) [Com. card] (nEt) [Ref.2 channel] (Fr2) [Ref. AI1] (AI1) or [Ref. AI2] (AI2) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [C312] (C312) [Ref. 2 switching] (rFC) [C313] (C313)

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7. Configuring by the drive HMI

b Control via DeviceNet in I/O profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint come from DeviceNet. Control is in I/O profile.

Configure the following parameters:

Parameter Value Comment

Profile I/O profile The run command is simply obtained by bit 0 of the command word. Setpoint 1 configuration Network card The setpoint comes from DeviceNet. Command 1 configuration Network card The command comes from DeviceNet.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref.1 channel] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. opt card] (nEt)

b Control via DeviceNet or via the terminals in I/O profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint both come from DeviceNet or the terminals. Input LI5 at the terminals is used to switch between DeviceNet and the terminals. Control is in I/O profile.

Configure the following parameters:

Parameter Value Comment

Profile I/O profile The run command is simply obtained by bit 0 of the control word. Setpoint 1 configuration Network card Setpoint 1 comes from DeviceNet. Setpoint 1B configuration Analog input 1 on the terminals Setpoint 1B comes from input AI1 on the terminals. Setpoint switching Input LI5 Input LI5 switches the setpoint (1 Command 1 configuration Network card Command 1 comes from DeviceNet. Command 2 configuration Terminals Command 2 comes from the terminals. Command switching Input LI5 Input LI5 switches the command.

Note: Setpoint 1B is connected to the functions (Summing, PID, etc) which remain active even after switching. Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [LI5] (LI5)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Ref.1B chan] (Fr1b) [AI1 ref.] (AI1) [Ref 1B switching] (rCb) [LI5] (LI5)

↔1B).

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7. Configuring by the drive HMI

b Control via DeviceNet in Drivecom profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint come from DeviceNet. Configure the following parameters:

Parameter Value Comment

Profile Separate Drivecom profile The run commands are in Drivecom profi le, the command and the setpoint can

Setpoint 1 configuration Network card The setpoint comes from DeviceNet. Command 1 configuration Network card Command 1 comes from DeviceNet.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CH CF) [Separate] (SEP)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. card] (nEt )

come from different channels.

b Control via DeviceNet or the terminals in Drivecom profile

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command and the setpoint both come from DeviceNet or the terminals. Input LI5 at the terminals is used to switch between DeviceNet and the terminals.

Configure the following parameters:

Parameter Value Comment

Profile Separate Drivecom profile The run commands are in Drivecom profile, the command and the

Setpoint 1 configuration Network card Setpoint 1 comes from DeviceNet. Setpoint 2 configuration Analog input 1 on the terminals Setpoint 2 comes from input AI1 on the terminals. Setpoint switching Input LI5 Input LI5 switches the setpoint (1 Command 1 configuration Network card Command 1 comes from DeviceNet. Command 2 configuration Terminals Command 2 comes from the terminals. Command switching Input LI5 Input LI5 switches the command.

Note: Setpoint 2 is directly connected to the drive ref erence limit. If switching is performed, the functions that af fect the reference (summing, PID, etc) are inhibited.

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Ref.2 chan] (Fr2) [AI1 ref.] (AI1) [Ref. 2 switching] (rFC) [LI5] (LI5) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd channel 2] (Cd2) [Terminals] (tEr) [Cmd switching] (CCS) [LI5] (LI5)

setpoint can come from different channels.

↔ 2) and the command.

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7. Configuring by the drive HMI

b Control in Drivecom profile via DeviceNet and setpoint switching at the terminals

Note: This configuration can only be used if the communication scanner assemblies (100 and 101) are selected.

The command comes from DeviceNet. The setpoint comes either from DeviceNet or from the terminals. I nput LI5 at the terminals is used to switch the setpoint between DeviceNet and the terminals. Control is in Drivecom profile.

Configure the following parameters:

Parameter Value Comment

Profile Separate Drivecom profile The run commands are in Drivecom profile, the command and the

Setpoint 1 configuration Network card Setpoint 1 comes from DeviceNet. Setpoint 1B configuration Analog input 1 on the terminals Setpoint 1B comes from input AI1 on the terminals. Setpoint switching Input LI5 Input LI5 switches the setpoint (1 Command 1 configuration Network card Command 1 comes from DeviceNet. Command switching Channel 1 Channel 1 is the command channel.

Note: Setpoint 1B is connected to the functions (summing, PID, etc) that remain active, even after switching.

setpoint can come from different channels.

↔1B).

Configuration via the graphic display terminal or the integrated display terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

[Ref.1 chan] (Fr1) [Com. card] (nEt) [Cmd channel 1] (Cd1) [Com. card] (nEt) [Cmd switching] (CCS) [ch1 active] (Cd1)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Ref.1B chan] (Fr1b) [AI1 ref.] (AI1) [Ref 1B switching] (rCb) [LI5] (LI5)

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7. Configuring by the drive HMI

7. 2. Configuring the communication scanner

You need to read this chapter only if you use the assemblies 100 or 101 that use the drive communication scanner. The variables exchanged by the output assembly 100 and input assembly 101 are selected by configuring the communication scanner. The 4 output variables are assigned by means of the 4 parameters [Scan. Outp address] (nCAp). They are configured using the graphic

display terminal via the [1.9 - COMMUNICATION] (COM-) menu, [COM. SCANNER OUTPUT] (OCS-) submenu. The 4 input variables of the assembly 101 are assigned by means of the 4 parameters [Scan. Inp address] (nMAp). They are configured

using the graphic display terminal via the [1.9 - COMMUNICATION] (COM-) menu, [COM. SCANNER INPUT] (ICS-) submenu. Enter the logic address of the parameter (see the Communication parameters manual).

If a parameter [Scan. Outp address] (nCAp) or [S can. Inp address] (nMAp) is equal to zero, the corresponding period variable is not used by the drive.

These 8 assignment parameters are described in the tables below:

Parameter name Output assembly 100 Default assignment

[Scan. Out1 address] (nCA1) Bytes 0 and 1 Control word (CMd) [Scan. Out2 address] (nCA2) Bytes 2 and 3 Speed reference (LFrd) [Scan. Out3 address] (nCA3) Bytes 4 and 5 Not used [Scan. Out4 address] (nCA4) Bytes 6 and 7 Not used

[Scan. Out5 address] (nCA5) to [Scan. Out8 address] (nCA8) are not useful for the DeviceNet card.

Parameter name Input assembly 101 Default assignment

[Scan. In1 address] (nMA1) Bytes 0 and 1 Status word (EtA) [Scan. In2 address] (nMA2) Bytes 2 and 3 Output speed (rFrd) [Scan. In3 address] (nMA3) Bytes 4 and 5 Not used [Scan. In4 address] (nMA4) Bytes 6 and 7 Not used

[Scan. In5 address] (nCA5) to [Scan. In8 address] (nCA8) are not useful for the DeviceNet card.

Example of configuration via the graphic display terminal:

RDY NET +0.00Hz 0A RDY NET +0.00Hz 0A

COM. SCANNER INPUT COM. SCANNER OUTPUT Scan. In1 address : 3201 Scan. Out1 address : 8501 Scan. In2 address : 8604 Scan. Out2 address : 8602 Scan. In3 address : 0 Scan. Out3 address : 0 Scan. In4 address : 0 Scan. Out4 address : 0 Scan. In5 address : 0 Scan. Out5 address : 0

Code Quick Code Quick

Scan. In6 address : 0 Scan. Out6 address : 0 Scan. In7 address : 0 Scan. Out7 address : 0 Scan. In8 address : 0 Scan. Out8 address : 0

Note:

All modifications to parameters [Scan. Outp address] (nCAp) or [Scan. Inp address] (nMAp) must be made with the motor stopp ed. The master PLC program should be updated to take account of this modification.

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7. Configuring by the drive HMI

Example of configuration of communication scanner assemblies 100 and 101

The following output and input variables are to be configured:

Output assembly 100 Parameter assigned Input assembly 101 Parameter assigned

Bytes 0 and 1 Control word (CMd) Bytes 0 and 1 Status word (EtA) Bytes 2 and 3 Speed reference (LFrd) Bytes 2 and 3 Output speed (rFrd) Bytes 4 and 5 Acceleration (ACC) Bytes 4 and 5 Speed reference before ramp (FrHd) Bytes 6 and 7 Deceleration (dEC) Bytes 6 and 7 Logic input map (IL1r)

Configuration settings to be made:

Communication scanner

inputs

[Scan. Out1 address] (nCA1) [Scan. Out2 address] (nCA2) [Scan. Out3 address] (nCA3) [Scan. Out4 address] (nCA4)

Parameter logic address Communication scanner

8501 8602 9001 9002

[Scan. IN1 address] (nMA1) [Scan. IN2 address] (nMA2) [Scan. IN3 address] (nMA3) [Scan. IN4 address] (nMA4)

outputs

Parameter logic address

3201 8604 8605 5202

18 1755877 11/2010

7. Configuring by the drive HMI

7. 3. Configuring the fault management

The DeviceNet card may detect 2 types of faults:

- Communication fault,

- Configuration fault.

The communication fault occurs when there is a time out on control traffi c: COS, cycl ic, polli ng or explic it messaging. In fact ory setting, the communication fault triggers a [Com. network] (CnF) fault.

The configuration fault occurs when:

- ODVA AC drive profile or Allen-Bradley® Drive profile are used (assemblies 20, 21, 22, 23, 70, 71, 72, 73, 103, 104, 105),

- the configuration of the drive control parameters is not correct (refer to 7. 1. Configuring the control),

- a DeviceNet connection is active between the drive and the PLC.

In factory setting, the communication fault triggers a [External fault com.] (EPF2) fault. The response of the drive in the event of a DeviceNet communicati on fault can also be configured.

Configuration can be performed using the graphic display terminal or int egrated display terminal in the [1.8 - FAULT MANAGEMENT] (FLt-) menu:

- For the communication fault, in the [COM. FAULT MANAGEMENT] (CLL-) submenu, via the [Network fault mgt] (CLL) parameter.

- For the configuration fault, in the [EXTERNAL FAULT] (EtF-) submenu, via the [External fault ass.] (EPL) parameter.

RDY NET +0.00Hz 0A

COM. FAULT MANAGEMENT Network fault mgt : Freewheel CANopen fault mgt : Freewheel Modbus fault mgt : Freewheel

Code Quick

The values of the [Network fault mgt] (CLL) or [External fault ass.] (EPL) parameters, which t rigger a drive fault [Com. network] (CnF), are:

Value Meaning

[Freewheel] (YES) Freewheel stop (factory setting) [Ramp stop] (rMP) Stop on ramp [Fast stop] (FSt) Fast stop [DC injection] (dCI ) DC injection sto p

The values of the [Network fault mgt] (CLL) or [External fault ass.] (EPL) parameters, which do not trigger a drive fault, are:

Value Meaning

[Ignore] (nO) Fault ignored [Per STT] (Stt) Stop according to configuration of [Type of stop] (Stt). [fallback spd] (LFF) Switch to fallback speed, maintained as long as the fault is present and the run command is not dis abled.

[Spd maint.]

(rLS)

The drive maintains the speed at the time the fault occurred, as long as the fault persists and the run command has not been removed.

The fallback speed can be configured in t he [1.8 – FAULT MANAGEMENT] (FLt-) menu using the [Fallbac k speed] (LFF) parameter.

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7. Configuring by the drive HMI

7. 4. Configuring monitored parameters

It is possible to select up to 4 parameters to display their values in the [1.2 - MONITORING] menu ([COMMUNICATION MAP] submenu) on the graphic display terminal.

The selection is made via the [6 – MONITOR CONFIG.] menu ([6.3 - CONFIG. COMM. MAP] submenu).

Each parameter [Address 1 select] ... [Address 4 selec t] can be used to choose the logic address of the parameter. Select an address of zero to disable the function.

In the example given here, the monitored words are:

• Parameter 1 = Motor current (LCr): Logic address 3204; signed decimal format

• Parameter 2 = Motor torque (Otr): logic address 3205; signed decimal format

• Parameter 3 = Last fault occurred (LFt): logic address 7121; hexadecimal format

• Disabled parameter: Address W0; default format: hexadecimal format

RDY NET +0.00Hz 0A

6.3 CONFIG. COMM. MAP. Address 1 select : 3204 FORMAT 1 : Signed Address 2 select : 3205 FORMAT 2 : Signed Address 3 select : 7121

Code Quick

FORMAT 3 : Hex Address 4 select : 0 FORMAT 4 : Hex

One of the three display formats below can be assigned to each monitored word:

Format Range Terminal display

Hexadecimal 0000 ... FFFF [Hex] Signed decimal -32 767 ... 32 767 [Signed] Unsigned decimal 0 ... 65 535 [Unsigned]

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8. Configuring by a network tool

8. 1. Network tool

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

RSNetWorx for DeviceNet (version 2.22.18) is used for examples in this manual. Different versions of software may differ in appearance and procedures.

Proper EDS file (A71vp_E.eds) and icone (Altivar_71.ico) for Altivar drives are distrib ute d on the CD-ROM del ive red wi th each dri ve. Th ey are also available on the Internet : www.schneider-electric.com

8. 2. Going online with RSNetWorx

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

1 After setting up a driver in RSLinx, start RSNetWorx for DeviceNet. 2 Select Network > Online. If the Browse for Network dialog box appears, RSLi nx has multiple drivers configured.

Select your DeviceNet network, and click OK. A prompt appears.

3 Click OK to go online. The devic es on the network appear in the Configur ation View. You can select Graph, Spreadshee t, or Master/Slave

views. The figure below shows an example network in a Graph view.

8. 3. Creating an EDS file

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

1 Right-click the "Unrecognized Device" icon, and select Register Device in the menu. The EDS Wizard 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 deviceNet card.

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

clicking Change icon. Proper icon (Altivar_71.ico) is distributed on the CD-ROM delivered with each dri ve. They are also available on the Internet :

www.schneider-electric.com

7 Click Next to view a summary, and then click Next again to accept it. 8 Click Finish to finish the EDS creation. A new icon represents the Altivar drive in the Configuration View.

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8. Configuring by a network tool

8. 4. Configuring the DeviceNet scanner

b Setting up the scan list

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

1 Go online with RSNetWorx for DeviceNet. The devices on the network are displayed in the configuration view.

2 Right-click the DeviceNet scanner (node 00) and sel ect Properties. The Scanner Module dialog box appears.

Important: If your scanner is an unrecognized device, you must create an EDS file for it and then configure the scanner. Configure the

scanner using the General and Module tabs. If you need more information, click Help or refer to your scanner documentation.

3 Click the Scanlist tab. A message box prompts you to upload. 4 Click Upload. Data is uploaded from the scanner, and then the Scanlist page appears.

5 Select the Automap on Add box (a check mark will appear). 6 Under Available Devices, select the drive, and then click > (Right Arrow) to add it to the scanlist.

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8. Configuring by a network tool

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

The Edit I/O Parameters dialog box appears.

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

The type supported by the DeviceNet card for Altivar are:

Polled COS Cyclic Strobe Input (Rx, produced) pppNo Output (Tx, consummed) p No No No

9 Type the number of bytes tha t are required for your I/O in the Rx Size and Tx Size bo xes. The size will depend on t he assembly you have

selected for your application:

Assembly attribute Assembly name Rx size

70 ODVA Basic speed control input 4 bytes 71 ODVA Extended speed control input 4 bytes 72 ODVA Speed and torque control input 6 bytes 73 ODVA Extended speed and torque control input 6 bytes 101 Communication scanner input 8 bytes 104 Allen-Bradley® drive input 4 bytes 105 Allen-Bradley® drive input with parameters 8 bytes

Assembly attribute Assembly name Tx size

10 Set the scan rate. (Click Help for more information.)

Data Exchange Rate to set

Polled Polled Rate Change of State Heartbeat Rate Cyclic Send Rate

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 dialog box reappears. You will map the I/O in the next section in this chapter.

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8. Configuring by a network tool

b Mapping the drive data in the scanner

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

M Mapping the inputs 1 In the Scanner Module dialog bo x, click the Input tab. (If necessary , right-click t he scanner in the conf iguration view to di splay this dial og

box.) The figure below is an example for assembly 73 (ODVA Extended speed and torque control input).

If you selected the Automap on Add box in the Scanlist page, 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. Click Help for assistance.

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

Scanner Memory Locations

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

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

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

In our example, we selected 3. The drive parameters will be mapped:

Input Parameter of the drive

I:1.3 Status word I:1.4 Actual speed I:1.5 Actual torque

24 1755877 11/2010

8. Configuring by a network tool

M Mapping the outputs 1 In the Scanner Module dialog box, click the Output tab. To display this di alog box, right-click the scanner in the configuration view.

The figure below is an example for assembly 23 (ODVA Extended speed and torque control output).

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

Scanner Memory Locations

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

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

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

In our example, we selected 3. The drive parameters will be mapped:

Input Parameter of the drive

O:1.3 Control word O:1.4 Speed setpoint O:1.5 Torque setpoint

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8. Configuring by a network tool

b Saving the Configuration

After configuring a scanner, you must download the configuration to the scanner. You should also save it to a file on your computer. 1 In the Scanner Module dialog box, click Apply to save the configuration to the scan ner. A Scanner Configuration Applet appears and

asks if it is OK to download the changes.

2 Click Yes to download the changes. The changes are downloaded and then the Scanner Module dialog box reappears. 3 Click OK to close the Scanner Module dialog box. 4 Select File > Save. If this is the first time that you saved the project, the Save As dialog box appears. Navigate to a folder, type a file

name, and click Save to save the configuration to a file.

b Auto Device Replacement

Do not activate ADR (Auto Device Replacement).

Parameters download of the Altivar drive needs a specific process: 1 Upload the drive parameters:

- Read drive parameters using explicit messages.

- Store the parameters in a data table of the PLC.

2 Dowload the drive parameters:

- Disable consistency check (Set bit 15 of the parameter Extended control word (CMI)).

- Write parameters from the data table of the PLC to the drive using explicit messages.

- Enable consistency check (Reset bit 15 of the parameter parameter Extended control word (CMI)). 3 Read and compare the parameters between the drive and the save table. Extended control word (CMI)

Base Class Instance Attribute Hexadecimal 16# 8B 16#01 16#69 Decimal 139 1 105

This sequence must be programmed in the PLC.

It is necessary to disable the consistency check before writing parameters. If the consistency check is not disabled, the drive ve rifies, at each Set acce ss, if the parameter matches with the o thers. If it does not match, the drive modifies or rejects the parameter.

26 1755877 11/2010

8. Configuring by a network tool

8. 5. Editing parameters of the drive

b Using the Device Parameters editor

Parameters in the drive and in the DeviceNet card can be e di ted with Devi ce Parame ters edi to r of RSNetWorx, i f the y are descri bed in the eds file.

1 After creating an EDS file, right-click on the icon for the Altivar drive and select Properties. The Altivar drive dialog box appears. 2 Click the Device Parameters tab. If an EDS Editor message appears, click Upload to load the parameter values in the drive to the

computer. Parameters are displayed in numerical order under Parameter. You can either scroll through the list or sel ect a specific group of parameters in the Groups box. The available groups and the numbers of parameters will vary based on the type of drive.

3 In the Current Value column, double-click a value to edit it. 4 Click Apply to save changes to the drive.

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8. Configuring by a network tool

b Limitations of the Device Parameters editor

If you use the feature Download To Device / All, you may encounter unexpected events:

• If you first Upload From Device / All and then Download To Device / All, the actual configura tion of the dr ive may be different from the

one that you initially saved.

• A fault [External fault com.] (EPF2) may occur. We do not recommended to used the feature Download To Device / All.

You assume full responsibility for all cons equences related to the use of this feature.

M Additional information for Download To Device / All

The Download To Device / All function use s s equential explicit messaging to the parameters described in the eds file. Each time it receives Set access to a parameter, the drive checks th e consistency of thi s parameter with the others (values already existing in the drive). If there is an inconsistency, the drive rejects the parameter or modifies it according to internal rules (parameter management).

Example: A rule of the parameter management is: [Low speed] (LSP) must be lower or equal to [High speed] (HSP).

Initially [Low speed] (LSP) = 20Hz and [High speed] (HSP) = 30Hz. The Download To Device / All function writes sequentially : [Low speed] (LSP) = 35Hz and then [High speed] (HSP) = 50Hz.

The result in the drive will be [Low speed] (LSP) = 30Hz and [High speed] (HSP) = 50Hz and so the configuration served will be di fferent from the one saved in an Upload From Device / All.

M Additional information for fault [External fault com.] (EPF2)

When the drive uses assemblies 20, 21, 22, 23, 70, 71, 72, 73, 1 03, 104 or 105, there are cond itions on the values of the parameters (refer to 7.1 Configuring the control):

• [Profile] (CHCF

• [Ref.1 channel] (Fr1),

• [Ref.1B channel] (Fr1b),

• [Ref.2 channel] (Fr2),

• [Cmd channel 1] (Cd1),

• [Cmd channel 2] (Cd2),

• [Ref 1B switching] (rCb),

• [Ref. 2 switching] (rFC),

• [Cmd switching] (CCS). If during the Download To Device / All operation, the conditions are not fulfilled the fault [External fault com.] (EPF2) occurs.

It may occur also if the problem appears only once during operation, even though at the end the configuration is valid.

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8. Configuring by a network tool

b Configuring the assemblies

The default assemblies are :

Assembly attribute Assembly name

100 Communication scanner output 101 Communication scanner input

If you use them, you do not need reading this section. If you use another assembly, you must configure it in the drive.

M Selecting the input assembly 1 In the Groups box, select DeviceNet Interface.

2 For the parameter PollProdPath, in the Current Value column, select the input asse mbly that fits to your application. 3 For the parameter PollConsPath, in the Current Value column, select the input assembly that fits to your application.

Assembly attribute Assembly name

70 ODVA Basic speed control input 71 ODVA Extended speed control input 72 ODVA Speed and torque control input 73 ODVA Extended speed and torque control input 101 Communication scanner input 104 Allen-Bradley® drive input 105 Allen-Bradley® drive input with parameters

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8. Configuring by a network tool

M Selecting the output assembly 1 In the Groups box, select DeviceNet Interface.

2 For the parameter CCProdPath, in the Current Value column, select the assembly that fits to your application.

Assembly attribute Assembly name Tx size

M Selecting additional parameters of assembly 105

If you use assembly 105, apply the procedure below, otherwise skip this section and read below: Saving changes in the drive. 1 Select the additional parameters that you need for your application.

Example : [Motor current] (LCr) and [Motor torque] (Otr).

2 Refer to the Communication para meters manual. Write down the class Id a nd the attribute id of the paramet ers. Convert the hexadecimal

values to decimal values. Example :

Parameter name Path Class Id Attribute id

Hexadécimal Décimal Hexadécimal Décimal

[Motor current]

(LCr)

[Motor torque]

(Otr)

3 In the Groups box, select DeviceNet Interface. 4 For the parameter FirstParamClass, in the Current Value column, type the class value in decimal.

Example : 113. 5 For the parameter FirstParamAttr, in the Current Value column, type the attribute value in decimal.

Example : 5. 6 If you need a second additiona l para meter, for the parameter SecondParamCla ss, in the Current Value column, type the class value in

decimal. Example : 113. If you do not need skip to step Saving changes in the drive.

7 For the parameter SecondParamAttr, in the Current Value column, type the attribute value in decimal. Example : 6.

M Saving changes in the drive 1 Click Apply to save changes to the device.

2 Cycle power off / on the drive.

71/01/05 16#71 113 16#05 5

71/01/06 16#71 113 16#06 6

30 1755877 11/2010

8. Configuring by a network tool

b Configuring node address and data rate

If the data rate switches (7 and 8) are set to 1, it is possible to configure node address and data rate by the Device Parameters editor of RSNetWorx.

M Configuring the node address 1 Connect the drive on the network. The default value of the node address is 63. So you must no connect simultaneously several drives

with software configured node address. You must connect and set the address of drives one by one.

2 Go on line with the drive and launch the Device Parameters editor of RSNetWorx. 3 In the Groups box, select DeviceNet. 4 For the parameter MAC ID, in the Current Value column, type the address value. The new value is immediately applie d to the drive and

stored in EEPROM (so used at each power-up of the drive).

M Configuring the data rate 1 Connect the drive on the network. The default value of the data rate is 125kbit/s. If it does not match the data rate of the DeviceNet

network, you must temporarily set the data rate of the network tool 125kbit/s in order to access the drive and modify its data rate.

2 Go on line with the drive and launch the Device Parameters editor of RSNetWorx. 3 In the Groups box, select DeviceNet. 4 For the parameter Baud rat e, i n the Current Value col umn, select t he data rate val ue. The new val ue will be appl ied to t he drive at next

power-up. It is stored in EEPROM (so used at each power-up of the drive).

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8. Configuring by a network tool

8. 6. Editing objects of the drive

b Using the Class Instance Editor

DeviceNet objects of the drive and the DeviceNet card can be edited with the Class Instance Editor of RSNetWorx. This editor provides direct access to the device using native DeviceNet object addressing.

Using this editor requires a detailed und erstanding of t he capabi liti es and limit ations of the devic e bein g config ured, a s well as t he possible impacts that these changes may have on the operation of your system. You assume full responsibility for all consequences related to the use of this editor.

1 Go online with RSNetWorx for DeviceNet. The devices on the network are displayed in the configuration view.

32 1755877 11/2010

8. Configuring by a network tool

2 Right-click on the icon for the Altivar drive and select Class Instance Editor. The Altivar drive dialog box appears.

3 In the Object Address field, type the path of the parameter in the boxes Class, Instance, Attribute. 4 In the Service Code field, select the action in the Description box. 5 In the boxes Transmit data size, Data sent to the device, Va lues i n decimal t ype the desc ript ion of t he data tha t y ou want to sen d t o

the drive.

6 Click Execute to exchange the dat a with the drive. Click Help for assistance.

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8. Configuring by a network tool

b Configuring NetRef parameter

Configure NetRef by the Class Instance Editor for testing.

Base Class Instance Attribute

Hexadecimal 16# 2A 16#01 16#04 Decimal 42 1 4

It is possible to provide the speed setpoint with output assembly 20, if the parameter NetRef is set to. The default value is 0, output assembly 20 controls the drive but the speed target is given by the terminals (AI1). The default setting applies each time the connection is cl osed (Power on of the drive, DeviceNet disconnected from the card). If assembly 20 must be used, the PLC program must set this parameter by explicit messaging.

It may be easier to use another assembly (21).

b Configuring node address and data rate

If the data rate switches (7 and 8) are set to 1, configure node address and data rate by the Class Instance Editor.

Node address

Base Class Instance Attribute

Hexadecimal 16# 03 16#01 16#01 Decimal311

Data rate

Base Class Instance Attribute

Hexadecimal 16# 03 16#01 16#02 Decimal312

34 1755877 11/2010

9. Creating a PLC program

9. 1. Using I/O messaging

I/O messaging is used to transfer real time data between the PLC and the drive :

• Commands,

•Setpoints,

• Settings,

•States,

• Measurements,

•...

Depending on your application needs and other constraints, select the right assemblies:

• communication scanner assemblies and configure the parameters of the assembly (refer to 8. 4. Configuring the DeviceNet scanner),

• or ODVA AC drive profile,

• or Allen-Bradley® Drive profile (you can select 2 monitoring parameters in assembly 105).

To obtain the best response time in the application choose t he adequate exchange method:

• Change of State (COS),

• Cyclic,

• or Polled. The exchange method is downloaded in the drive by the DeviceNet scanner and must be configured by network tool (refer to 8. 4.

Configuring the DeviceNet scanner).

9. 2. Using explicit messaging

I/O messaging is used to transfer data that does not require continuous updates between the PLC and the drive :

• Configuration,

• Settings,

• Fault parameters,

• Log parameters;

•... If the PLC program configures the drive using explicit messaging.

The new value of the parameters are not stored in EEPROM and they will be lost at next power off. To store the values of parameters (whole configuration) in EEPROM, it is necessary to set to 1 the bit 1 of Extended control word (CMI), refer to the Communication parameters manual.

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10. Diagnostics by the drive HMI

10. 1. Checking the node address and the data rate

On the graphic or integrated HMI, you can check the node address and the data rate through the menu [1.9 - COMMUNICATION] (COM-) sub-menu [DeviceNet] (dnt-).

These parameters are both "read only" (i.e. their value cannot be changed with the HMI):

Keypad Display Range Remarks

[Address] (AdrC) [0] (0) ... [63] (63) If data rate switches (7 and 8) are both set to 1 (ON), t he default node address

of the drive is 63, until it is set by network tool.

[Data rate] (bdr) [125 kbd] (125)

[250 kbd] (250) [500 kbd] (500)

If data rate switches (7 and 8) are both set to 1 (ON), the default data rate of the drive is 125 kbit/s, until it is set by network tool.

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10. Diagnostics by the drive HMI

1.1

1.2

1.3

1.4

1.5

2.1

2.2

2.3

2.4

2.5

MNS

10. 2. Signalling LED

The DeviceNet card features one combined Module/Network Status LED (MNS) in position 2.1, which is visible through the drive cover:

LED status indication

LED state Drive controller state Indication

Off Device is not on line • The device is not powered.

Flasching green Device is operational and on line,

but not connected OR Device is on line but needs commissioning

Speady green Device is operational, online, and

connected

Flasching red Major fault and/or connection

time-out

Speady red Critical fault or

critical link failure

Flashing green / red Communication fault The device has detected a Network Access error and is in the

• The device has not completed the duplicate node address test yet. The device is on line and operating in a normal condition, but network

connections are not established.

• The device has passed the duplicate node address test and is on line, but has not established connections to other nodes.

• The device is not allocated to a master.

• Configuration is missing, incomplete, or incorrect. The device is operating in a normal condition.

It is allocated to a master.

• The device has experienced a major recoverable fault.

• One or more I/O connections timed out.

• The card has a major unrecoverable fault and may need replacing.

• The device has detected an error that has rendered it incapable of communicating on the network (duplicate node address or bus turned off).

Communication Faulted state. The device has subsequently received and accepted an Identify Communication Faulted Request—Long Protocol message.

Note: After power on, the MNS LED quickly glows green then red and finally turns off.

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10. Diagnostics by the drive HMI

RUN NET +50.00Hz 80A

COMMUNICATION MAP Command Channel : COM. CARD Cmd value : 000F

Hex

Active ref. channel : COM. CARD Frequency ref. : 500.0

Status word : 8627

Hex

Code Quick

W3204 : 53 W3205 : 725 W7132 : 0000

Hex

W0 : -----

Hex

COM. SCANNER INPUT MAP COM SCAN OUTPUT MAP CMD. WORD IMAGE FREQ. REF. WORD MAP MODBUS NETWORK DIAG MODBUS HMI DIAG CANopen MAP PROG. CARD SCANNER

Active command channel

Value of control word

used to control the drive

(hexadecimal format)

Active reference channel

Value of frequency reference (unit 0.1 Hz)

used to control the drive

Value of status word

(hexadecimal format)

Values of the four monitored words selected by the user.

The address and display format of these parameters can be

configured in the [6 - MONITORING CONFIG.] menu,

[6.3 - COM. MAP CONFIG.] submenu

(see the "Configuration" section on page 20

The value of a monitored word is equal to "-----" if:

- Monitoring is not activated (address equal to W0)

- The parameter is protected

- The parameter is not known (e.g., W3200)

Input assembly 101 variables values

Output assembly 100 variables values

Control word from DeviceNet

[COM. card cmd.] (CMd3)

Frequency reference from DeviceNet

[Com. card ref.] (LFr3)

10. 3. Monitoring the control

On the graphic display terminal only, the [1.2 - MONITORING] menu ([COMMUNICATION MAP] submenu) can be used to display control-signal diagnostic information between the drive and the DeviceNet PLC:

Note: The DeviceNet card receives from the network a control word and sends a status word. The drive has its own drive control word and status word. The network information and the drive information can match or not:

- If the output assembly 100 and the input assembly 101 are selected and if drive control word and drive status word are assigned to the assemblies then the values displayed in the [COMMUNICATION MAP] submenu represent the values on the DeviceNet network. The drive can be in I/O profile or DSP402 / Drivecom profile.

- In the other cases (assemblies 21, 71, 103 ...), the DeviceNet card processes the commands coming from the network (in Allen Bradley ® drive profile or ODVA profile). It calculat es a drive control word according to DSP402 / Drivecom profile. This DSP402 / Drivecom control word of drive if displayed and not the network one.

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10. Diagnostics by the drive HMI

10. 4. Monitoring the communication scanner

You only need to read this chapter if you use the assemblies 100 or 101. These assemblies use the drive communication scanner. On the graphic display terminal, in the [1.2 - MONITORING] (SUP-) menu ([COMMUNICATION MAP] (CMM-) submenu):

- The [COM. SCANNER INPUT MAP] (ISA-) submenu is used to display the value of the variables of the input assembly 101: 4 communication scanner input parameters [Com Scan Inp val.] (NMp).

- The [COM SCAN OUTPUT MAP] (OSA-) submenu is used to display the value of the variables of the output assembly 100: 4 communication scanner output parameters [Com Scan Outp val.] (NCp).

Input assembly 101 Scanner parameter Output assembly 100 Scanner parameter

Bytes 0 and 1 Bytes 2 and 3 Bytes 4 and 5 Bytes 6 and 7

[Com Scan. In5 val.] (NM5) to [Com Scan In8 val.] (NM8) and [Com Scan Out5 val.] (NC5) to [Com Scan Out8 val.] (NC8) are not used by

the DeviceNet card.

Configuration of these parameters is described in the "Configuration" section.

[Com Scan In1 val.] (NM1) [Com Scan In2 val.] (NM2) [Com Scan In3 val.] (NM3) [Com Scan In4 val.] (NM4)

Bytes 0 and 1 Bytes 2 and 3 Bytes 4 and 5 Bytes 6 and 7

[Com Scan Out1 val.] (NC1) [Com Scan Out2 val.] (NC2) [Com Scan Out3 val.] (NC3) [Com Scan Out4 val.] (NC4)

Example:

RUN NET +50.00Hz 80A RUN NET +50.00Hz 80A

COM. SCANNER INPUT MAP COM SCAN OUTPUT MAP Com Scan In1 val. : 34359 Com Scan Out1 val. : 15 Com Scan In2 val. : 600 Com Scan Out2 val. : 598 Com Scan In3 val. : 0 Com Scan Out3 val. : 0 Com Scan In4 val. : 0 Com Scan Out4 val. : 0 Com Scan In5 val. : 0 Com Scan Out5 val. : 0

Code Quick Code Quick

Com Scan In6 val. : 0 Com Scan Out6 val. : 0 Com Scan In7 val. : 0 Com Scan Out7 val. : 0 Com Scan In8 val. : 0 Com Scan Out8 val. : 0

In this example, only the first two parameters have been configured (default assignment).

[Com Scan In1 val.] = [34343] Status word = 34359 = 16#8637 V Drivecom state "Operation enabled",

[Com Scan In2 val.] = [600] Output speed = 600 V 600 rpm [Com Scan Out1 val.] = [15] Control word = 15 = 16#000F V "Enable operation" (Run) command [Com Scan Out2 val.] = [598] Speed reference = 600 V 598 rpm

reverse operation, speed reached

1755877 11/2010 39

10. Diagnostics by the drive HMI

10. 5. Troubleshooting the communication fault

DeviceNet faults are indicated by the LED on the DeviceNet card. In the factory configuration, if DeviceNet is involved in the command or reference, a DeviceNet fault will trigger a resettable drive fault

[Com. network.] (CnF) or [External fault com.] (EPF2) and initiate a freewheel stop.

The Communication parameters manual contains a detailed description of how to manage communication faults (see the "Communication monitoring" section).

• Following initialization (power-up), the drive checks that at least one command or reference parameter has been written for the first time by DeviceNet.

• Then, if a communication fault occurs on DeviceNet, the drive will react according to the configuration (fault, maintain, fallback, etc.).

The response of the drive in the event of a DeviceNet communication fault can be changed (see the Configuration section).

- Drive fault [Com. network] (CnF) or [External fault com.] (EPF2) (freewheel stop, stop on ramp, fast stop or DC injection braking

stop)

- No drive fault (stop, maintain, fallback)

The [Network fault] (CnF) parameter can be used to obtain more detailed information about the origin of the last [Com. network] (CnF) fault. It can be accessed on the graphic display terminal only, in the [1.10 DIAGNOSTICS] (DGt-) menu, [MORE FAULT INFO]

(AFI-) submenu.

This parameter is available in the DeviceNet Interface object (16#64 = 100), attribute 4.

Value Description of the values of the [Network fault] (CnF) parameter

0 No fault 1 Fault triggere d by the user

2 Duplicate node address (MAC ID ) 3 CAN FIFO RX error These events may be caused by loose or broken cables or by noise. 4 CAN FIFO TX error 5 CAN overrun 6 CAN transmit error These events may be caused by loose or broken cables or by noise. 7 CAN bus off 8 Control time out.

9 Acknowledge error, for COS or cyclic only.

This type of fault can be triggered by the parameter "ForceFault/trip" of the Control Supervisor object (16#28 = 41), attribute 17.

COS, cyclic, polling or explicit messaging restart the timer. The time out can be configured in the parameter "Expected_packet_rate" of the Connection object (5), attribute 9.

The error can be configured in the parameters "Acknowledge Timer" and "Retry Limi t" of t he Acknowl edge Ha ndl er obj ect, attributes 1 and 2.

The DeviceNet master has been disconnected and reconnected in a shorter time than the time out.

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10. Diagnostics by the drive HMI

10. 6. Troubleshooting the card fault

The [internal com. link] (ILF) fault appears when the following serious problems occur:

- Hardware fault on the DeviceNet card

- Dialog fault between the DeviceNet card and the drive

The response of the drive in the event of an [internal com. link] (ILF) fault cannot be configured, and the drive trips with a freewhee l stop. This fault cannot be reset.

Two diagnostic parameters can be used to obtain more detailed information about the origin of the [internal com. link] (ILF) fault:

- [Internal link fault 1] (ILF1) if the fault has occurred on option card no. 1 (installed directly on the drive)

- [Internal link fault 2] (ILF2) if the fault has occurred on option card no. 2 (installed on option card no. 1)

The DeviceNet card can be in position 1 or 2. The [Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2) parameters can only be accessed on the graphic display terminal in

the [1.10 DIAGNOSTICS] (dGt-) menu, [MORE FAULT INFO] (AFI-) submenu.

Value Description of the values of the [Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2) parameters

0 No fault 1 Loss of internal communication with the drive 2 Hardware fault detected 3 Error in the EEPROM checksum 4 Faulty EEPROM 5 Faulty Flash memory 6 Faulty RAM memory 7 Faulty NVRAM memory 8 Faulty analog input

9 Faulty analog output 10 Faulty logic input 11 Faulty logic output

101 Unknown card 102 Exchange problem on the drive internal bus 103 Time out on the drive internal bus (500 ms)

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11. DeviceNet objects

11. 1. Supported classes

Object class Class ID Need for

Hex. Dec.

Identity 16#01 1 Required 1 Supports the reset service Message router Message

router DeviceNet 16#03 3 Required 1 Configures node attributes Message router Assembly 16#04 4 Required 13 Defines I/O data format Message router, assembly, or

DeviceNet connection

Motor data 16#28 40 Required 1 Defines motor data for the motor

Control supervisor

AC/DC drive 16#2A 42 Required 1 Provides drive configuration Message router, assembly, or

Acknowledge handler

Application 16#70

DeviceNet interface

16#02 2 Optional 1 Explicit message connection

16#05 5 Required 3 Logical ports into or out of the

16#29 41 Required 1 Manages drive functions,

16#2B 43 Optional 1 I/O connection or message router

- A8 16#64 100 Optional 1

ODVA conformance

112-

Optional Vendor specific object Message router or parameter

424

No. of instances

Effect on behavior Interface

parameter object

device

connected to this device

operational states, and control

I/O connection or message router

Message router or parameter object

Message router, assembly, or parameter object

parameter object

object

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11. DeviceNet objects

11. 2. Identity object

The Identity object provides identificatio n and status information about the drive.

Class code

Hexadecimal Decimal

16#01 1

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max Instances Opt. UINT 1 1 defined instance

Instance attributes

Attribute ID Access Name Need Data type Value Details

1 Get Vendor ID Req. UINT 243 Schneider Automation, Inc [243]

2 Get Device type Req. UINT 16#02 AC/DC drive profile 3 Get Product code Req. UINT 1 or 5 1: (ATV58) if [Profile] (CHCF) = [8 serie] (SE8)

4 Get Revision Req. Struct of:

5 Get Status Req. WORD — See definition in the table below 6 Get Serial number Req. UDINT — Serial number of the drive 7 Get Product name Req. Struct of:

8 Get State

(see Figure on page 45

10 Get/Set Heartbeat interval (2) Opt. USINT 0–255 Interval in seconds between two heartbeat messages.

)

USINT USINT

USINT STRING

Opt. USINT — 0: Non existent

— Product revision of the drive (1)

— 11 (product name length)

if (ATV71) if [Profile] (CHCF) = [Not separ.] (SIM) or

[Separate] (SEP) or [I/O] (IO)

Square D Company [95] if (ATV58) if [Profile] (CHCF) = [8 serie] (SE8)

5: (ATV71) if [Profile] (CHCF) = [Not separ.] (SIM) or

[Separate] (SEP) or [I/O] (IO).

"ATV61 Drive" or “ATV71 Drive”

1: Device self-testing 2: Standby 3: Operational 4: Major recoverable fault 5: Major unrecoverable fault

0: No message.

(1)Mapped in a word: MSB minor revision (second USINT), LSB major revision (first USINT).

Example: 517 = 16#0205 means revision V5.2.

(2)The heartbeat message broadcasts the current state of the device.

1755877 11/2010 43

11. DeviceNet objects

Attribute 5–status

Bit Defini tion

0 Owned by master (predefined master/slave connection) 2 Configured (not used) 8 Minor recoverable fault (not used) 9 Minor unrecoverable fault (not used) 10 Major recoverable fault 11 Major unrecoverable fault Others Reserved 0 (reset to 0)

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single (1) Write an attribute 16#05 Reset Req. Reset DeviceNet module

(1)Required if the heartbeat interval must be defined.

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11. DeviceNet objects

Key

Name of the state

NMS LED STATUS

Major unrecoverable fault

Major recoverable fault

Flashing red

Operational

Solid green

Standby

Flashing green

Device self testing

Flashing red/green

Nonexistent

Off

Major unrecoverable fault

Solid red

Desactivated

Activated

Minor fault

Failed tests

Passed tests

Power Applied

Power loss (from any state)

Identity object reset service (from any state except Major

unrecoverable fault)

Fault corrected

State diagram for the Identity object

1755877 11/2010 45

11. DeviceNet objects

11. 3. Message router object

The Message router object is the element throu gh which all the "Explici t messages" objects pass in order to be directed t owards the objects they are truly destined to.

Class code

Hexadecimal Decimal

16#02 2

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 2 Get Max instances Opt. UNT 1 1 Defined instance

Instance attributes

Attribute ID Access Name Need Data type Value Details

1 Get Object list:

Number classes

2 Get Number available Opt. UINT 1 Maximum number of simultaneous connections 3 Get Number active Opt. UINT 1 Number of active connections 4 Get Active connections Opt. UINT [ ] 1 List of active connections (referred to with their respective

Opt. Struct of:

UINT UINT [ ]

20 (codes)

List of supported objects; the first UINT is the number of supported classes; the remaining UINTs are the codes of these classes.

Connection instance ID)

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

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11. DeviceNet objects

11. 4. DeviceNet object

The DeviceNet object provides the status and configuration of a DeviceNet node.

Class code

Hexadecimal Decimal

16#03 3

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max Instances Opt. UINT 1 1 Defined instance

Instance attributes

Attribute ID Access Name Need Data type Value Details

1 Get/Set (1) Node address Req. USINT 0–63 See below 2 Get/Set (1) Data rate Opt. USINT 0–2 0 = 125 kbit/s; 1 = 250 kbit/s; 2 = 500 kbit/s

3 Get/Set BOI (BusOff

interrupt)

4 Get/Set BusOff counter Opt. USINT 0–255 Number of occurrences of BusOff state. Set access

5 Get Allocation

information

(1) Use Set access only if data rate switches (7 and 8) are both set to 1 (ON).

Opt. BOOL — Upon BusOff event:

Opt. BYTE

USINT

— 0–63

See below

0: CAN component remains in BusOff 1: Component is reset and communication resumes

is used to reset this counter.

Allocation choice Master address (255 not allocated)

1755877 11/2010 47

11. DeviceNet objects

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Opt. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute 16#4B Allocate Master/Slave Connection Set Opt. Allocation connection master/slave 16#4C Release Master/Slave Connection Set Opt. Release connection master/slave

48 1755877 11/2010

11. DeviceNet objects

11. 5. Assembly object

The Assembly object binds together the att ribu te s of mu lt ip le object s so that inf ormatio n t o or fr om each obj ect can be co mmuni cat ed over a single connection.

Assembly objects ar e s tatic. The assemblies in use can be modified through the parameter access of the network configuration tool (RSNetWorx). The drive needs a power off to take into account a new assembly assignment.

Class code

Hexadecimal Decimal

16#04 4

Class attribute

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max instance Opt. UINT 105 13 defined instances

Instances supported

Instance Name Data size

20 ODVA Basic speed control output 4 bytes 21 ODVA Extended speed control output 4 bytes 22 ODVA Speed and torque control output 6 bytes 23 ODVA Extended speed and torque control output 6 bytes 100 Communication scanner output 8 bytes 103 Allen-Bradley® drive output 4 bytes 70 ODVA Basic speed control input 4 bytes 71 ODVA Extended speed control input 4 bytes 72 ODVA Speed and torque control input 6 bytes 73 ODVA Extended speed and torque control input 6 bytes 101 Communication scanner input 8 bytes 104 Allen-Bradley® drive input 4 bytes 105 Allen-Bradley® drive input with parameters 8 bytes

Instance attributes

Attribute ID Access Name Need Data type Value Details

3 Get/Set (1) Data Req.

(1)Set access is restricted to output instances only (instances 20, 21, 22, 23, 100 and 103).

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

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11. DeviceNet objects

b Output assembly 100

Bytes 0 and 1

1st Scanner out parameter [Val Com Scan Out1] (NC1)

Bytes 2 and 3

2nd Scanner out parameter [Val Com Scan Out2] (NC2)

Bytes 4 and 5

3rd Scanner out parameter [Val Com Scan Out3] (NC3)

Bytes 6 and 7

4th Scanner out parameter [Val Com Scan Out4] (NC4)

b Input assembly 101

Bytes 0 and 1

1st Scanner in parameter [Val Com Scan In1] (NM1)

Bytes 2 and 3

2nd Scanner in parameter [Val Com Scan In2] (NM2)

Bytes 4 and 5

3rd Scanner in parameter [Val Com Scan In3] (NM3)

Bytes 6 and 7

4th Scanner in parameter [Val Com Scan In4] (NM4)

Note:

• For the assignment of the scanner parameters by the drive HMI, refer to chapter 7. Configuring by the drive HMI.

• For monitoring of the scanner parameters by the drive HMI, refer to chapter 10. Diagnostics by the drive HMI.

• For the assignment and monitoring of the scanner parameters by the network configuration software (RSNetWorx ...) , refer to chapter

8. Configuring by a network tool

50 1755877 11/2010

11. DeviceNet objects

b Output assembly 20

Byte 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

not used not used not used not used not used Fault reset

(active at 1)

Byte 1 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

not used not used not used not used not used not used not used not used

Bytes 2 and 3

Speed setpoint (RPM)

Notes:

• Stop mode is configurable by the parameter [Type of stop] (Stt):

- drive HMI menu [1.7 - APPLICATION FUNCT.] (FUn-), sub-menu [STOP CONFIGURATION] (Stt-),

- path 16#99/01/02.

not used Run forward

0 = Stop 1 = Run

• Output assembly 20 controls the drive if the parameter NetCtrl is set to 1 (attribute 5 of Control Supervisor object ; path 16# 29/01/05, t he default setting is 1).

• Output assembly 20 gives the speed setpoint to drive if the parameter NetRef is set to 1 ( attribute 4 of AC/DC Drive obje ct, pat h 16#2A/ 01/04, the default setting is 0).

In default setting, output assembly 20 controls the drive but the speed setpoint is via terminals (AI1 or AI2). The default setting applies each time the connection is cl osed (Power on of the drive, DeviceNet disconnected from the card).

b Input assembly 70

Byte 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

not used not used not used not used not used Running

0 = Stopped 1 = Running

Byte 1 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

not used not used not used not used not used not used not used not used

Bytes 2 and 3

Actual speed (RPM)

not used Faulted

0 = No fault 1 = Faulted

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11. DeviceNet objects

b Output assembly 21

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

not used

Network

reference

00 00

Control and reference by

terminals

01 01

Control by network

Reference by terminals

10 10

Control by terminals

Reference by network

11 11

Control and

Reference by network

Network

control

not used not used

Fault Reset

(active at 1)

Run

reverse

Run forward

Run reverse

Run in previous direction

Run

forward

Stop

Byte 1 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

not used not used not used not used not used not used not used not used

Bytes 2 and 3

Speed setpoint (RPM)

Notes:

• Stop mode is configurable by the parameter [Type of stop] (Stt):

- drive HMI menu [1.7 - APPLICATION FUNCT.] (FUn-), sub-menu [STOP CONFIGURATION] (Stt-),

- path 16#99/01/02.

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11. DeviceNet objects

b Input assembly 71

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

At reference

00000000

Speed

reference not

reached

110 10

Speed

reference

reached

Reference

from network

Control and reference by

0110111

Control by network

Reference by terminals

Control by terminals

Reference by network

11 11

Control and reference

from network

Control from

terminals

network

Ready

Not ready Stopped No warning Not faulted

Ready Running forward Warning Faulted

Running

reverse

Running reverse

Stopped

Running

forward

Warning Faulted

Byte 1

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Drive state (see Control supervisor state transition diagramm, page 66 (0 = Vendor Specific, 1 = Startup, 2 = Not_Ready, 3 = Ready, 4 = Enabled, 5 = Stopping, 6 = Fault_Stop, 7 = Faulted)

Bytes 2 and 3

Actual speed (RPM)

)

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11. DeviceNet objects

b Output assembly 22

Byte 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

not used not used not used not used not used Fault reset

(active at 1)

Byte 1 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

not used not used not used not used not used not used not used not used

Bytes 2 and 3

Speed setpoint (RPM)

Bytes 4 and 5

Torque setpoint (Nm)

not used Run forward

0 = Stop 1 = Run

Notes:

• Stop mode is configurable by the parameter [Type of stop] (Stt):

- drive HMI menu [1.7 - APPLICATION FUNCT.] (FUn-), sub-menu [STOP CONFIGURATION] (Stt-),

- path 16#99/01/02.

• Output assembly 22 controls the drive if the parameter NetCtrl is set to 1 (attribute 5 of Control Supervisor object ; path 16# 29/01/05, t he default setting is 1).

• Output assembly 22 gives the speed setpoint to drive if the parameter NetRef is set to 1 ( attribute 4 of AC/DC Drive obje ct, pat h 16#2A/ 01/04, the default setting is 0).

In default setting, output assembly 22 controls the drive but the speed setpoint is via terminals (AI1 or AI2). The default setting applies each time the connection is cl osed (Power on of the drive, DeviceNet disconnected from the card).

b Input assembly 72

Byte 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

not used not used not used not used not used Running

0 = Stopped 1 = Running

Byte 1 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

not used not used not used not used not used not used not used not used

not used Faulted

0 = No fault 1 = Faulted

Bytes 2 and 3

Actual speed (RPM)

Bytes 4 and 5

Actual torque (Nm)

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11. DeviceNet objects

b Output assembly 23

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

not used

Network

reference

00 00

Control and reference

by terminals

01 01

Control by network

Reference by terminals

10 10

Control by terminals

Reference by network

11 11

Control and reference

by network

Network

control

not used not used

Fault reset

(active at 1)

Run reverse Run forward

Run forward

Run reverse

Run in previous direction

Stop

Byte 1

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

not used not used not used not used not used not used not used not used

Bytes 2 and 3

Speed setpoint (RPM)

Bytes 4 and 5

Torque setpoint (Nm)

Notes:

• Stop mode is configurable by the parameter [Type of stop] (Stt):

- drive HMI menu [1.7 - APPLICATION FUNCT.] (FUn-), sub-menu [STOP CONFIGURATION] (Stt-),

- path 16#99/01/02.

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11. DeviceNet objects

b Input assembly 73

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

At reference

00000000

Speed

reference not

reached

110 10

Speed

reference

reached

Reference

from network

Control and reference

from terminals

0110111

Control from network

Reference from terminals

Control from terminals

Reference from network

11 11

Control and reference

from network

Control from

network

Ready

Not ready Stopped No warning Not faulted

Ready Running forward Warning Faulted

Running

reverse

Running reverse

Stopped

Running

forward

Warning Faulted

Byte 1

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Drive state (see figure Control supervisor state transition diagram, page 66 ( 0 = Vendor Specific, 1 = Startup, 2 = Not_Ready, 3 = Ready, 4 = Enabled, 5 = Stopping, 6 = Fault_Stop, 7 = Faulted )

Bytes 2 and 3

Actual speed (RPM)

Bytes 4 and 5

Actual torque (Nm)

)

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11. DeviceNet objects

b Output assembly 103

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Direction

Hold direction

not used not used

Byte 1

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

000

Hold reference select 001 Reference by terminals (AI1 or AI2) 010

Reference by network (DeviceNet)

011

not used

Preset speed 3 (SP3) 100

Preset speed 4 (SP4) 101

Preset speed 5 (SP5) 110

Preset speed 6 (SP6) 111

Preset speed 7 (SP7)

Forward command

Reverse command

Hold direction

Reference select

Clear faults

(active at 1)

not used not used not used not used

not used

Start Stop

Active on

rising edge

(0 to 1)

Active on

level

(at 1)

Bytes 2 and 3

Scaled speed setpoint Unsigned, 0 to 32 767. 32 767= parameter [High speed] (HSP), path 16#70/01/69

Notes:

• Stop mode is configurable by the parameter [Type of stop] (Stt):

- drive HMI menu [1.7 - APPLICATION FUNCT.] (FUn-), sub-menu [STOP CONFIGURATION] (Stt-),

- path 16#99/01/02.

• Output assembly 22 controls the drive if the parameter NetCtrl is set to 1 (attribute 5 of Control Supervisor object ; path 16# 29/01/05, t he default setting is 1).

• Output assembly 22 gives the speed setpoint to drive if the parameter NetRef is set to 1 ( attribute 4 of AC/DC Drive obje ct, pat h 16#2A/ 01/04, the default setting is 0).

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11. DeviceNet objects

b Input assembly 104

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Actual

Fault not used Decelerating Accelerating

Byte 1

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Reference source Control source At speed

0000000

0001001

0010010

not used 0 1 1

0011100

Preset speed 3 (SP3) 1 0 1

0100110

Preset speed 4 (SP4) 1 1 1

0 1 0 1 not used

Preset speed 5 (SP5)

0110

Preset speed 6 (SP6)

0111

Preset speed 7 (SP7)

1000

Reference from terminals (AI1 or AI2)

1001

Reference from network (DeviceNet) 1010 1011 1100 1101 1110

not used

1111

No reference source defined

direction 1=Forward 0=Reverse

Command

direction 1=Forward 0=Reverse

Control from terminals

Control from network

Running Enabled

Bytes 2 and 3

Actual speed scaled Unsigned, 0 to 32 767. 32 767= parameter [High speed] (HSP), path 16#70/01/69

Note: When the value of Reference source (bits 12, 13, 14 and 1 5) is Preset s peed p (SPp) it means t hat t he co rre sponding comma nds i s given by the assembly 103 via Reference select (bits 12,13 and 14) (not by the terminals).

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11. DeviceNet objects

b Input assembly 105

Byte 0

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Actual

Fault not used Decelerating Accelerating

Byte 1

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Reference source Control source At speed

0000000

not used Control from terminals

0001001

Preset speed 1 (SP1) Control from network

0010010

Preset speed 2 (SP2) 0 1 1

0011100

Preset speed 3 (SP3) 1 0 1

0100110

Preset speed 4 (SP4) 1 1 1

0 1 0 1 not used

Preset speed 5 (SP5)

0110

Preset speed 6 (SP6)

0111

Preset speed 7 (SP7)

1000

Reference from terminals (AI1 or AI2)

1001

Reference from network (DeviceNet)

direction 1=Forward 0=Reverse

Command

direction 1=Forward 0=Reverse

Running Enabled

1 1 1 1 1

1111

Bytes 2 and 3

Actual speed scaled Unsigned, 0 to 32 767. 32 767= parameter [High speed] (HSP), path 16#70/01/69

Bytes 4 and 5

First extended monitoring parameter (see DeviceNet interface object page 70

Bytes 6 and 7

Second extended monitoring parameter (see DeviceNet interface object page 70

1755877 11/2010 59

0 0 1 1 1

not used

No reference source defined

1 1 0 0 1

0 1 0 1 0

)

11. DeviceNet objects

11. 6. Connection object

Class code

Hexadecimal Decimal

16#05 5

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max instances Opt. UINT 4 3 defined instances (1)

(1)Only instances 1 (explicit message), 2 (polled I/O message), and 4 (change of state/cyclic message) are supported. Instance 3 (bit

strobe) is not supported.

Attributes of instance 1—Explicit message instance

Attribute ID Access Name Need Data type Value Details

1 Get State Req. USINT — 0 : Non-existent

2 Get Instance_type Req. USINT 0 Explicit Message 3 Get TransportClass_trigger Req. BYTE 16#83 Class 3 server 4 Get Produced_connection_id Req. UINT 10xxxxxx011 xxxxxx = Node address 5 Get Consumed_connection_id Req. UINT 10xxxxxx100 xxxxxx = Node address 6 Get Initial_comm_characteristics Req. BYTE 16#21 Explicit messaging via Group 2 7 Get Produced_connection_size Req. UINT 36 Produced data maximum size

8 Get Consumed_connection_size Req. UINT 36 Consumed data maximum size

9 Get/Set Expected_packet_rate Req. UINT 2500 2.5 sec. (TimeOut) 12 Get/Set Watchdog_timeout_action Req. USINT 1 or 3 1 : Auto-Delete

13 Get Produced connection path length Req. UINT 0 Length of attribute 14 data 14 Get Produced connection path Req. Array of UINT Null Empty 15 Get Consumed connection path length Req. UINT 0 Length of attribute 16 data 16 Get Consumed connection path Req. Array of UINT Null Empty

3 : Established 5 : Deferred Delete

(in bytes)

3 : Deferred Delete (Default)

Refer to DeviceNet specification for more information.

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11. DeviceNet objects

Attributes of instance 2—Polled I/O message instance

Attribute ID Access Name Need Data type Value Details

1 Get State Req. USINT — 0: Non-existent

2 Get Instance_type Req. USINT 1 I/O Message 3 Get TransportClass_trigger Req. BYTE 16# 83 Class 3 server 4 Get Produced_connection_id Req. UINT 01111xxxxxx xxxxxx = Node address 5 Get Consumed_connection_id Req. UINT 10xxxxxx101 xxxxxx = Node address 6 Get Initial_comm_characteristics Req. BYTE 16# 01 Group 1 / Group 2 7 Get Produced_connection_size Req. UINT 4, 6, or 8 Size of data produced 8 Get Consumed_connection_size Req. UINT 4, 6, or 8 Size of data consumed 9 Get/Set Expected_packet_rate Req. UINT — Exchange frequency (ms) 12 Get/Set Watchdog_timeout_action Req. USINT 0, 1, or 2 (2) 0: Transition to TimeOut

13 Get Produced_connection_path length Req. UINT 8 Default: 8 bytes 14 Get/Set

(1)

15 Get Consumed_connection_path length Req. UINT 8 Default: 8 bytes 16 Get/Set

(1)

17 Get/Set Production_inhibit_time Cond. UINT 0 Minimum time between

Produced_connection_path Req. Array

of UINT

Consumed_connection_path Req. Array

of UINT

16# 20 04 24 46 30 03 16# 20 04 24 47 30 03 16# 20 04 24 48 30 03 16# 20 04 24 49 30 03 16# 20 04 24 65 30 03 16# 20 04 24 68 30 03 16# 20 04 24 69 30 03

16# 20 04 24 14 30 03 16# 20 04 24 15 30 03 16# 20 04 24 16 30 03 16# 20 04 24 17 30 03 16# 20 04 24 64 30 03 16# 20 04 24 67 30 03

1: Configuring 3: Established 4: TimeOut

1: Auto-Delete 2: Auto-Reset

Input assembly (Default : Instance 101, 16# 20 04 24 65 30 03)

Output assembly (Default : Instance 100, 16# 20 04 24 64 30 03)

2 data productions. Undefined

(1)Assembly assignment should not be modified in a running application.

If you Set any one of the values displayed in the "Value" column, it will be saved in EEPROM and then used at each power-up. Any other value will not be saved.

(2)0 and 1: when the drive is disconnected from the network a DeviceNet fault occurs. In factoring set tings the DeviceNet fault triggers a

fault [Com. network] (CnF) and a free wheel stop. 2: The DeviceNet fault is automatically reset (drive immediately restarts when RUN command is applied).

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11. DeviceNet objects

Attributes of instance 4—Change of st at e /cy c lic mes sa ge in st an c e

AttributeIDAccess Name Need Data

1 Get State Req. USINT — 0: Non-existent

2 Get Instance_type Req. USINT 1 I/O Message 3 Get TransportClass_trigger Req. BYTE 16# X2 Class 2 Client

4 Get Produced_connection_id Req. UINT 01101xxxxxx xxxxxx = Node address 5 Get Consumed_connection_id Req. UINT 10xxxxxx101 xxxxxx = Node address 6 Get Initial_comm_characteristics Req. BYTE 16# 01 Group 1 / Group 2 7 Get Produced_connection_size Req. UINT 4, 6, or 8 Size of data produced 8 Get Consumed_connection_size Req. UINT 0 Size of data consumed 9 Get/Set Expected_packet_rate Req. UINT — Exchange frequency (ms) 12 Get/Set Watchdog_timeout_action Req. USINT 0, 1, or 2 (2) 0: Transition to TimeOut

13 Get Produced_connection_path_length Req. UINT 8 Default: 8 bytes 14 Get/Set

(1)

15 Get Consumed_connection_path_length Req. UINT 8 Default: 8 bytes 16 Get/Set

(1)

17 Get/Set Production_inhibit_time Cond. UINT 0 Minimum time between

Produced_connection_path Req. Array

Consumed_connection_path Req. Array

type

of UINT

Value Details

1: Configuring 3: Established 4: TimeOut

Cos:16# 12 - Cyclic:16# 02

1: Auto-Delete 2: Auto-Reset

16# 20 04 24 46 30 03 16# 20 04 24 47 30 03 16# 20 04 24 48 30 03 16# 20 04 24 49 30 03 16# 20 04 24 65 30 03 16# 20 04 24 68 30 03 16# 20 04 24 69 30 03

16# 20 2B 24 01 30 03 Output assembly:

Input assembly (Default : Instance 101, 16# 20 04 24 65 30 03)

The first and only one instance of the Acknowledge handler object (Class ID 16#2B)

2 data productions. Undefined

(1)Assembly assignment should not be modified in a running application.

If you Set any one of the values displayed in the "Value" column, it will be saved in EEPROM and then used at each power-up. Any other value will not be saved.

(2)To ensure a DeviceNet fault (and by default [Network fault] (CnF)) in case of time out, configure "Polled I/O".

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11. DeviceNet objects

Class service

Service code Service name Need Description

16#08 Create Opt. Instantiation of a connection 16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute 16#05 Reset Opt. Reset Inactivity/Watchdog timer

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11. DeviceNet objects

11. 7. Motor data object

The Motor data object acts as a motor parameter database.

Class code

Hexadecimal Decimal

16#28 40

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max instance Opt. UINT 1 — 6 Get Max ID number of class attribute Opt. UINT 7 — 7 Get Max ID number of instance attribute Opt. UINT 15 —

Instance attributes

Attribute ID Access Name Need Data type Value Details

3 Get/Set MotorType Req. USINT 7 6 = Wound rotor induction motor

6 Get/Set RatedCurrent Req. UINT Depends on the

drive rating

7 Get/Set RatedVoltage Req. UINT Depends on the

drive rating 9 Get/Set RatedFreq Opt. UINT 50/60 [Rated motor freq.] (FrS) 15 Get/Set BaseSpeed Opt. UINT Depends on the

drive rating

7 = Squirrel cage induction motor

[Rated mot. current] (nCr)

[Rated mot. volt.] (UnS)

[Nom motor speed] (nSP)

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

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11. DeviceNet objects

11. 8. Control supervisor object

The Control supervisor object models the functions for managing all devices within the hierarchy of motor control devices.

Class code

Hexadecimal Decimal

16#29 41

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 2 — 2 Get Max instance Opt. UINT 1 — 6 Get Max ID number of class attribute Opt. UINT 7 — 7 Get Max ID number of instance attribute Opt. UINT 17 —

Instance attributes

Attribute ID Access Name Need Data type Details

3 Get/Set Run Fwd Req. BOOL On an edge (0 V1) 4 Get/Set Run Rev Opt. BOOL On an edge (0 V1) 5 Get/Set NetCtrl Opt. BOOL 0: Local Control (Channel 1)

6 Get State Opt. USINT 0 = Vendor Specific,

7 Get Running Fwd Req. BOOL 8 Get Running Rev Opt. BOOL 9 Get Ready Opt. BOOL 10 Get Faulted Req. BOOL 12 Get/Set FaultRst Req. BOOL Fault reset (0 V1) 13 Get FaultCode Opt. UINT Refer to the Communication parameters manual:

15 Get CtrlFromNet Opt. BOOL 0 = Local Control; 1 = Network Control 16 Get/Set DNFaultMode Opt. USINT Action on loss of DeviceNet command:

17 Get/Set ForceFault/Trip Opt. BOOL Force a DeviceNet fault (0 V1)

1: Network Control (default)

1 = Startup, 2 = Not_Ready, 3 = Ready, 4 = Enabled, 5 = Stopping, 6 = Fault_Stop, 7 = Faulted

DSP402 fault code (Errd)

0 = DeviceNet fault; 1 = Ignored

Class service

Service Code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service Code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Req. Write an attribute 16#05 Reset Req. Drive reset

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11. DeviceNet objects

Non-Existent

Startup

Switch off

Switch on

Not_Ready

Ready

Fault detected

Main power on

Enabled

Stopping

Stop

Run

Initialization complete

Stop complete

Fault detected

Fault Reset

Faulted

Fault_Stop

Fault detected

Fault stop complete

Main power off

Reset

Main power off

Control supervisor state transition diagram

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11. DeviceNet objects

11. 9. AC/DC Drive Object

The AC/DC Drive object models the functions (such as torque control and speed ramp) that are specific to drives.

Class code

Hexadecimal Decimal

16#2A 42

Class attributes

Attribute ID Access Name Need Data Type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max instance Opt. UINT 1 — 6 Get Max ID number of class attribute Opt. UINT 7 — 7 Get Max ID number of instance attribute Opt. UINT 21 —

Instance attributes

Attribute ID Access Name Need Data type Details

3 Get AtReference Opt. BOOL 4 Get/Set NetRef (1) Req. BOOL 0: Local speed setpoint (AI1 or AI2)

5 Get/Set NetProc Opt. BOOL Not handled 6 Get/Set Drive mode Req. USINT 1: Open loop

7 Get SpeedActual Req. INT Output speed (rFrd) 8 Get/Set SpeedRef Req. INT Speed setpoint (LFrd) 9 Get CurrentActual Opt. INT Motor current (LCr) 10 Get/Set CurrentLimit Opt. INT [Mot. therm. current] (ItH) 11 Get TorqueActual Opt. INT Output torque (Otrn) 12 Get/Set TorqueRef Opt. INT Torque setpoint (LtCr) 18 Get/Set AccelTime Opt. UINT Acceleration time (ACCd) 19 Get/Set DecelTime Opt. U INT Deceleration time (dECd) 20 Get/Set LowSpdLimit Opt. UINT Parameter [Low speed] (LSP) converted in RPM 21 Get/Set HighSpdLimit Opt. UINT Parameter [High speed] (HSP) converted in RPM

1: Speed setpoint via the network

2: Closed loop (FVC)

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

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11. DeviceNet objects

11. 10. Acknowledge handler object

The acknowledge handler object directs the acknowledgment of messages received.

Class code

Hexadecimal Decimal

16#2B 43

Class attributes

Attribute ID Access Name Need Data type Value Details

1 Get Revision Opt. UINT 1 — 2 Get Max instance Opt. UINT 1 —

Instance attributes

Attribute ID Access Name Need Data type Value Details

1 Get/Set Acknowledge timer Req. UINT 16 Default: 16 ms 2 Get/Set Retry li mit Req. USINT 1 — 3 Get/Set COS producing connection instance Req. UINT 4 Assembly

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Req. Write an attribute

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11. DeviceNet objects

11. 11. Application objects

Class code

Hexadecimal Decimal

16#70 to 16#A8 112 to 424

Altivar parameters path

The Altivar parameters are grouped in classes. Each application class has only 1 instance. Each instance groups 200 parameters. Each attribute in an instance relates to a parameter.

The first parameter registered in the first applicati on class (class code: 16#70 = 112) has the logical address 3000. Examples:

Logical address Path Hexadecimal Path decimal

3 000 16# 70 / 01 / 01 112 / 1 / 1 3 100 16# 70 / 01 / 65 112 / 1 / 101 3 200 16# 71 / 01 / 01 113 / 1 / 1

64 318 16# A2 / 1 / 77 418 / 1 / 119

Refer to the Communication parameters manual.

Class attributes

Attribute ID Access Name Need Data type Value

1 Get Revision Opt. UINT 1 2 Get Max instance Opt. UINT 1 6 Get Max ID number of class attribute Opt. UINT 7 7 Get Max ID number of instance attribute Opt. UINT X

Instance attributes

Attribute ID Access Name Data type Value

1 Get/Set First parameter of the class UINT / USINT Value returned by the drive

... ... ... ... ...

X Get/Set Last parameter of the class UINT / USINT Value returned by the drive

Note: Depending on the parameter, writ e access may be prohib ited. Ref er to the Communi catio n parameters manual for more informa tion.

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instances service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 116#0 Set_Attribute_Single Opt. Write an attribute

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11. DeviceNet objects

11. 12. DeviceNet interface object

Class code

Hexadecimal Decimal

16#64 100

Class attributes

Attribute ID Access Name Need Data type Value

1 Get Revision Opt. UINT 1 2 Get Max instance Opt. UINT 1 6 Get Max ID number of class attribute Opt. UINT 7 7 Get Max ID number of instance attribute Opt. UINT 9

Instances attributes

AttribueIDAccess Name Data type Details

1 Get/Set

(1)

2 Get/Set

(1)

3 Get/Set

(1)

4Get[Network fault] (CnF) USINT 0 : no fault

5 Get Software revision of the DeviceNet card UINT Ex : 16# 1109 = V1.1ie09 6 Get/Set Attribute of first extended monitoring parameter (input assembly 105) USINT 0 : not configured 7 Get/Set Attibute of second extended monitoring parameter (input assembly 105) USINT 8 Get/Set Class of first extended monitoring parameter (input assembly 105) USINT 0 : not configured 9 Get/Set Class of second extended monitoring parameter (input assembly 105) USINT

Polling production instance assembly USINT 0 : instance 70

1 : instance 71 2 : instance 104 3 : instance 105 4 : instance 72 5 : instance 73 6 : instance 101 (default)

Polling consumption instance assembly USINT 0 : instance 20

1 : instance 21 2 : instance 103 3 : instance 22 4 : instance 23 5 : instance 100 (default)

Change of state/Cyclic production instance assembly USINT 0 : instance 70

1 : instance 71 2 : instance 104 3 : instance 105 4 : instance 72 5 : instance 73 6 : instance 101 (default)

1 : user forced fault 2 : duplicate Node Address 3 : CAN FIFO RX Error 4 : CAN FIFO TX Error 5 : CAN OverRun 6 : CAN send Error 7 : CAN Bus Off 8 : Control Time Out 9 : Acknowledge Error 10 : see page 40

(1)Any Set access to one of these parameters triggers the save in EEPROM for future use. In addition, the new va lue is immediately applied

to the drive if the corresponding Connection Object (Polled I/O Message or Change of State/Cyclic Message, i.e. Class ID 16#80 Instance #2 or #4) is not in "Established" state. Otherwise, the drive must be restarted to apply the new value.

70 1755877 11/2010

11. DeviceNet objects

Class service

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute

Instance services

Service code Service name Need Description

16#0E Get_Attribute_Single Req. Read an attribute 16#10 Set_Attribute_Single Opt. Write an attribute

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AT V61_71_devicenet_EN_1755877_03

1755877 11/2010

schneider VW3 A3 309 User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1. Before you begin

2. Documentation structure

b Installation manual

b Programming manual

b Communication parameters manual

b Modbus, CANopen®, Ethernet™, Profibus, INTERBUS, Uni-Telway, DeviceNet™, Modbus Plus, Fipio, etc., manuals

b Altivar 58/58F migration manual

3. Introduction

3. 1. Presentation

3. 2. Notation

4. Quick start

5. Hardware setup

5. 1. Receipt

5. 2. Hardware description

5. 3. Installing the card in the drive

5. 4. Coding the switches

b Switches description

b Overriding the switches

b Coding the data rate

b Coding the node address

b Examples

6. Wiring to the network

6. 1. Cable routing practices

6. 2. Wiring the DeviceNet connector

7. Configuring by the drive HMI

7. 1. Configuring the control

b Principle

b Available configurations

b Control via DeviceNet in I/O profile

b Control via DeviceNet or via the terminals in I/O profile

b Control via DeviceNet in Drivecom profile

b Control via DeviceNet or the terminals in Drivecom profile

b Control in Drivecom profile via DeviceNet and setpoint switching at the terminals

7. 2. Configuring the communication scanner

7. 3. Configuring the fault management

7. 4. Configuring monitored parameters

8. Configuring by a network tool

8. 1. Network tool

8. 2. Going online with RSNetWorx

8. 3. Creating an EDS file

8. 4. Configuring the DeviceNet scanner

b Setting up the scan list

b Mapping the drive data in the scanner

b Saving the Configuration

b Auto Device Replacement

8. 5. Editing parameters of the drive

b Using the Device Parameters editor

b Limitations of the Device Parameters editor

b Configuring the assemblies

b Configuring node address and data rate

8. 6. Editing objects of the drive

b Using the Class Instance Editor

b Configuring NetRef parameter

b Configuring node address and data rate

9. Creating a PLC program

9. 1. Using I/O messaging

9. 2. Using explicit messaging

10. Diagnostics by the drive HMI

10. 1. Checking the node address and the data rate

10. 2. Signalling LED

10. 3. Monitoring the control

10. 4. Monitoring the communication scanner

10. 5. Troubleshooting the communication fault

10. 6. Troubleshooting the card fault

11. DeviceNet objects

11. 1. Supported classes

11. 2. Identity object

11. 3. Message router object

11. 4. DeviceNet object

11. 5. Assembly object

b Output assembly 100

b Input assembly 101

b Output assembly 20

b Input assembly 70

b Output assembly 21