Watlow SD6 User Manual

0600-0041-0015 Rev D June 2005

Series SD6 PID with DeviceNet (Addendum)

Watlow’s Series SD6 with DeviceNet offers excellent con­trol and application flexibility in a 1/16th DIN panel
mount package.

The Series SD6 with DeviceNet has successfully passed
the rigorous testing requirements of ODVA and is also
SEMI-SIG compliant.

This single-channel controller includes a universal sensor
input with two outputs that can be configured as heat,
cool, or alarm. The DeviceNet communications interface is
supplied with either of two standard connectors, a closed
style M12 (Semi-SIG compliant) or an open style connec­tor.

The Series SD6 with DeviceNet is only available
with one or two outputs.

Ordering Information and
Model Numbers

Control Type

C = PID Control
L = Limit Control
R = Ramping

Power Supply

H = 100 to 240VÅ (ac)
L = 24 V‡ (ac/dc)

Output 1

C = Switched dc
K = SSR, Form A, 0.5 A
F = Universal process
J = Mechanical relay, Form A, 2 A

Output 2

A = None
C = Switched dc
K = SSR, Form A, 0.5 A
J = Mechanical relay, Form A, 2 A

DeviceNet Communications

N = Open style connector
S = Closed style M12 connector (Semi-SIG compliant)

Display Colors and Custom Options

RG= Red Green
RR = Red Red
XX = Custom options, special overlays, etc.

SD6__ __ __ __ A - D __ __ __

Table 1. Module Status (MOD) Indicator Light

Table 2. Network Status (NET) Indicator Light

Indicator Light Description

Off

The device is not online.

The device has not completed the dupli­cate MAC ID test yet.
The device may not be powered. Look at
Table 1, Module Status Indicator Light.

Green

The device is online and has connections
in the established state.

For a Group 2 Only device it means that
the device is allocated to a Master.

Red

Failed communication device.

The device has detected an error that has
rendered it incapable of communicating on
the network (duplicate MAC ID or Bus-off).

Flashing Green

The device is online, but no connection
has been allocated or an explicit connec­tion has timed out.

Flashing Red A poll connection has timed out.

Indicator Light Description

Off No power is applied to the device.

Flashing Green-Red The device is performing a self-test.

Flashing Red The controller is in Auto mode and an input

error condition [Er;in] exists. This indication
does not occur if the controller is in the
Manual mode when an input error occurs.

Red

A checksum error [Er;CS] has occurred.

Green The device is operating normally.

This document is available as an Adobe Acrobat PDF file at
www.watlow.com; search on “SD6 DeviceNet”.

Advance Key

Advances the lower display
through parameter prompts.

Infinity Key

Returns to the
Home Page.

Up and
Down Keys

In the Home
Page, adjusts
the set point.

In other pages,
changes the
upper display
to a higher or
lower value.

Diagnostic Indicator Lights

Provide operating and diagnostic information about
the module (MOD) and network (NET).
SD6C-XXXA-DXXX shown.

Keys and Display

Dimensions

Series SD6 open style connector

Back Left Side

Series SD6 closed style M12 connector, (Semi-SIG compliant)

Back Left Side Switch Label

Pinout

Open style

Closed
(M12) style

Node Address Switches

Set the controller’s MAC ID with the top two rotary switches
on the side of the case. Set the most significant digit (MSD)
with the top switch and the least significant digit (LSD) with
the middle switch. For example, to set the address to 23, set
the MSD to 2 and the LSD to 3. If the switch is set to“PGM”,
the last node address at power down is used.

Data Rate Switch

Set the Data Rate switch (below the address switches) to the
network data rate. If the switch is set to “PGM”, the last
baud rate at power down is used.

Communications Setup

Open style connector only (SD6X-XXXA-DNXX)

Baud Rate (125, 250, 500KB) and Node Address or MAC ID

(0 - 63) can be selected from the front panel (Setup Menu) or
via the software. The factory default values are as follows:

Baud Rate = 125KB

Address = 63

Closed style (M12 connector) only (SD6X-XXXA-DSXX)

The three switches on the side of the unit define the address
and baud rate (See picture above for closed style SD6). If the
MSD switch is in the "P" (Program) position, the address will
be software programmable. Likewise, if the Data Rate switch
is set to "PGM" the data rate will be software programmable.
On power down, the unit will always come back into the net­work with its last known baud rate and address. The factory
default values are as follows:

Baud Rate = 500KB

Address = 63

Pin
Open style

Pin
M12 Closed style

Signal Function

Black 3 V- DeviceNet power return

Blue

5

CAN_L Negative side of the DeviceNet bus

Grey (bare)

1

Drain Shield interconnect

White

4

CAN_H Positive side of the DeviceNet bus

Red

2

V+ DeviceNet power

Table 3. DeviceNet Connectors

Table 5. Descriptions of Elementary Data Types

Data Type Name Data Type Description

BOOL Logical Boolean with values TRUE and FALSE

BYTE Bit string — 8 bits

EPAT H DeviceNet path segments

INT Signed 16-bit integer value

SHORT_STRING Character string (1 byte per character, 1 byte length indicator)

UDINT Unsigned 32-bit integer value

UINT Unsigned 16-bit integer value

USINT Unsigned 8-bit integer value

WORD Bit string — 16 bits

This appendix describes the DeviceNet protocol as it is
implemented in the Series SD6 controller. It primarily
describes the objects and attributes accessible via the
DeviceNet protocol. It may be necessary to refer to the
DeviceNet specification as a compliment to the information
found here.

DeviceNet Overview

The SD6 controller supports the object-based modeling
used in the DeviceNet concepts. This product is configured
as a Group 2 Only Slave device using the Predefined
Master/Slave Connection Set.

There are two main categories of objects, DeviceNet
Objects and Application Objects. DeviceNet objects handle
what is necessary for networking and communications.
Application Objects have access to the SD6 controller's
parameters and data.

Addressing

All data is referenced based upon a four-part definition:
Node (MAC ID) + Class + Instance + Attribute.

Table 4. Four Components to an Address, with
Ranges

Node Address (MAC ID) [0 to 63]

Class ID [1 to 255]
Instance ID [0 to 255]
Attribute ID [1 to 255]

Data Types

The descriptions of attributes in the following sections
includes the data type for each. Table 5 lists and describes
these data types.

DeviceNet Communications

Watlow Series SD6 PID with DeviceNet ■ 3 ■

Watlow Series SD6 PID with DeviceNet ■ 4 ■

Table 7. Identity Object Class Attributes

Number Access

Rule

Namer Name DeviceNet Data Type Description of

Attribute

Semantics of
Values

Group 2 Only Server

A slave (server) device that is UCMM incapable and must
use the Predefined Master/Slave Connection Set to estab­lish communications (at a minimum, the Predefined
Master/Slave Explicit Messaging Connection must be sup­ported). A Group 2 Only device can transmit and receive
only those identifiers defined by the Predefined
Master/Slave Connection Set (reference DeviceNet Spec.,
Vol. 1, Sec. 2).

Master/Slave Connections

The SD6 supports the Predefined Master/Slave Connection
Set (refer to DeviceNet Specification, Vol. 1, Sec. 7). The

general model calls for the utilization of an Explicit
Messaging Connection to manually create and configure
Connection Objects within each connection end-point. This
chapter uses the general model as a basis for the definition
of a set of connections that facilitate communications typi­cally seen in a master-slave relationship. These
Connections are referred to collectively as the Predefined
Master/Slave Connection Set.

The master is the device that gathers and distributes I/O
data for the process controller. Slaves are the devices from
which the master gathers I/O data and to which the mas­ter distributes I/O data. The master “owns” the slaves
whose MAC IDs appear in its scan list. To determine with
what slaves it will communicate, the master examines its
scan list and sends commands accordingly. Except for the
Duplicate MAC ID Check, a slave cannot initiate any com­munication before being told by the master to do so.

Electronic Data Sheet (EDS)

The EDS allows a configuration tool to automate the device
configuration process. The EDS specification provides an
open standard for device configuration and compatibility
among all DeviceNet products. (Refer to the DeviceNet
Specification, Vol. 1, Chapter 4). You can obtain a copy of
the EDS at www.watlow.com and search on keywords SD
EDS, request a copy by sending an e-mail to wintechsup­[e-mail] or by calling an Application Engineer at
[phone] between 7 a.m. and 5 p.m. Central
Standard Time (CST).

DeviceNet Objects

The following sections describe the standard DeviceNet
objects and the SD6-specific application objects.

Identity Object

Class Code: 01hex

The Identity object provides identification information for
the device. This includes the device manufacturer, product
name, product type, serial number and revision.

Refer to the DeviceNet Specification (Vol. II, Sec. 6-2) for
complete requirements.

Status Attribute – This is a bit field that represents the
current status of the device. Two of the bits in the Status
attribute, the Minor Recoverable Fault and Major
Recoverable Fault bits, shall never be set. In accordance
with the semiconductor industry standard, all module level
faults are considered to be unrecoverable faults.

Table 6. Identity Object Revision History

Revision Description

01 Initial Release

Watlow Series SD6 PID with DeviceNet ■ 5 ■

Table 8. Identity Object Instance Attributes

Class Services: NONE

Instance Services:

• RESET (O,1) GET ATTRIBUTE SINGLE

DeviceNet Object

Class Code: 03hex

The DeviceNet Object is used to provide the configuration
and status of a physical attachment to DeviceNet.

The MACID attribute provides the network address for the
device. If the rotary switches used to specify the device
MACID are set to a valid MACID, i.e. a value from 0 to 63,
the MACID attribute shall have Get Only access. If the
rotary switches are set to the programmable mode, the
MACID attribute shall have Get and Set access.

The Baud Rate attribute specifies the data rate for the
device. If the rotary switch used to set the data rate speci­fies a valid data rate, i.e. 125, 250, or 500K Baud, the Baud
Rate attribute shall have Get Only access. If the rotary
switches are set to the software programmable mode, the
MACID shall have Get and Set access.

The Allocate Master/Slave Connection Set service of the
DeviceNet object shall be a required service for all devices.
This implies a requirement that all devices are Group 2
devices on the DeviceNet network. Additionally, all devices
shall support, as a minimum, the Explicit connection and
the I/O Poll connection in the Master/Slave connection set.

The Release Master/Slave Connection Set service of the
DeviceNet object shall be a required service.

Refer to the DeviceNet Specification (Vol. I, Sec. 5-5) for
complete requirements.

Table 9. DeviceNet Object Revision History

Revision Description

01 Initial Release

02 Modification of Baud Rate Attribute

Behavior

Attribute # Access Rule Name DeviceNet Data

Type

Description of
Attribute

Semantics of
Values

1 Get Vendor ID UNIT Identification of each

vendor by number.
This is Vendor ID

153.

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

2 Get Product Type UNIT Identification of gen-

eral type of product.
This is Type 0.

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

3 Get Product Code UNIT WATLOW SD6-DN,

CODE IS 105

WATLOW SD6-DS,
CODE IS 104

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

4 Get Revision STRUCT of: Revision of the item

the Identity Object
represents

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

5 Get Status WORD Summary status of

device

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

6 Get Serial Number UDINT Serial number of

device

Set in accordance
with a Watlow manu­facturing guidelines.

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

7 Get Product Name SHORT_STRING Human readable ID:

“Watlow Series SD6”

See “Semantics”
DeviceNet Spec, Vol.
II, Sec. 6-2.2

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Table 10. DeviceNet Object Class Attributes

Table 11. DeviceNet Object Instance Attributes

Table 13. Assembly Object Instance Attributes

Instance # Access Rule Name DeviceNet Data

Type

Description of
Instance

Semantics of
Values

100 Get/Set Poll Output LONG + USINT Poll Output See Poll output in

section 6.2.4

101 Get Poll Input USINT + LONG +

USINT + USINT

Poll Input See Poll input in

section 6.2.4

Attribute # Access Rule Name DeviceNet Data

Type

Description of
Instance

Semantics of
Values

3 Get/Set Data Array of BYTES See description

below

See description
below

Class Services: GET ATTRIBUTE SINGLE

Instance Services: *SET ATTRIBUTE SINGLE (when

MACID or BAUD RATE in PRG MODE), GET
ATTRIBUTE SINGLE, ALLOCATE M/S CONNECTION
SET, RELEASE M/S CONNECTION SET.

Assembly Object – “Static”

Class Code: 04hex

The Assembly Object binds attributes of multiple objects,
which allows data to or from each object to be sent or
received over a single connection. Assembly objects can be
used to bind input data or output data. The terms “input”
and “output” are defined from the network’s point of view.

An input will produce data on the network and an output
will consume data from the network.

The term “Static” implies: assemblies with member lists
defined by the device profile or by the manufacturer of the
product. The Instance number, number of Members, and
member list are fixed.

Table 12. Assembly Object Revision History

Revision Description

01 Initial Release

02 Class-specific Service Code 4B

and 4C obsolete

Attribute # Access Rule Name DeviceNet Data

Type

Description of
Attribute

Semantics of
Values

1 Get/Set* MACID USINT Node Address Range 0.. 63

2 Get/Set* Baud Rate USINT Baud Rate Range 0.. 2

4 Get Bus-Off Counter USINT Number of times CAN

went to the bus-off
state

Range 0.. 255

5 Get Allocation Information

Allocation Choice
Byte

Master’s MAC ID

STRUCT of:

BYTE

USINT

See Vol. I,
Section 5-5.4.2.
MAC ID of Master
(from Allocate)

Range 0.. 63, 255

Modified via Allocate
only

Attribute # Access

Rule

Name DeviceNet Data

Type

Description of
Attribute

Semantics of Values

1 Get Revision UINT Revision of this object The revision level of this

object. This is now at 2.

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Poll Connection

The poll connection allows the master to write set point and process value in one connection. It also allows the reading of
all process value, set point and alarm status.

Table 14. Static Input – Instance 101 in the Assembly Object - 7 bytes

Table 15. Static Output – Instance 100 in the Assembly Object - 5 bytes

Byte(s) Parameter and Description Size of Data Range

0-3 Closed Loop Set Point - Control

set point used in the auto mode

DINT -1999.000 to 9999.000

4 Control Modes -

Breakdown of byte:

USINT

Bit 0: Selects whether the
controller is in the auto or
manual mode.

(0) Auto mode

(1) Manual mode

Bit 1: Selects whether the set
point adjustment is done via
the SD front panel or
through DeviceNet

(0) DeviceNet

(1) SD front panel

Bit 2: Selects whether
Auto/Manual mode selection
is done via the SD front
panel or through DeviceNet.

(0) DeviceNet

(1) SD front panel

Bit 3 to Bit 7: Not used N/A

Byte(s) Parameter and Description Size of Data Range

0 Exception Status Byte - Byte

reserved for future use.

USINT Always returns a value of

zero.

1-4 Process Value- Actual value of

process input

DINT -1999.000 to 9999.000

5 Alarm Status - Indicates when

alarm outputs are in alarm con­dition.

Breakdown of byte:

Bit 0: alarm low 1 status
Bit 1: alarm high 1 status
Bit 2: alarm low 2 status
Bit 3: alarm high 2 status
Bit 4 to bit 7: unused

USINT For each bit:

(0) None

(1) Alarm

6 Control Mode -

Breakdown of byte:

Bit 0: monitor the auto / manu-

al status.

Bit 1 to bit 7: unused

USINT (0) Auto mode

(1) Manual mode

Watlow Series SD6 PID with DeviceNet ■ 8 ■

Class Services: NONE

Instance Services:

• 0x0E GET ATTRIBUTE SINGLE

• 0x10 SET ATTRIBUTE SINGLE

Additional Poll Connection information:

• In the event of the input error, a valid process value reading is no longer available. The poll connection will return a
value of 9999.999 for the process value while the error condition exists.

• Bit 1 and bit 2 of byte 4 in the output poll connection select whether set point and auto / manual mode values are
changed from the SD’s front panel or else over DeviceNet through the poll connection. Setting the bit to “zero” will relin­quish control of the parameter to the DeviceNet master device (typically the master is a PLC). Setting the bit to “one” will
retain control of the parameter locally at the front panel of the Series SD controller. If there is a loss of communications,
control of auto / manual mode and adjustment of set point will automatically return to the Series SD front panel regardless
of the settings of byte 4 in the output poll connection.

Connection Object

Class Code: 05hex

The Connection Class allocates and manages the internal resources associated with both I/O and Explicit Messaging
Connections. The specific instance generated by the Connection Class is referred to as a Connection Instance or a
Connection Object.

A Connection Object within a particular module actually represents one of the end-points of a Connection. It is possible for
one of the Connection end-points to be configured and “active” (e.g., transmitting) without the other end-point(s) being
present. Connection Objects are used to model the communication specific characteristics of a particular application-to­application relationship. A specific Connection Object Instance manages the communication-specific aspects related to an
end-point.

Watlow Series SD6 PID with DeviceNet ■ 9 ■

Table 17. Connection Object Class Attributes

Attribute # Access

Rule

Name DeviceNet Data

Type

Description of
Attribute

Semantics of Values

Explicit Connection

The Explicit Connection Object defines the configuration for the Explicit connection to the device. The Explicit Connection
object is an instance of the Connection Object defined in the DeviceNet Specification. All devices that are compliant with
the DeviceNet Specification must support at least one instance of the Connection object with a connection type of Explicit.

I/O Connection

I/O Connection objects define the configuration for the I/O connections to the device. Each I/O Connection object is an
instance of the Connection object defined in the DeviceNet Specification. All devices must be Group 2 devices and must sup­port, as a minimum, the I/O Poll connection in the Master/Slave connection set.

Watchdog Timeout Action Attribute defines the action performed by the I/O Connection object in the event the
Inactivity/watchdog Timer for the connection expires. For the I/O Connection object, Auto Reset shall be an invalid value
for the Watchdog Timeout Action attribute. (ref. SIG Specification sec. 4.1.5.1.1)

Produced Connection Path Attribute defines the Application object class, instance, and attribute that produces data
over the I/O connection. For all I/O connections, the Produced Connection Path shall be a Logical Segment, as defined in
the DeviceNet Specification, and shall point to the Data Attribute of an Assembly object. The behavior of the device shall
be such that, if the Produced Connection Path attribute is modified, the Produced Connection Size Attribute shall be
modified internally to accurately reflect the size of the assembly produce by the I/O connection. For all I/O connection
objects in the Master/Slave Connection Set, if the Produced Connection Path attribute is modified, the new attribute value
shall be saved in Non-Volatile (NV) memory and shall be the default value when the connection is allocated. (ref. SIG
Specification sec. 4.1.5.1.2).

Produced Connection Size Attribute specifies the maximum number of data bytes produced over the I/O connection.
The Produced Connection Size attribute shall have Get Only access for all I/O connection objects. The Produced Connection
Size attribute shall accurately reflect the size of the assembly produced over the I/O connection. (ref. SIG Specification sec.

4.1.5.1.3).

Consumed Connection Path Attribute defines the Application object class, instance, and, optionally, attribute that con­sumes data received over the I/O connection. For all I/O connections over which the device is the Server (as specified by the
Direction field of the Transport Class Trigger attribute), then special requirements as defined in the Semi SIG specification
shall be followed. (ref. SIG Specification sec. 4.1.5.1.4)

Consumed Connection Size Attribute specifies the maximum number of data bytes consumed by the I/O connection
objects. The Consumed Connection Size attribute shall accurately reflect the size of the assembly consumed by the I/O con­nection, as specified by the Consumed Connection Path attribute of the Data With ACK Path List attribute of the
Acknowledge Handler object. (ref. SIG Specification sec. 4.1.5.1.5)

Refer to the Semi SIG specification (Sec. 4.1.4/5) for Semi requirements.

Refer to the DeviceNet Specification (Vol. II, Sec. 6-3) for complete requirements.

Table 16. Connection Object Revision History

Revision Description

01 Initial Release

Watlow Series SD6 PID with DeviceNet ■ 10 ■

Table 18. Connection Object Instance Attributes

Attribute#Access

Rule

Name DeviceNet

Data Type

Description of Attribute Semantics of

Values

1 Get State USINT State of the object

2 Get Instance Type USINT Indicates either I/O or Messaging

3 Get Transport Class

Trigger

BYTE Defines behavior of the Connection

4 Get Produced

Connection ID

UINT Placed in CAN Identifier Field when

the Connection transmits

5 Get Consumed

Connection ID

UINT CAN Identifier Field value that

denotes message to be received

6 Get Initial Comm

Characteristics

BYTE Defines the Message Group(s)

across which productions and con­sumption associated with this
Connection when it occurs

7 Get Produced

Connection Size

UNIT Maximum number of bytes transmit-

ted across this Connection

8 Get Consumed

Connection Size

UNIT Maximum number of bytes received

across this Connection

9 Get/Set Expected Packet

Rate

UNIT Will round up to the next 100 mSec.

Increment.

12 Get/Set Watchdog Timeout

Action

USINT Defines how to handle

Inactivity/Watchdog timeouts

For Explicit
Connection only:

1 = Auto Delete
3 = Deferred Delete

13 Get Produced

Connection Path
Length

UINT Number of bytes in the Produced

Connection Path Attribute

14 Get Produced

Connection Path

EPAT H Specifies the Application Object(s)

whose data is to be produced by this
Connection Object. See Appendix I,
DeviceNet Specification

15 Get Consumed

Connection Path
Length

UINT Number of bytes in the Consumed

Connection Path Length

16 Get Consumed

Connection Path

EPAT H Specifies the Application Object(s)

that are to receive data consumed
by this Connection Object. See
Appendix I, DeviceNet Specification