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1398-um004_-en-p
1398-um004_-en-p
March 26, 2018 | Author: Lisias Moura | Category:
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ULTRA 100 SeriesDigital Servo Drives with DeviceNet 7KLVPDQXDOZDVFUHDWHGIRU 'HYLFH1HW)LUPZDUH Important User Information Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards. The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication. Allen-Bradley publication SGI-1.1, Safety Guidelines for the Application, Installation, and Maintenance of Solid-State Control (available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication. Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen-Bradley Company, Inc., is prohibited. Throughout this manual we use notes to make you aware of safety considerations. For example: ATTENTION ! This symbol identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss. Attention statements help you to: l identify a hazard l avoid the hazard l recognize the consequences TIP This symbol identifies information that is critical for successful application and understanding of the product. © 1999 Rockwell International Corporation. All rights reserved. Printed in the United States of America. UL and cUL are registered trademarks of Underwriters Laboratories. Table of Contents Chapter: 1 Safety Using the ULTRA 100 Series, Digital Servo Drive with DeviceNet . . 1-1 Your Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Electrical Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Voltage Potentials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Motor Power Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Shield Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Mechanical Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Stored Energy Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Safety Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 Chapter: 2 Introduction Purpose of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 DeviceNet Interface Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Predefined Master/Slave Connection Set . . . . . . . . . . . . . . . 2-2 Explicit Response/Request Messages . . . . . . . . . . . . . . . . . . 2-2 Polled I/O Command/Response Messages . . . . . . . . . . . . . . 2-2 Change-of-State/Cyclic Messages . . . . . . . . . . . . . . . . . . . . . 2-3 Chapter: 3 Connect to the DeviceNet network Wiring the open-style connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Chapter: 4 Network configuration of ULTRA 100 Drive with DeviceNet Setting rotary DIP switches to node address and data rate . . . . . . . 4-1 Configuring the Network using Software . . . . . . . . . . . . . . . . . . . . . . . 4-2 Creating the EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 Modifying ULTRA 100 Drive with DeviceNet Configuration Data . . . 4-7 Appendix: A Using Messaging with a 1747-SDN DeviceNet Scanner Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1 Understanding Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1 The Scanner Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1 Communicating with Your Device’s Input/Output Data . . . . . . . . . . .A-2 Communicating with the SLC 500 Processor . . . . . . . . . . . . . . . . . . . .A-3 Scanner Module Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-5 Scanner Module Configuration Table (SCT) . . . . . . . . . . . . .A-5 Scan List Table (SLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-5 RSNetworx for DeviceNet Software . . . . . . . . . . . . . . . . . . . . . . . . . . .A-6 Explicit Messaging with the 1747-SDN Scanner . . . . . . . . . . . . . . . . .A-6 How it Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-6 How to Format the Explicit Message Transaction block . . . . . .A-7 1 Publication 1398-5.4 - December 1999 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-2 Select Command and Response Assembly Object Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-2 Set the Logic Command Mask (Parameter 287) . . . . . . . . . . . . .2 Appendix: B Polled I/O Examples Example 1: RAM Index Setup and Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-8 Set the RAM Index type for Absolute Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-6 Set the RAM Index Position Using User Defined Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-15 Publication 1398-5. . . . . . . . . . .B-11 Set the RAM Index Position Using User Defined Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-13 Torque Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-9 Start Index Command . . . . . . . . . . . .D-15 Start Index . . . .B-8 Enable Host Index Control . . . . . . . . . . .December 1999 . . . . . .D-4 Data Type Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-3 Object Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-2 Enable Host Index Control . . . .D-14 Integrator Inhibit . . . . . . . . . . . . . . . . . . . . . . . . .D-15 Define Home . . . . . . . . . . . . . . . . . .B-23 Appendix: C Explicit Message Examples Example 1: RAM Index Setup and Move . . . . . . . . . . .D-14 Selection Table of Presets .D-3 The Defined Object Interface . . . . . . . . .C-17 Read the Current Motor Position . . . . . . . . . . . . . . . . . . . . . . . .B-17 Enable the 1747-SDN Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-2 Set the RAM Index Type for Absolute Move . . . . . . . . . . . . . . . . . .C-13 Example 2: Display the Current Position in User Units . . . . . . . . . . . .D-8 Assembly Object (Class ID 04H) . . . . .C-17 Appendix: D Programming Reference Object Model . . . . . . . . . . . . . . . . . .D-14 Follower Enable . . . . . . . . . . . . . . . . . . . . . .4 . . . . . . . . . . . . . .D-14 Operation Mode Override . . . . . . . . . . . . .D-10 Logic Command . .B-13 Start Index Command . . . . . . . . .D-5 Identity Object (Class ID 01H) . . . . . . . . . . . .B-17 Select Command and Response Assembly Object Data . . . . . . . . . . . . . . . . . . . . . .B-6 Enable the 1747-SDN Scanner . .D-8 DeviceNet Object (Class ID 03H) . . . . . . . . . . .Table of Contents . . . . . . . . . . . . . .D-15 Disable Serial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-16 Example 2: Display the Current Position in User Units . . . . . . . . . . . . . . . . . . . . . .D-5 Message Router Object (Class ID 02H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-2 How Objects Affect Behavior . . . .B-23 Read Current Motor Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1 LED displays .Table of Contents . . . . . . . . . . .D-61 Get_Attribute_All Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-21 DeviceNet Communication Fault Action . . . . . .D-16 Enable .D-17 Logic Status Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-5 Appendix: F Specifications DeviceNet Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .December 1999 . . . . . . . . . . . . . . . . . . . . . .LED Status Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-19 Torque Override . F-1 Publication 1398-5. . . . . . . . . . . . . . . . . . . . . . .D-76 Appendix: E Problem Solving Operator-level diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-20 Preset Select A. . . . . . . . . . . . . . . . . . . . . .3 Remove COMMAND Offset . . . . . . . .D-20 In Motion . . . . . . . . . . . . . .D-21 Using Explicit Messaging to Control the ULTRA 100 . . . . . . . . . . . E-4 Cable Installation and Design Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-20 Sequence Complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-23 Parameter Object (Class ID 0FH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16 Command Data . . . . . . . . . . . . . . . . . . . . . . . . . . .D-24 New Parameters . . . . . . . . . . . . . . . . . . . . . . . B. . C . . . . . . .D-58 Using the Fault Configured Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 . . . . . . . .D-66 Acknowledge Handler Object (Class ID 2BH) . .D-20 In Dwell . . . . . . . . . . . . . .D-16 Feedback Data Pointer . . . .D-20 Registration Detected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16 Fault Reset . .D-21 Enable Active . . . . . . . . . . . . . . . . E-1 Node Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-19 Integrator Inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3 Device Failure . . . . . . . . . . . . . . .D-20 Follower Enable . . . . . . . .D-20 Operation Mode Override . . . . . . . . . . . . . . . . . . . . . . . . . . .D-15 Start Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-64 Parameter Group Object (Class ID 10H) . . . . . . . . . . . . . . . . . . E-5 Adjusting the Physical Network Configuration . .D-20 Fault Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-22 DeviceNet Connection Object (Class ID 05H) . . . . . . . . . . . . . . . . . . . . . . . E-3 Scanner Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-19 Brake Active . . . . . . . . . . . . . . . . . E-3 Wiring Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-19 Drive Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-4 Power Supply Problems . . . . . . . . . . . . . . . . . .D-20 At Home . . . . . . . . . . . . . . . . . . . . . . . . . . . Table of Contents .4 .4 Publication 1398-5.December 1999 . QVWDOODWLRQ0DQXDO SXEOLFDWLRQ .WLVUHFRPPHQGHGWKDW\RXDOVRUHDGWKH8/75$6HULHV. Digital Servo Drive with DeviceNet .Chapter 1 Safety Using the ULTRA 100 Series. QVWDOODWLRQ0DQXDO SXEOLFDWLRQ .LQDGGLWLRQWRWKLVPDQXDOEHIRUHDWWHPSWLQJWRLQVWDOORU RSHUDWHWKH8/75$'ULYHZLWK'HYLFH1HW%\UHDGLQJWKHPDQXDOV\RX ZLOOEHFRPHPRUHIDPLOLDUZLWKVDIHSUDFWLFHVDQGSURFHGXUHVIRURSHUDWLRQRI WKH8/75$'ULYHZLWK'HYLFH1HW7KLVPDQXDOSURYLGHV'HYLFH1HW VSHFLILFLQIRUPDWLRQ8VHWKH8/75$6HULHV. 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DDM-019(X) DN.December 1999 . 1-6 Safety Mechanical Hazards 0HFKDQLFDOKD]DUGVDUHW\SLFDOO\DVVRFLDWHGZLWKWKHDXWRPDWLFPRYHPHQWRI PDFKLQHFRQWUROOHGURWDWLQJDQGUHFLSURFDWLQJHTXLSPHQW$SSURSULDWH SUHFDXWLRQVPXVWEHWDNHQWRHQVXUHSRZHUWRWKHGHYLFHLVGLVFRQQHFWHG EHIRUHSHUVRQQHOKDYHDFFHVVWRWKHPRYLQJSDUWVRIDV\VWHP ATTENTION ! 6HFXUHPRXQWLQJRIDOOPRYLQJFRPSRQHQWVEHIRUH SRZHULQJDV\VWHP 0RWRUVDQGOLQNDJHVPXVWEHVHFXUHO\PRXQWHGEHIRUHD V\VWHPLVRSHUDWHG'LVDVVHPEOHGHTXLSPHQWVKRXOGEH DSSURSULDWHO\LGHQWLILHG WDJJHGRXW. DQGDFFHVVWRHOHFWULFDO SRZHUUHVWULFWHG ORFNHGRXW. )DLOXUHWRREVHUYHWKHVHVDIHW\SURFHGXUHVFRXOGUHVXOWLQ SHUVRQDOLQMXU\DQGRUGDPDJHWRHTXLSPHQW ATTENTION ! 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PGM) 78 2 3 5 6 4 9 01 5 6 4 78 9 23 MSD LSD 01 Data Rate 125KB 250KB 500KB Autobaud V+ Can_H Shield Can_L V– 1 Publication 1398-5.1 ULTRA 100 Drive with DeviceNet Module Status Network Status Node Address (00-63. 2GDWDH[FKDQJHGRYHUWKLVFRQQHFWLRQLVSUHGHILQHG 7KHSURFHVVFRQWUROOHU QRUPDOO\D3/&RUDFRPSXWHUUXQQLQJ3/&HPXODWLRQ VRIWZDUH.2GDWD IRUWKHSURFHVVFRQWUROOHU$'HYLFH1HWPDVWHUVFDQVLWVVODYHGHYLFHVEDVHGRQ DVFDQOLVWLWFRQWDLQV$VODYHGHYLFHUHWXUQV.2-2 Introduction Predefined Master/Slave Connection Set $VHWRIPHVVDJLQJFRQQHFWLRQVWKDWIDFLOLWDWHFRPPXQLFDWLRQVDQGLVW\SLFDOO\ VHHQLQDPDVWHUVODYHUHODWLRQVKLSLVNQRZQDVWKH3UHGHILQHG0DVWHU6ODYH &RQQHFWLRQVHW7KHPDVWHULVWKHGHYLFHWKDWJDWKHUVDQGGLVWULEXWHV.2GDWDWRLWVPDVWHUGHYLFH7KH . 2&KDQJH RI 6WDWHDQG&\FOLF 0HVVDJLQJ Explicit Response/Request Messages ([SOLFLWUHTXHVWPHVVDJHVDUHXVHGWRSHUIRUPRSHUDWLRQVVXFKDVUHDGLQJDQG ZULWLQJDWWULEXWHV([SOLFLWUHVSRQVHPHVVDJHVLQGLFDWHWKHUHVXOWVRIWKH DWWHPSWWRVHUYLFHDQH[SOLFLWUHTXHVWPHVVDJH:LWKLQWKHVODYHGHYLFHH[SOLFLW UHTXHVWVDQGUHVSRQVHVDUHUHFHLYHGDQGWUDQVPLWWHGE\DVLQJOHFRQQHFWLRQ REMHFW Polled I/O Command/Response Messages 7KH3ROOFRPPDQGLVDQ.4 .FDQUHFHLYHLQIRUPDWLRQWKURXJKDPDVWHUVFDQQLQJGHYLFHDQGD 8/75$'ULYHZLWK'HYLFH1HW7KH8/75$'ULYHZLWK'HYLFH1HW VXSSRUWV([SOLFLW3ROOHG .2PHVVDJHWUDQVPLWWHGE\WKHPDVWHUGHYLFH$3ROO FRPPDQGLVGLUHFWHGWRZDUGDVSHFLILFVODYHGHYLFH$VHSDUDWH3ROOFRPPDQG PXVWEHVHQWWRHDFKVODYHGHYLFHWKDWLVWREHSROOHG7KH3ROOUHVSRQVHLVWKH .2PHVVDJHWKDWWKHVODYHGHYLFHWUDQVPLWVEDFNWRWKHPDVWHUGHYLFH:LWKLQ WKHVODYHGHYLFH3ROOFRPPDQGVDQGUHVSRQVHVDUHUHFHLYHGDQGWUDQVPLWWHGE\ DVLQJOHFRQQHFWLRQREMHFW Publication 1398-5.December 1999 . Introduction 2-3 Change-of-State/Cyclic Messages $&KDQJH RI 6WDWH&\FOLFPHVVDJHLVGLUHFWHGWRZDUGVDVLQJOHVSHFLILFQRGH PDVWHURUVODYH. QWKHPDVWHURUVODYHGHYLFHWKHSURGXFLQJ&KDQJH RI 6WDWH PHVVDJHDQGWKHFRQVXPLQJ$FNQRZOHGJHPHVVDJHDUHUHFHLYHGWUDQVPLWWHG E\RQHFRQQHFWLRQREMHFW 7KHFRQVXPLQJ&KDQJH RI 6WDWHPHVVDJHDQGSURGXFLQJ$FNQRZOHGJH PHVVDJHVDUHUHFHLYHGWUDQVPLWWHGE\DVHFRQGFRQQHFWLRQREMHFW • 8/75$'ULYHZLWK'HYLFH1HWLPSOHPHQWVWKH8QFRQQHFWHG0HVVDJH 0DQDJHU 8&00.$Q$FNQRZOHGJHUHVSRQVHPD\RUPD\QRWEHUHWXUQHGWR WKLVPHVVDJH. 4 .ZKLFKLVXVHGWRHVWDEOLVKDQH[SOLFLWPHVVDJH FRQQHFWLRQ7KLVFRQQHFWLRQLVWKHQXVHGWRPRYHLQIRUPDWLRQIURPRQH QRGHWRDQRWKHU • )DXOWHGQRGH5HFRYHU\DOORZVWKHQRGHDGGUHVVRIDGHYLFHWREHFKDQJHG HYHQZKHQLWLVIDXOWHGRQWKHQHWZRUN7KLVIHDWXUHUHTXLUHVWKHVXSSRUWRI SURSHU3&VRIWZDUHWRROV • 8VHUFRQILJXUHG)DXOW5HVSRQVHSURYLGHVWKHDELOLW\WRFXVWRPL]H FRPPXQLFDWLRQHUURUPHVVDJHVWRWKHGULYHDFWLRQV Publication 1398-5.December 1999 . December 1999 .2-4 Introduction Publication 1398-5.4 . Chapter 3 Connect to the DeviceNet network $'HYLFH1HWQHWZRUNLVDDUUDQJHPHQWRIHOHFWULFDOSRZHUDQGGHYLFH GLVWULEXWLRQ$'HYLFH1HWQHWZRUNLVSODQQHGDQGDGMXVWHGIRURSWLPDO FRPPXQLFDWLRQV %HIRUHSURFHHGLQJWRDGGGHYLFHV\RXQHHGWRUHFRUGWKHIROORZLQJ • • • • • QHWZRUNGDWDUDWH QHWZRUNFDEOHV\VWHPPDS WRSRORJ\. ) 39 m (128 ft.) 6 m (20 ft.WRZKLFK\RXDUHFRQQHFWLQJ GLVWDQFHVEHWZHHQFDEOHV\VWHPFRPSRQHQWV GHYLFHFXUUHQWGUDZDQGYROWDJHGURSIRUHDFKGHYLFHRQWKHQHWZRUNDQG OLPLWDWLRQRIWKHWUXQNDQGGURSFDEOHV 5HIHUWRWKHIROORZLQJUHFRPPHQGHGWUXQNDQGGURSOHQJWKV Data Rates 125 Kbps 250 Kbps 500 Kbps Thick Trunk Line 500 m (1.) 100 m (328 ft.) 5HIHUWRWKH'HYLFH1HW&DEOH6\VWHP3ODQQLQJDQG.) Cumulative Drop Budget 156 m (512 ft.) 78 m (256 ft.) 100 m (328 ft.QVWDOODWLRQ0DQXDO SXEOLFDWLRQ '1.) 100 m (328 ft.) Maximum Drop Length 6 m (20 ft.) 250 m (820 ft.) Thin Trunk Lengths 100 m (328 ft.640 ft.) 6 m (20 ft. 4 .December 1999 .IRUVSHFLILFJXLGDQFHLQFDOFXODWLQJDQGDWWDFKLQJWKH8/75$ 'ULYHZLWK'HYLFH1HWWRDQHWZRUN 1 Publication 1398-5. 3-2 Connect to the DeviceNet network Wiring the open-style connector 7RDWWDFKDSOXJDEOHRSHQVW\OHVFUHZFRQQHFWRUWRWKH'HYLFH1HWFDEOH 6WULSPP LQ. WRPP LQ. RIWKHRXWHUMDFNHWIURPWKHHQGRIWKH OLQHOHDYLQJQRPRUHWKDQPP LQ. RIWKHEUDLGHGVKLHOGH[SRVHG :UDSWKHHQGRIWKHOLQHZLWKPP LQ. RIVKULQNZUDSFRYHULQJSDUWRI WKHH[SRVHGZLUHVDQGSDUWRIWKHWUXQNOLQHLQVXODWLRQ 6WULSPP LQ. RIWKHLQVXODWLRQIURPWKHHQGRIHDFKRIWKHLQVXODWHG ZLUHV7ULPWKHODVWPP LQ. RIWKHEDUHZLUHVVRWKDWWKHRXWVLGH GLPHQVLRQGRHVQRWH[FHHGPP LQ. .QVHUWHDFKZLUHLQWRWKHDSSURSULDWHFODPSLQJFDYLW\RIWKHSOXJDEOHVFUHZ FRQQHFWRUDFFRUGLQJWRWKHFRORURIWKHFDEOHLQVXODWLRQ7LJKWHQWKH FODPSLQJVFUHZVWRVHFXUHHDFKZLUH Publication 1398-5.December 1999 .4 . Connect to the DeviceNet network 3-3 8VHDLQFKIODWEODGHGVFUHZGULYHUWRILUPO\DWWDFKZLUHVLQWKH FRQQHFWRU plug connector red V + White Can_H bare Shield blue Can_L black V Device Connector Cable Color Designation 5 red V+ 4 white Can_H 3 bare Shield 2 blue Can_L 1 black V- $WWDFKWKH8/75$'ULYHZLWK'HYLFH1HWWRWKH'HYLFH1HWQHWZRUN ATTENTION ! 6WDWLFGLVFKDUJHRFFXUULQJDWWKH'HYLFH1HWFRQQHFWRURQ WKH8/75$'ULYHZLWK'HYLFH1HWPD\FDXVHD PDOIXQFWLRQ 6WDWLFFRQWUROSUHFDXWLRQVDUHUHTXLUHGZLWKZLUH FRQQHFWLRQVWRWKH8/75$'ULYHZLWK'HYLFH1HW 5HIHUWR*XDUGLQJ$JDLQVW(OHFWURVWDWLF'DPDJH SXEOLFDWLRQ RURWKHUDSSOLFDEOH(6'SURWHFWLRQKDQGERRN )DLOXUHWRREVHUYHWKLVVDIHW\SURFHGXUHFRXOGUHVXOWLQ SHUVRQDOLQMXU\DQGRUGDPDJHWRHTXLSPHQW Publication 1398-5.4 - December 1999 3-4 Connect to the DeviceNet network Publication 1398-5.4 - December 1999 Chapter 4 Network configuration of ULTRA 100 Drive with DeviceNet 3&LQWHUIDFHFDUGVDQG56GHYLFHPRGXOHVDUHDYDLODEOHWKDWDOORZ\RXWR FRQQHFWDFRPSXWHUGLUHFWO\WRD'HYLFH1HWQHWZRUNWRFRPPXQLFDWHZLWK GHYLFHVRQWKHQHWZRUN7KLVDOORZV\RXWRXVH'HYLFH1HWPDQDJHPHQW VRIWZDUHWRKHOSLQFRQILJXULQJWKH'HYLFH1HWQHWZRUN Setting rotary DIP switches to node address and data rate 7KUHHURWDU\'.3VZLWFKHVDUHXVHGWRFRQILJXUHQRGHDGGUHVVDQGGDWDUDWH 7KHVZLWFKHVDUHUHDGDWSRZHUXSZKHQDUHVHWFRPPDQGLVLVVXHGIURPWKH 'HYLFH1HWQHWZRUNDQGZKHQ'HYLFH1HWSRZHULVUHVWRUHGDIWHUWKHGHWHFWLRQ RID'HYLFH1HWSRZHUORVV LQFOXGLQJWKHUHPRYDODQGUHLQVHUWLQJRIWKH 'HYLFH1HWFRQQHFWRU. 3VZLWFKHV06' 0RVW6LJQLILFDQW'LJLW. 7KUHHURWDU\'. DQG/6' /HDVW 6LJQLILFDQWGLJLW. DUHXVHGWRVHWWKHQRGHDGGUHVV . 7KHWKLUGURWDU\'.3 VZLWFKLVXVHGWRFRQILJXUHWKH'DWD5DWH NSVDQG$XWREDXG. Refer to Appendix D.December 1999 . Programming Reference for more information.4 . LSD 9 01 Data Rate The programmed values are accessible via Parameters objects and the DeviceNet Object.1 Rotary DIP Switches Node Address (00-63. 125KB 250KB 500KB Autobaud 1 Publication 1398-5. PGM) 78 23 6 4 5 MSD 9 01 78 23 The node address and data rate are programmable if the rotary switch Node address is not valid (>63). 6 4 5 The node address and data rate default values are: a node address of 63 and a data rate of 125 kps. :LWKWKH'HYLFH1HWFDEOHGLVFRQQHFWHGIURPWKH8/75$'ULYHZLWK 'HYLFH1HWRUWKHSRZHUWRWKHGHYLFHWXUQHG2))\RXFDQVDIHO\FKDQJHWKH VZLWFKHVWRGHVLUHGVHWWLQJV7KH$XWREDXGVHOHFWLRQDXWRPDWLFDOO\PDWFKHVWKH GHYLFHGDWDUDWHWRWKHUDWHRIWKHQHWZRUN Figure 4. 4-2 Network configuration of ULTRA 100 Drive with DeviceNet Configuring the Network using Software ATTENTION ! &RPPLVVLRQLQJWKH8/75$'ULYHZLWK'HYLFH1HWFDQ GLVUXSWQHWZRUNFRPPXQLFDWLRQV(QVXUH\RXUGHYLFHLV QRWFRQQHFWHGWRDOLYH'HYLFH1HWQHWZRUN 6HWWKHQRGHDGGUHVVDQGGDWDUDWHYLDWKHURWDU\VZLWFKHV ZLWKWKH'HYLFH1HWFDEOHGLVFRQQHFWHGIURPWKH8/75$ 'ULYHZLWK'HYLFH1HWRUWKHSRZHUWRWKHGHYLFH WXUQHGRIIDWLWVVXSSO\ 8VLQJ\RXU'HYLFH1HWPDQDJHPHQWVRIWZDUHVHOHFWWKH1HWZRUNVFUHHQWR FKHFNDYDLODEOHQRGHVHWWLQJV$GGWKH8/75$'ULYHZLWK'HYLFH1HW (OHFWURQLFGDWD6KHHW ('6. 2 Rockwell Software’s RSNetWorx for DeviceNet network screen 5RFNZHOO6RIWZDUH·V561HW:RU[IRU'HYLFH1HWVRIWZDUHDOORZVDXVHUWR FUHDWHDZRUNDEOH('6ILOHGLUHFWO\IURPWKH8/75$'ULYHZLWK 'HYLFH1HW7KH('6ILOHLVDOVRDYDLODEOHDWWKH5RFNZHOO$XWRPDWLRQ $OOHQ%UDGOH\ZHEVLWH ZZZDEFRP.WRWKHPDQDJHPHQWVRIWZDUH·VOLEUDU\ Figure 4. 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Publication 1398-5. 4 .Network configuration of ULTRA 100 Drive with DeviceNet 4-3 Creating the EDS File ('6ILOHVDUHDOVRDYDLODEOHWREHGRZQORDGHGIURPWKHZRUOGZLGHZHEDW ZZZDEFRPQHWZRUNVHGV TIP 'RQRWJHQHUDWHDQ('6ILOHIURPWKH8/75$'ULYH ZLWK'HYLFH1HWXQOHVVDQ('6ILOHLVQRWDYDLODEOH $WWHPSWLQJWRFUHDWHRUHGLWDQ('6ZLOOGHVWUR\WKH FXUUHQW('6LQIRUPDWLRQ 5RFNZHOO6RIWZDUH·V561HW:RU[IRU'HYLFH1HWDOORZVDXVHUWRFUHDWHD ZRUNDEOH('6ILOHE\XSORDGLQJSDUDPHWHULQIRUPDWLRQGLUHFWO\IURPWKH 8/75$'ULYHZLWK'HYLFH1HW &RQQHFWWRWKH'HYLFH1HWQHWZRUNE\SUHVVLQJ)RUVHOHFWLQJ 1HWZRUN!2QOLQHIURPWKHPHQX 5RFNZHOO6RIWZDUH·V561HW:RU[IRU'HYLFH1HWLVQRZFRQQHFWHGWRWKH 'HYLFH1HWQHWZRUN6HOHFW1HWZRUN!6LQJOH3DVVEURZVHIRUPWKH PHQX 5HJLVWHUWKHGHYLFHE\VHOHFWLQJ'HYLFH!5HJLVWHU'HYLFHIRUPWKHPHQX RUULJKWFOLFNRQWKHGHYLFHDQGVHOHFW5HJLVWHU'HYLFHIURPWKHZLQGRZ Publication 1398-5.December 1999 . 4-4 Network configuration of ULTRA 100 Drive with DeviceNet Publication 1398-5.4 .December 1999 6HOHFW8SORDG('6 (QVXUHWKHYHQGRUDQGSURGXFWLQIRUPDWLRQLVFRUUHFWDQGFOLFNWKH1H[W EXWWRQ . Network configuration of ULTRA 100 Drive with DeviceNet 4-5 (QDEOHWKH3ROOHGFRQQHFWLRQDQGVHOHFWWKHGHIDXOWLQSXWVL]HRIE\WHV DQGWKHGHIDXOWRXWSXWVL]HRIE\WHV(QDEOHWKH&26&\FOLFFRQQHFWLRQ DQGVHOHFWWKHGHIDXOWLQSXWVL]HRIE\WHVDQGWKHGHIDXOWRXWSXWVL]HRI E\WHV$OVRHQVXUHWKDWWKH&26ER[LVFKHFNHGDQGFOLFNWKH1H[W EXWWRQ Publication 1398-5.December 1999 .4 . December 1999 $IWHUUHDGLQJDOOWKHGDWDIURPWKHGULYHDQGYHULI\LQJWKHRSHUDWLRQZDVD VXFFHVVFOLFNWKH1H[WEXWWRQ 6HOHFWWKHQHZGHYLFHDQGFOLFNWKH&KDQJH.4-6 Network configuration of ULTRA 100 Drive with DeviceNet Publication 1398-5.4 .FRQEXWWRQLIDQLFRQRWKHU WKDQGHIDXOWQHHGVWREHVHOHFWHG$IWHUVHOHFWLQJWKHQHZLFRQFOLFNWKH 1H[WEXWWRQ &OLFNWKH1H[WEXWWRQDQG\RXFDQVHHWKH8/75$'ULYHZLWK 'HYLFH1HWLFRQ . 4 .Network configuration of ULTRA 100 Drive with DeviceNet Modifying ULTRA 100 Drive with DeviceNet Configuration Data 4-7 Now. Figure 4. the 8/75$'ULYHZLWK'HYLFH1HW device configuration data can be accessed with Rockwell Software’s RSNetWorx for DeviceNet or any other configuration tool that supports EDS files.3 Rockwell Software’s RSNetWorx for DeviceNet network screen Publication 1398-5.December 1999 . Invoke the tool configuration by double-clicking the 8/75$'ULYHZLWK'HYLFH1HW node in the Network Configuration screen or by selecting its icon and selecting Device>Properties from the menu. December 1999 .4 .4-8 Network configuration of ULTRA 100 Drive with DeviceNet Publication 1398-5. Appendix A Using Messaging with a 1747-SDN DeviceNet Scanner Getting Started 7KLVDSSHQGL[SURYLGHVLQIRUPDWLRQXVLQJD6'1'HYLFH1HWVFDQQHU 0RGXOHWRSURYLGHGHYLFH1HWFRPPXQLFDWLRQVEHWZHHQD6/&SURFHVVRU DQGRWKHU'HYLFH1HWGHYLFHV5HIHUWRWKHIROORZLQJPDQXDOVIRUPRUHGHWDLOHG SURGXFWLQIRUPDWLRQ • 6'1'HYLFH1HW6FDQQHU0RGXOH 3XE. • 6'1'HYLFH1HW6FDQQHU 3XE. 2.2 '. Understanding Messaging 7REHJLQZHQHHGWRXQGHUVWDQGWKHFRPPXQLFDWLRQLQWHUIDFHEHWZHHQWKH 6/&SURFHVVRUDQG'HYLFH1HWGHYLFHVWKURXJKWKH6FDQQHU0RGXOH The Scanner Module 7KH6FDQQHU0RGXOHFRPPXQLFDWHVZLWK'HYLFH1HWGHYLFHVRYHUWKHQHWZRUN WR • • • • 5HDGLQSXWVIURPDGHYLFH :ULWHRXWSXWVWRDGHYLFH 'RZQORDGFRQILJXUDWLRQGDWDDQG 0RQLWRUDGHYLFH·VRSHUDWLRQDOVWDWXV 7KH6FDQQHU0RGXOHFRPPXQLFDWHVZLWKWKH6/&SURFHVVRULQWKHIRUPRI 00ILOHWUDQVIHUVDQGRU'LVFUHWH. December 1999 .WWUDQVIHUVILOHVFRQWDLQLQJDPD[LPXPRI ZRUGVDQGPD\WDNHPRUHWKDQRQH6/&SURJUDPVFDQWR FRPSOHWH Publication 1398-5. IMPORTANT 1 7KH00ILOHWUDQVIHULVDPHWKRGRIPRYLQJODUJH DPRXQWVRIGDWDEHWZHHQD6/&SURFHVVRUDQGLWV6FDQQHU 0RGXOH.4 . A-2 Using Messaging with a 1747-SDN DeviceNet Scanner IMPORTANT 'LVFUHWHLQSXWDQGRXWSXW '.2. 2GDWD • 6WDWXVLQIRUPDWLRQDQG • &RQILJXUDWLRQGDWD Communicating with Your Device’s Input/Output Data 7KH6FDQQHU0RGXOHFRPPXQLFDWHV.WXVHVWKHVHPHVVDJHVWRVROLFLWGDWD IURPRUGHOLYHUGDWDWRHDFKGHYLFH'DWDUHFHLYHGIURPWKHGHYLFHVRULQSXW GDWDLVRUJDQL]HGE\WKH6FDQQHU0RGXOHDQGPDGHDYDLODEOHWR\RXU SURFHVVRU'DWDUHFHLYHGIURP\RXU6/&SURFHVVRURURXWSXWGDWDLV RUJDQL]HGLQWKH6FDQQHU0RGXOHDQGVHQWRQWR\RXUGHYLFHV $VWUREHPHVVDJHLVDPXOWLFDVWWUDQVIHURIGDWD ZKLFKLVELWVLQOHQJWK.LVWKHWUDQVIHURIRQHWR ZRUGVEHWZHHQD6/&SURFHVVRUDQGLWV6FDQQHU 0RGXOH$OOZRUGVRILQSXWGDWDDQGDOOZRUGVRI RXWSXWGDWDDUHXSGDWHGRQHDFK6/&SURJUDPVFDQ .2GDWDYLD6WUREH3ROO &KDQJH RI 6WDWHDQG&\FOLFPHVVDJHV.QIRUPDWLRQH[FKDQJHGLQFOXGHV • 'HYLFH. VHQW E\WKHVFDQQHUWKDWVROLFLWVDUHVSRQVHIURPHDFKVODYHGHYLFH7KHUHLVRQHELW IRUHDFKRIWKHSRVVLEOHQRGHDGGUHVVHV7KHGHYLFHVUHVSRQGZLWKWKHLU GDWDZKLFKFDQEHDVPDQ\DVE\WHV IMPORTANT 7KH8/75$'ULYHZLWK'HYLFH1HWGRHVQRWVXSSRUW WKH6WUREHPHVVDJHHYHQWKRXJKWKH6FDQQHU0RGXOHGRHV $3ROOPHVVDJHLVDSRLQWWRSRLQWWUDQVIHURIGDWD WRE\WHV. VHQWE\WKH VFDQQHUWKDWVROLFLWVDUHVSRQVHIURPDVLQJOHGHYLFH7KHGHYLFHUHVSRQGVZLWK LWVLQSXWGDWD WRE\WHV. QSXWDQGRXWSXWDUHGHILQHGIURPWKH6/&SURFHVVRU·V SRLQWRIYLHZ2XWSXWLVGDWDVHQWIURPWKHSURFHVVRUWRD GHYLFH.QSXWLVGDWDFROOHFWHGE\WKHSURFHVVRUIURPD GHYLFH .4 .December 1999 . $&KDQJHRI6WDWHPHVVDJHLVDSRLQWWRSRLQWWUDQVIHURIGDWDVHQWZKHQHYHUD GDWDFKDQJHRFFXUVRUDWDXVHUFRQILJXUDEOHKHDUWEHDWUDWH7KLVGRHVQRW VROLFLWDUHVSRQVH $&\FOLFPHVVDJHLVVHQWRQO\DWDXVHUFRQILJXUDEOHUDWH IMPORTANT Publication 1398-5. Using Messaging with a 1747-SDN DeviceNet Scanner IMPORTANT A-3 $OOGDWDVHQWDQGUHFHLYHGRQD'HYLFH1HWQHWZRUNLVLQ E\WHOHQJWKV$GHYLFHPD\IRUH[DPSOHSURGXFHRQO\WZR ELWVRILQSXWLQIRUPDWLRQ1HYHUWKHOHVVVLQFHWKHPLQLPXP GDWDVL]HRQD'HYLFH1HWQHWZRUNLVRQHE\WHWZRELWVRI LQIRUPDWLRQDUHLQFOXGHGLQWKHE\WHRIGDWDSURGXFHGE\ WKHGHYLFH.QWKLVFDVH RQO\WZRELWVRILQSXWLQIRUPDWLRQ. December 1999 .4 .1 1747-SDN Scanner Memory Mapping Communicating with the SLC 500 Processor <RXU6/&SURFHVVRUFRPPXQLFDWHVZLWKWKH6FDQQHU0RGXOHYLD0ILOH WUDQVIHUUHDGV0ILOHWUDQVIHUZULWHVDQG'.2WUDQVIHUV.QSXWGDWDJDWKHUHG IURPWKHQHWZRUN·VGHYLFHVLVRUJDQL]HGZLWKLQWKH6FDQQHU0RGXOHDQGLV PDGHDYDLODEOHIRUWKHSURFHVVRUWR´UHDGµIURPWKH0ILOH7KH6FDQQHU 0RGXOHGRHVQRWVHQGGDWDWR\RXU6/&SURFHVVRU'DWDWUDQVIHUUHGEHWZHHQ \RXU6FDQQHU0RGXOHDQG6/&SURFHVVRUPXVWEHLQLWLDWHGE\WKHSURFHVVRU 2XWSXWGDWDLVVHQWRU´ZULWWHQµWRWKH6FDQQHU0RGXOHE\\RXUSURFHVVRUE\ SODFLQJWKHGDWDLQWKH0ILOH7KLVGDWDLVRUJDQL]HGLQWKH6FDQQHU0RGXOH Publication 1398-5. WKHXSSHUVL[ELWVDUHLQVLJQLILFDQW Figure A. 2 Data transfer initiated by SLC 500 Processor Publication 1398-5.December 1999 .A-4 Using Messaging with a 1747-SDN DeviceNet Scanner ZKLFKLQWXUQSDVVHVWKHGDWDRQWR\RXUGHYLFHVYLD6WUREH3ROO &KDQJHRI6WDWHRU&\FOLFPHVVDJHV IMPORTANT IMPORTANT 7KH0ILOHWUDQVIHULVWKHWUDQVIHURIGDWDIURPWKH 6FDQQHU0RGXOHWRWKH6/&SURFHVVRU7KH6FDQQHU 0RGXOHPDNHVGDWDFROOHFWHGIURPWKHQHWZRUN VGHYLFHV DYDLODEOHIRUWKHSURFHVVRUWRUHDG $Q0ILOHWUDQVIHULVWKHWUDQVIHURIGDWDIURPWKH6/& SURFHVVRUWRWKH6FDQQHU0RGXOH7KH6/&SURFHVVRU ZULWHVGDWDWRWKH6FDQQHU0RGXOH VPHPRU\ Figure A.4 . Using Messaging with a 1747-SDN DeviceNet Scanner Scanner Module Tables A-5 7RPDQDJHWKHIORZRIGDWDEHWZHHQWKHSURFHVVRUDQGDQHWZRUN·VGHYLFHVWKH 6FDQQHU0RGXOHXVHVWKHIROORZLQJGDWDWDEOHV • • • • • • • 6FDQQHU0RGXOH&RQILJXUDWLRQ7DEOH 6FDQ/LVW7DEOH 'HYLFH.QSXW'DWD7DEOH 'HYLFH2XWSXW'DWD7DEOH 'HYLFH$FWLYH7DEOH 'HYLFH)DLOXUH7DEOHDQG &OLHQW6HUYHU7UDQVDFWLRQ7DEOHV <RXFDQGLUHFWO\FRQILJXUHWZRRIWKHVHGDWDWDEOHVWKURXJK5RFNZHOO 6RIWZDUH·V561HW:RU[IRU'HYLFH1HWVRIWZDUH7KHVHWDEOHVDUHVWRUHGLQWKH 6FDQQHU0RGXOH·VQRQYRODWLOHPHPRU\ • 6FDQQHU0RGXOH&RQILJXUDWLRQ7DEOH 6&7. DQG • 6FDQ/LVW7DEOH 6/7. 2XSGDWLQJIRUHDFKRI\RXUGHYLFHVRQWKHQHWZRUN.WWHOOVWKH6FDQQHU0RGXOH • LILWFDQWUDQVPLWDQGUHFHLYHLQSXWDQGRXWSXWGDWD • KRZORQJLWZDLWVDIWHUHDFKVFDQEHIRUHLWVFDQVWKHGHYLFHVDJDLQDQG • ZKHQWRVHQGRXWLWVSROOPHVVDJHV Scan List Table (SLT) 7KH6/7VXSSRUWV.W DOVRPDNHVLWSRVVLEOHIRU\RXU6FDQQHU0RGXOHWRPDNHGHYLFHGDWDDYDLODEOH WR\RXU6/&SURFHVVRU7KH6/7FRQWDLQVLQIRUPDWLRQIRU\RXU6FDQQHU 0RGXOH • :KLFKGHYLFHVWRVFDQ QRGHDGGUHVVHV. Scanner Module Configuration Table (SCT) 7KH6&7WDEOHFRQWUROVEDVLFLQIRUPDWLRQWKH6FDQQHU0RGXOHQHHGVWR IXQFWLRQRQ\RXU'HYLFH1HWQHWZRUN. • +RZWRVFDQHDFKGHYLFH VWUREHSROOFKDQJH RI VWDWHF\FOLFRUDQ\YDOLG FRPELQDWLRQ. 2. • +RZRIWHQWRVFDQ\RXUGHYLFHV • ([DFWO\ZKHUHLQHDFKGHYLFH·VPHPRU\WRILQGWKHGHVLUHGGDWD • 7KHVL]HRIWKHLQSXWGDWDRXWSXWGDWD • ([DFWO\ZKHUHWRPDSWKHLQSXWRURXWSXWGDWDIRU\RXUSURFHVVRUWRUHDG DQG • +RZ\RXUSURFHVVRUUHDGVHDFKGHYLFH·VLQSXWGDWD 00ILOHRU'. December 1999 .4 . Publication 1398-5. A-6 Using Messaging with a 1747-SDN DeviceNet Scanner RSNetworx for DeviceNet Software 5RFNZHOO6RIWZDUH·V561HW:RU[IRU'HYLFH1HWVRIWZDUHFRQILJXUHVWKH 6FDQQHU0RGXOH·VGDWDWDEOHV7KLVVRIWZDUHWRROFRQQHFWVWRWKH6FDQQHU 0RGXOHYLDWKH'HYLFH1HWQHWZRUNDQGDQ56FDEOHLQWHUIDFHRU3& LQWHUIDFHFDUG5HIHUWRWKHPDQXDOIRU561HW:RU[IRU'HYLFH1HWIRU LQIRUPDWLRQRQKRZWRFRQILJXUHWKHVFDQQHUPRGXOH Explicit Messaging with the 1747-SDN Scanner ([SOLFLW0HVVDJLQJLVDZD\RIDOORZLQJWKHXVHUWRFRQILJXUHDQGPRQLWRUD VODYHGHYLFH·VSDUDPHWHUVRQWKH'HYLFH1HWQHWZRUN7KLVIRUPRIPHVVDJLQJ LVSHUIRUPHGE\FRS\LQJGDWDWRDQGIURPWKH6/&SURFHVVRU0DQG0ILOHV ([SOLFLW0HVVDJLQJFDQRQO\EHGRQHE\WKH6/&SURFHVVRUWRVODYHGHYLFHV WKDWDUHPDSSHGLQWKHVFDQQHUPRGXOH·VVFDQOLVW How it Works 7KHUHDUHILYHVWHSVWRWKH([SOLFLW0HVVDJLQJSURFHVV7KHIROORZLQJLVDEULHI GHVFULSWLRQRIZKDWKDSSHQVGXULQJWKLVSURFHVV )RUPDWDQ0ILOHWUDQVIHULQWKH6/&SURFHVVRUWRVHQGDQ([SOLFLW 0HVVDJH5HTXHVWWRWKHVFDQQHUPRGXOH GRZQORDG. 7KHVFDQQHUPRGXOHWUDQVPLWVWKH([SOLFLW0HVVDJH5HTXHVWWRWKHVODYH GHYLFHRYHUWKH'HYLFH1HWQHWZRUN 7KHVODYHGHYLFHWUDQVPLWVWKH([SOLFLW0HVVDJH5HVSRQVHEDFNWRWKH VFDQQHUDQGLVTXHXHGLQWRDILOHWUDQVIHUEXIIHU 7KHSURFHVVRUXVHVDQ0ILOHWUDQVIHUWRUHWULHYHWKH([SOLFLW0HVVDJH 5HVSRQVHIURPWKHVFDQQHU·VEXIIHU XSORDG. 'UHDGLQVWHS7KHWUDQVDFWLRQ.December 1999 . )RUPDWDQ0ILOHWUDQVIHUZLWKD'HOHWH5HVSRQVHFRPPDQGDQGXVHWKH FXUUHQWWUDQVDFWLRQ.4 .WLVLPSRUWDQWWRQRWHWKDWWKHUHLVDUHTXHVWPHVVDJHDQGD UHVSRQVHPHVVDJHZKHWKHU\RXDUHUHDGLQJRUZULWLQJD SDUDPHWHU .'VDUHGHOHWHGDQG FDQEHUHXVHG IMPORTANT Publication 1398-5. QD UHVSRQVHWKLVFRQWDLQVWKH6HUYLFH5HVSRQVH'DWDRQO\ Publication 1398-5.December 1999 .3 Data transfer initiated by SLC 500 Processor Format of 32-word M0 Transfer File for Explicit Message Request 15 0 Transaction TXID command Header port size service MAC ID (3 words) Format of 32-word M1 Transfer File for Explicit Message Response Class 15 word 224 0 Transaction TXID status Header port size service MAC ID (3 words) Transaction 1 word 224 Transaction 1 Instance Attribute (optional) Service Data Service Response Data word 255 word 255 7KHPHVVDJHEXIIHULVFRPSRVHGRIWZRVHFWLRQV • 7UDQVDFWLRQKHDGHU³WKUHHZRUGVWKDWFRQWDLQLQIRUPDWLRQLGHQWLI\LQJWKH PHVVDJHWUDQVDFWLRQ • 7UDQVDFWLRQERG\³LQDUHTXHVWWKLVFRQWDLQVWKH'HYLFH1HW&ODVV .4 .QVWDQFH$WWULEXWHDQG6HUYLFH'DWDSRUWLRQVRIWKHWUDQVDFWLRQ.Using Messaging with a 1747-SDN DeviceNet Scanner A-7 How to Format the Explicit Message Transaction block 7KHUHDUHWHQZRUGWUDQVDFWLRQEORFNVZLWKLQWKHVFDQQHUPRGXOHUHVHUYHG IRU([SOLFLW0HVVDJH3URJUDP&RQWURO7KHVHWUDQVDFWLRQEORFNV DFFRPPRGDWHERWKGRZQORDGLQJRI([SOLFLW0HVVDJH5HTXHVWVDQGWKH XSORDGLQJRI([SOLFLW0HVVDJH5HVSRQVHV7KHVFDQQHUPRGXOHFDQ DFFRPPRGDWHRQHUHTXHVWRUUHVSRQVHIRUHDFKWUDQVDFWLRQEORFN7KH IROORZLQJILJXUHGHVFULEHVWKHIRUPDWDQGPDSSLQJRIWUDQVDFWLRQEORFNVIRU UHTXHVWDQGUHVSRQVHPHVVDJHVLQWKHVFDQQHUPRGXOH Figure A. MAC ID The DeviceNet network address of the slave device where the transaction is sent. the status code provides the processor with status on the device and its response: 0 = Ignore transaction block (block empty) 1 = Transaction completed successfully 2 = Transaction in progress (not ready) 3 = Error — Slave not in scan list 4 = Error — Slave off-line 5 = Error — DeviceNet port disabled or off-line 6 = Error — Transaction TXID unknown 7 = Error — Slave not responding to request 8 = Error — Invalid command code 9 = Error — Scanner out of buffers 10 = Error — Other client/server transaction in progress 11 = Error — Could not connect to slave device 12 = Error — Response data too large for block 13 = Error — Invalid port 14 = Error — Invalid size specified 15 = Error — Connection busy 16 to 255 = Reserved PORT The DeviceNet port used by this message. This is a one-byte integer in word 31 the range of 1 to 255. an error code will be returned. This value can range from 0 to 63.SDN scanner only has 1 port/channel. The port must be zero (Channel A) as the1747. SIZE The size of the transaction body in bytes. COMMAND For each download. The slave device must be listed in the scanner modules scan list and be on-line for the Explicit Message transaction to be completed. the processors ladder logic program can assign a TXID to the transaction. SERVICE The service attribute contains the DeviceNet service request and response codes that match the corresponding request for the TXID. 7KHIRUPDWRIDOO'HYLFH1HWH[SOLFLWPHVVDJHVVXSSRUWHGE\WKH8/75$ 'ULYHZLWK'HYLFH1HWLV . If the size exceeds 29 words. The transaction body can be up to 29 words (58 bytes) in length.A-8 Using Messaging with a 1747-SDN DeviceNet Scanner (DFKRIWKHGDWDILHOGVLQWKHWUDQVDFWLRQKHDGHUDUHRQHE\WHLQOHQJWK Transaction header data fields Data Field Description TXID Transaction ID — when the processor creates and downloads a request to the scanner. and returns the value with the response that matches the request downloaded by the processor. The port and MAC ID uniquely identify the target slave device. The scanner uses this value to track the transaction to completion. a command code instructs the scanner how to administer the request: 0 = Ignore transaction block (block empty) 1 = Execute this transaction block 2 = Get status of transaction TXID 3 = Reset all client/server transactions 4 = Delete this transaction block from response queue 5 to 255 = Reserved STATUS For each upload. :LWKLQDQH[SOLFLWPHVVDJHWKHFODVVILHOGLV ELWVORQJDQGWKHLQVWDQFHILHOGLVELWVORQJ Publication 1398-5.4 .December 1999 . QGH[LQJYHUVLRQ.B Appendix Polled I/O Examples 7KHVHH[DPSOH·VXVHD6/&6'1DQGDQ8/75$'ULYHZLWK 'HYLFH1HW . .QDGGLWLRQWKHVHH[DPSOHVDVVXPH • 7KH'HYLFH1HW6FDQQHU·VPRGXOHLVLQ6ORWRIWKH6/&FKDVVLV • /DGGHUSURJUDPPLQJLVGRQHXVLQJ5RFNZHOO6RIWZDUH 56/RJL[ Y . • 7KH'HYLFH1HWQHWZRUNLVFRQILJXUHGXVLQJ5RFNZHOO6RIWZDUH 561HW:RU[IRU'HYLFH1HW Y . DQG • $OOSHUVRQDOFRPSXWHUFRPPXQLFDWLRQLQWHUIDFLQJLVGRQHXVLQJ5RFNZHOO 6RIWZDUH 56/LQ[ Y . Figure B. PGM) 2 3 5 78 01 2 3 9 01 RS-232 CABLE 5 78 J2 MSD LSD Data Rate 125KB 250KB 500KB L1 L2/N 6 4 DC Bus 6 4 + 9 PERSONAL COMPUTER 100-240 VAC 50/60 Hz Autobaud V+ R Can_H J1 S Shield Can_L Motor V T DEVICENET CABLE 1 Examples Starts on page Example 1: RAM Index Setup and Move B-2 Example 2: Display the Current Position in User Units B-17 Publication 1398-5.1 Example setup SLC 500 CONTROLLER ULTRA 100 Ultra Series Allen Bradley 1747-SDN DEVICENET SCANNER Module Status Status Network Status J5 Node Address Quality CHANNEL 0 (00-63.December 1999 .4 . QGH[LQJ9HUVLRQ.B-2 Polled I/O Examples Example 1: RAM Index Setup and Move 7KLVH[DPSOHZLOOH[SODLQWKHVWHSVUHTXLUHGWRVHWXSDQGH[HFXWHD5$0LQGH[ PRYHXVLQJSROOHG.2PHVVDJHVZLWKWKH8/75$'ULYHZLWK'HYLFH1HW . QGH[SRLQWHUDOUHDG\SRLQWVWRWKH 5$0LQGH[EXWLIDQRWKHUZDVWREHVHOHFWHGWKHQWKH SRLQWHUZRXOGQHHGWREHPRGLILHGWRSRLQWWRWKHUHTXLUHG LQGH[ IMPORTANT Select Command and Response Assembly Object Data 7KHW\SHRI3ROOHG.'DWDLVVHQWDQGUHFHLYHGYLDLQVWDQFHVRIWKH$VVHPEO\ 2EMHFW5HIHUWRSDJH'IRUDGHVFULSWLRQRIWKH$VVHPEO\2EMHFWLQVWDQFHV LPSOHPHQWHGLQWKH8/75$'ULYHZLWK'HYLFH1HW)RUSXUSRVHVRIWKLV H[DPSOHZHZLOODVVXPHWKDWWKHV\VWHPKDVDOUHDG\FRPSOHWHGDKRPLQJ URXWLQHDQGWKH8/75$'ULYHZLWK'HYLFH1HWLVHQDEOHG )RUWKHSXUSRVHVRIWKLVH[DPSOHWKH5$0LQGH[ZLOOXVH GHIDXOWYDOXHIRUWKH6SHHG$FFHOHUDWLRQDQG'HFHOHUDWLRQ RIUSP7KH+RVW.2FRPPDQGDQGUHVSRQVHPHVVDJHVZLOOQHHGWREH VSHFLILHGDORQJZLWKWKHFRUUHFWVHWWLQJLQWKH6/&VFDQQHU·VVFDQOLVW7KHW\SH RISROOHG DQGFKDQJHRIVWDWHF\FOLF. .QGH[LQJYHUVLRQ.2PHVVDJHVLVVSHFLILHGE\VHWWLQJWKH '1HW.2)RUPDW 3DUDPHWHU. and Cyclic I/O Messaging Input (response) Assembly Instance ID used for Polled I/O Messaging Input (response) Assembly Instance ID used for Change of State and Cyclic Messaging Type 1 1 (0 Bytes) 2 (4 Bytes) 2 (4 Bytes) Type 2 3 (2 Bytes) 2 (4 Bytes) 2 (4 Bytes) Type 3 5 (3 Bytes) 4 (8 Bytes) 2 (4 Bytes) Type 4 6 (8 Bytes) 4 (8 Bytes) 2 (4 Bytes) Refer to the Parameter Objects for more information about the DNet I/O Format parameter.QWKLVH[DPSOH7\SHZLOOEHXVHG)LJXUH%VKRZV7\SHEHLQJVHOHFWHG IRUWKH'1HW. I/O Format Type DeviceNet I/O Format Output (command) Assembly Instance ID used for Polled.December 1999 .2)RUPDWXVLQJ5RFNZHOO6RIWZDUH·V561HW:RU[IRU Publication 1398-5. . Assembly Object. Change of State.4 . December 1999 .4 .Polled I/O Examples B-3 'HYLFH1HW.2 Select parameter and I/O format Publication 1398-5.2)RUPDWSDUDPHWHULVPRGLILHGWKHQWKH8/75$ 'ULYHZLWK'HYLFH1HWKDVWREHHLWKHU • UHVHW • SRZHUF\FOHGRU • WKH'HYLFH1HWFDEOHGLVFRQQHFWHGDQGUHFRQQHFWHGEHIRUHWKHQHZ.IWKH'1HW.2 IRUPDWW\SHLVXVHG Figure B. 2IRUPDWWKH8/75$'ULYHZLWK 'HYLFH1HWDFFHSWVWKHIROORZLQJGDWD %\WHV.B-4 Polled I/O Examples :LWK7\SHVHOHFWHGIRUWKH'1HW. Low Middle Byte 6 Feedback Data Value .Low Byte 5 Feedback Data Value .Low Middle Byte 6 Command Data Value . Output (command) Assembly for Instance ID = 6 Byte Bit 7 Bit 6 Bit 5 0 Preset Select Preset Select Operation B A Mode Override 1 Enable 2 Reserved 3 Write Command Data 4 Command Data Value . I/O (response) Assembly for Instance ID = 4 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 Drive Enabled At Speed Negative ILimit 1 Drive Ready Brake Active 2 Preset Select B Preset Select A 3 Enable Active Fault Reset 4 Feedback Data Value .High Middle Byte 7 Command Data Value .2IRUPDWWKH8/75$'ULYHZLWK 'HYLFH1HWVHQGVWKHIROORZLQJHLJKWE\WHVLQWKH3ROOHG.High Byte Bit 3 Bit 2 Bit 1 Bit 0 Positive Ilimit Within Velocity Window Zero Velocity Within Position Window In Position Axis Homed Write Data Busy/Ack Write Data Error Reserved Fault Disable DC Bus Charged Operation Mode Override Reverse Clamp Forward Clamp Follower Enable Integrator Inhibit Torque Override Registration Detected In Dwell In Motion Sequence Complete At Home Preset Select C $IWHUVHOHFWLQJ7\SHDQGFURVVUHIHUHQFLQJWRWKH$VVHPEO\2EMHFWDV GHVFULEHGLQ$SSHQGL['WKHGDWDVL]HLVGHWHUPLQHGWREHE\WHVIRUVFDQQHU 7[ WUDQVPLW.High Middle Byte 7 Feedback Data Value .2UHVSRQVH Assembly Object.Low Byte 5 Command Data Value .2FRPPDQG Assembly Object.High Byte Fault Reset Bit 4 Bit 3 Reserved Start Homing Remove Command Offset Disable Serial Bit 2 Bit 1 Bit 0 Follower Enable Integrator Inhibit Torque Override Define Home Start Index Preset Select C Feedback Data Pointer Reserved Command Data Pointer :LWK7\SHVHOHFWHGIRUWKH'1HW.IRUD3ROOHG. 6L]HDQGE\WHVIRUWKHVFDQQHU5[ UHFHLYH. December 1999 .4 .6L]H7KLVGDWD Publication 1398-5. 4 .QSXWDQG2XWSXWVFUHHQVIURP5RFNZHOO6RIWZDUH·V561HW:RU[IRU 'HYLFH1HWIRUWKH6'16FDQQHU0RGXOH Figure B.Polled I/O Examples B-5 QHHGVWREHHQWHUHGLQWRWKH.3 Edit I/O Parameters Figure B.4 Input screen of the 1747-SDN Scanner Module Publication 1398-5.2SDUDPHWHUVRIWKHVFDQQHU5HIHUWRWKH IROORZLQJ.December 1999 . 5 Output screen of the 1747-SDN Scanner Module Set the Logic Command Mask (Parameter 287) 2QFHWKH.4 .B-6 Polled I/O Examples Figure B.2IRUPDWLVVHOHFWHGDQGWKHFRUUHFWDPRXQWRI5HFHLYHDQG 7UDQVPLWGDWDKDYHEHHQHQWHUHGWKH/RJLF&RPPDQG0DVNQHHGVWREHVHWXS 7KH/RJLF&RPPDQG0DVNLV3DUDPHWHUDQGHDFKFRQWUROSRLQWWKDWLVWR EHFRQWUROOHGWKURXJK'HYLFH1HWQHHGVWREHVHOHFWHG Publication 1398-5.December 1999 . 7 Select control points IMPORTANT 'HIDXOWIRUWKH/RJLF&RQWURO0DVN 3DUDPHWHU.Polled I/O Examples B-7 Figure B.6 Select Logic Command Mask Figure B. 4 .December 1999 .LV 7KDWLVQRFRQWUROSRLQWVZLOOEHXVHGE\WKH'ULYHZKHQD 3ROOHG0HVVDJHLVUHFHLYHGE\WKH8/75$'ULYHZLWK 'HYLFH1HW Publication 1398-5. '/(PRGH IMPORTANT 581 7KHVFDQQHUPRGXOHPDSVRXWSXWGDWDIURPLWVVFDQQHU RXWSXWWDEOH 02.B-8 Polled I/O Examples Enable the 1747-SDN Scanner 7KHVFDQQHUPRGXOHKDVDPRGXOHFRPPDQGUHJLVWHUORFDWHGDW:RUGLQWKH RXWSXWLPDJHDUHDIRUWKHVORW%LWRI:RUGVHWVVFDQQHUPRGXOHLQWRHLWKHU 581RU. QSXWVDUHUHFHLYHGDQGPDSSHGLQWRWKH VFDQQHULQSXWWDEOH 0.DQGGLVFUHWHRXWSXWVWRHDFKGHYLFHRQ WKHQHWZRUN. QSXWGDWDLVUHWXUQHGIURP GHYLFHVDQGPDSSHGLQWRWKHVFDQQHULQSXWWDEOH 0.'/( 7KHVFDQQHUGRHVQRWPDSRXWSXWGDWDWRWKHGHYLFHVEXW NHHSVQHWZRUNFRQQHFWLRQVWRGHYLFHVRSHQVRGHYLFH IDLOXUHVFDQEHGHWHFWHG.DQGGLVFUHWHLQSXWV2XWSXWVRQ WKHQHWZRUNDUHXQGHU6/&SURJUDPFRQWURO IMPORTANT . QGH[&RQWURO 3DUDPHWHU.2PHVVDJHZLOOVHWWKH+RVW.DQG WKHGLVFUHWHLQSXWV2XWSXWVRQWKHQHWZRUNDUHQRWXQGHU SURJUDPFRQWURODQGZLOOEHLQWKHLUFRQILJXUHG¶LGOHVWDWH· 7KHVFDQQHULVSXWLQWRWKLVPRGHWRSHUIRUPRQOLQH FRQILJXUDWLRQRIWKHVFDQQHUGDWDEDVHWDEOHV Figure B.8 Enable the 1747-SDN Scanner 1747-SDN Run Bit O:1 First Pass S:1 0 15 Enable Host Index Control 7KHILUVW3ROOHG. QGH[ 3DUDPHWHU. IODJWUXHDOORZLQJWKH+RVW. QGH[IODJLVWUXHDQGWKHSRLQWHULVVHWIRUDVSHFLILFLQGH[DVWDUWLQGH[ FRPPDQGZLOOEHDFFHSWHGWKURXJKHLWKHUDFRUUHFWO\DVVLJQHGGLJLWDOLQSXW 'HYLFH1HWRUWKURXJKD+RVW0RGH&RPPDQG 6HULDO.QGH[WKHGULYHZLOOH[HFXWHZKHQDVWDUWLQGH[FRPPDQGLVJLYHQ:KHQWKH +RVW.SRLQWHUWRGHWHUPLQHZKLFK . 7KH&RPPDQG'DWDSRLQWHUVSHFLILHVZKLFKFRPPDQGLVXSGDWHGLQWKH 8/75$'ULYHZLWK'HYLFH1HWZKHQWKH:ULWH&RPPDQG'DWDELWLVVHW KLJK . December 1999 .$IXOOOLVWRIDYDLODEOHFRPPDQGGDWDSRLQWHUVDQGFRUUHVSRQGLQJ FRPPDQGVDUHOLVWHGLQWKH$VVHPEO\2EMHFW&RPPDQG'DWDWDEOHRIWKH 3URJUDPLQJ5HIHUHQFH$SSHQGL['RQSDJH')LJXUH% RQSDJH% GHWDLOVVHWWLQJWKH&RPPDQG'DWD3RLQWHUFRPPDQGGDWDYDOXHDQG:ULWH Publication 1398-5.4 . Command Data Value.9 Setting the Command Data Pointer.Polled I/O Examples B-9 &RPPDQGGDWDELW7KHGDWDLVEHLQJZULWWHQWRWKH.3 0< Publication 1398-5.December 1999 .2LPDJHWDEOHIRUVORW EDVHGRQWKHSK\VLFDOORFDWLRQRIWKHVFDQQHUPRGXOH Figure B.4 . and Write Command Data bit Assembly Object Store Data Pointer MOV Move Source 0000 Dest 5 5< N9:0 5< Setting the Command Data Pointer to the Upper Byte of the SLC Output Word Assembly Object Command Data Store bit 0 Pointer bit 0 N9:0 O:1 0001 0 40 Assembly Object Command Data Store bit 1 Pointer bit 1 N9:0 O:1 1 41 Assembly Object Command Data Store bit 2 Pointer bit 2 N9:0 O:1 2 42 Assembly Object Command Data Store bit 3 Pointer bit 3 N9:0 O:1 3 43 Assembly Object Command Data Store bit 4 Pointer bit 4 N9:0 O:1 4 44 Setting the Command Data Value Command Data Value Low Word 0002 MOV Move Source Dest 1 1< O:1. 9 (continued) Setting the Command Data Pointer. and Write Command Data bit Setting the Write Command Data bit and then Setting the Compare after the Drive Sends the Acknowledge 0003 ULTRA 100 Write Command Data Busy/Ack I:1 Assembly Object Store Data Value NEQ Not Equal Source A 28 Source B ULTRA 100 Write Command Data Busy/Ack I:1 28 One-shot B3:0 OSR 0 ULTRA 100 Write Command Data Bit O:1 N9:0 5< N9:1 5< 47 Assembly Object Compare Data Value MOV Move Source N9:0 5< Dest N9:1 5< Figure B.10 Data file output 2QFHWKHUHVSRQVH:ULWH'DWD%XV\$FNLVVHWORZ.B-10 Polled I/O Examples Figure B. ELWE\WHRIWKH 5HVSRQVH$VVHPEO\ZLOOEHFOHDU ]HUR. Command Data Value. 4 .7KH:ULWH&RPPDQG'DWDELWKDVWR EHFOHDUHGEHIRUHWKH:ULWH'DWD%XV\$FNELWZLOOEHFOHDUHGE\WKH'ULYH :KHQWKH'ULYHVHWVWKH:ULWH'DWD%XV\$FNELWORZLWLVUHDG\WRUHFHLYH DQRWKHU&RPPDQG'DWDLQVWUXFWLRQ Publication 1398-5.December 1999 . December 1999 .2PHVVDJHZLOOVHWWKH5$0.QGH[W\SHWREHDQ$EVROXWH PRYH)LJXUH%GHWDLOVVHWWLQJWKH&RPPDQG'DWD3RLQWHU&RPPDQG'DWD YDOXHDQG:ULWH&RPPDQG'DWDELW7KHGDWDLVEHLQJZULWWHQWRWKH.4 .3 1< Publication 1398-5.2 LPDJHWDEOHIRUVORWEDVHGRQWKHSK\VLFDOORFDWLRQRIWKHVFDQQHUPRGXOH Figure B.Polled I/O Examples B-11 Set the RAM Index type for Absolute Move 7KHQH[W3ROOHG.11 Setting the Command Data Pointer (7) and Write Command Data bit Assembly Object Store Data Pointer MOV Move Source 0000 Dest 7 7< N9:0 7< Setting the Command Data Pointer to the Upper Byte of the SLC Output Word Assembly Object Command Data Store bit 0 Pointer bit 0 N9:0 O:1 0001 0 40 Assembly Object Command Data Store bit 1 Pointer bit 1 N9:0 O:1 1 41 Assembly Object Command Data Store bit 2 Pointer bit 2 N9:0 O:1 2 42 Assembly Object Command Data Store bit 3 Pointer bit 3 N9:0 O:1 3 43 Assembly Object Command Data Store bit 4 Pointer bit 4 N9:0 O:1 4 Setting the Command Data Value 0002 44 Command Data Value Low Word MOV Move Source Dest 1 1< 0:1. ELWE\WHRIWKH 5HVSRQVH$VVHPEO\ZLOOEHFOHDU ]HUR.B-12 Polled I/O Examples Figure B.11 (continued) Setting the Command Data Pointer (7) and Write Command Data bit Setting the Write Command Data bit and then Setting the Compare after the Drive Sends the Acknowledge ULTRA 100 Write Command Data Busy/Ack I:1 Assembly Object Store Data Value NEQ Not Equal Source A 0003 28 Source B ULTRA 100 Write Command Data Busy/Ack I:1 28 One-shot B3:0 OSR 0 ULTRA 100 Write Command Data Bit O:1 N9:0 7< N9:1 7< 47 Assembly Object Compare Data Value MOV Move Source N9:0 7< Dest N9:1 7< Figure B.12 Data file output 2QFHWKHUHVSRQVH:ULWH'DWD%XV\$FNLVVHWORZ. 7KH:ULWH&RPPDQG'DWDELWKDVWR EHFOHDUHGEHIRUHWKH:ULWH'DWD%XV\$FNELWZLOOEHFOHDUHGE\WKH'ULYH :KHQWKH8/75$'ULYHZLWK'HYLFH1HWVHWVWKH:ULWH'DWD%XV\$FN ELWORZLWLVUHDG\WRUHFHLYHDQRWKHU&RPPDQG'DWDLQVWUXFWLRQ Publication 1398-5.December 1999 .4 . Polled I/O Examples B-13 Set the RAM Index Position Using User Defined Scaling 7KHQH[W3ROOHG.QGH[ LQFRXQWVIURPDXVHUVFDOHGYDOXH)LJXUH%GHWDLOVVHWWLQJWKH&RPPDQG 'DWD3RLQWHU&RPPDQG'DWD9DOXHDQG:ULWH&RPPDQG'DWDELW7KHGDWDLV EHLQJZULWWHQWRWKH.2LPDJHWDEOHIRUVORWEDVHGRQWKHSK\VLFDOORFDWLRQ RIWKHVFDQQHUPRGXOH Figure B.December 1999 .4 .2PHVVDJHZLOOVHWWKHDEVROXWHSRVLWLRQIRUWKH5$0.13 Setting the Command Data pointer and Math Register Assembly Object Store Data Value MOV Move Source 0000 Dest 8 8< N9:0 8< Setting the Command Data Pointer to the Upper Byte of the SLC Output Word Assembly Object Command Data Pointer bit 0 Store bit 0 O:1 N9:0 0001 0 Assembly Object Store bit 1 N9:0 1 40 Command Data Pointer bit 1 O:1 41 Assembly Object Command Data Store bit 2 Pointer bit 2 N9:0 O:1 2 Assembly Object Store bit 3 N9:0 3 42 Command Data Pointer bit 3 O:1 43 Assembly Object Command Data Index bit value 4 Store bit 4 O:1 N9:0 4 44 Publication 1398-5. 4 1< Overflow Trap S:5 U 0 Setting the Write Command Data bit and then Setting the Compare after the Drive Sends the Acknowledge 0005 Assembly Object ULTRA 100 Write Store Data Value Command Data Busy/Ack NEQ I:1 Not Equal Source A 28 Source B ULTRA 100 Write Command Data Busy/Ack I:1 28 Publication 1398-5. and send the Command parameters Ensures the 32 bit Math Register is selected Math Overflow Selected S:2 L 14 First Pass S:1 0002 15 Converting user units to counts MUL Multiply Source A 0003 N9:10 5< N9:11 20000< N9:12 -31072< Source B Dest Setting the Command Data Value Command Data Value Low Word MOV Move Source 0004 Dest S:13 -31072< O:1.3 -31072< Command Data Value High Word MOV Move Source Dest S:14 1< O:1.13 (continued) Convert user units.1 8< .December 1999 One-shot B3:0 OSR 0 ULTRA 100 Write Command Data Bit O:1 N9:0 8< N9:1 8< 47 Assembly Object Compare Data Value MOV Move Source N9:0 8< Dest N9.4 .B-14 Polled I/O Examples Figure B. set Command Data Value. Polled I/O Examples B-15 7KHVHUXQJVFRQYHUWDELW ':RUGRU%\WH. SRVLWLRQYDOXHKDYLQJXVHU GHILQHGVFDOLQJLQWRDYDOXHLQFRXQWVWKDWWKHGULYHZLOOUHFRJQL]H7KHXVHU YDOXH LQWKLVFDVH. LVPXOWLSOLHGZLWKWKHVFDOHIDFWRU LQWKLVFDVH. IRU DUHVXOWRI)RUWKLVWKHELWPDWKUHJLVWHULVXVHGDQGKDVWREH HQDEOHG WKLVLVWKHSXUSRVHRIUXQJ7KHELWUHVXOWZLOOEHPRYHGLQWR WKH3ROOHG,2PHVVDJHDQGWKH0DWK2YHUIORZELWUHVHWVRWKH6/&ZLOOQRW IDXOW7KHPHVVDJHLVWKHQUHDG\WREHVHQW Figure B.14 Data file output Figure B.15 Math Status IMPORTANT ,IDVFDOLQJYDOXHWKDWLVKLJKHUWKDQLVQHHGHGWKH 0XOWLSO\ 08/LQUXQJFDQEHUHSODFHGZLWKD &RPSXWHU &374 .December 1999 .LQVWUXFWLRQXVLQJPXOWLSOHPXOWLSOLHVDV VKRZQLQ)LJXUH% Publication 1398-5. 16 Multiply output value CPT Compute Dest Expression N9:13 0< (N9:10*N9:11) * N9:12 2QFHWKHUHVSRQVH:ULWH'DWD%XV\$FNLVVHWORZ.B-16 Polled I/O Examples Figure B. ELWE\WHRIWKH 5HVSRQVH$VVHPEO\ZLOOEHFOHDU ]HUR. 2LPDJHWDEOHIRU VORWEDVHGRQWKHSK\VLFDOORFDWLRQRIWKHVFDQQHUPRGXOH IMPORTANT 7KH:ULWH'DWD%XV\$FNQHHGVWREH/RZEHIRUHWKH 6WDUW.4 .QGH[ FRPPDQGLVLVVXHG Figure B.17 Start Index Start Index B3:0 1 Publication 1398-5.7KH:ULWH&RPPDQG'DWDELWKDVWR EHFOHDUHGEHIRUHWKH:ULWH'DWD%XV\$FNELWZLOOEHFOHDUHGE\WKH'ULYH :KHQWKH8/75$'ULYHZLWK'HYLFH1HWVHWVWKH:ULWH'DWD%XV\$FN ELWORZLWLVUHDG\WRUHFHLYHWKH6WDUW.QGH[ SRLQWHUDOUHDG\SRLQWVWRWKH5$0LQGH[EXWLIDQRWKHUZDVWREHVHOHFWHG WKHQWKH&RPPDQG'DWD.2PHVVDJHZLOOVHWWKH6WDUW.QGH[RIFDQEHXVHGWRPRGLI\WKH+RVW.QGH[ SRLQWHULQRUGHUWRSRLQWWRWKHUHTXLUHGLQGH[ Start Index Command 7KHQH[W3ROOHG.QGH[%LW+LJKDWZKLFKWLPH WKH5$0LQGH[ZLOOVWDUW7KHGDWDLVEHLQJZULWWHQWRWKH.QGH[&RPPDQG7KH+RVW.December 1999 Ultra 100 Start Index O:1 25 1747-SDN .QGH[FRPPDQGLVVHQWRUSUHYLRXVO\ORDGHGGDWD PD\EHXVHGIRUWKHPRYH1HZLQGH[GDWDYDOXHVVHQWWR WKH8/75$'ULYHZLWK'HYLFH1HWZKLOHWKHLQGH[ PRYHLVH[HFXWLQJDUHEXIIHUHGXQWLOWKHQH[W6WDUW. Polled I/O Examples Example 2: Display the Current Position in User Units B-17 7KLVH[DPSOHZLOOH[SODLQWKHVWHSVUHTXLUHGWRUHDGDQGFRQYHUWWKHFXUUHQW PRWRUSRVLWLRQXVLQJDXVHUGHILQHGVFDOHZLWK3ROOHG.2PHVVDJLQJRQWKH 8/75$'ULYHZLWK'HYLFH1HW LQGH[LQJYHUVLRQ. 'DWDLVVHQWDQG UHFHLYHGYLDLQVWDQFHVRIWKH$VVHPEO\2EMHFW5HIHUWRSDJH'IRUD GHVFULSWLRQRIWKH$VVHPEO\2EMHFWLQVWDQFHVLPSOHPHQWHGLQWKH8/75$ 'ULYHZLWK'HYLFH1HW Select Command and Response Assembly Object Data 7KHW\SHRI3ROOHG.2FRPPDQGDQGUHVSRQVHPHVVDJHVZLOOQHHGWREH VSHFLILHGDORQJZLWKWKHFRUUHFWVHWWLQJLQWKH6/&VFDQQHU·VVFDQOLVW7KHW\SH RISROOHG DQG&KDQJHRI6WDWH&\FOLF. 2PHVVDJHVLVVSHFLILHGE\VHWWLQJ WKH'1HW..QGH[LQJYHUVLRQ.2)RUPDW 3DUDPHWHU. Change of State.QWKLVH[DPSOH7\SHZLOOEHXVHG)LJXUH%VKRZV7\SHEHLQJVHOHFWHG IRUWKH'1HW. Assembly Object.IWKH'1HW. I/O Format Type DeviceNet I/O Format Output (command) Assembly Instance ID used for Polled.4 .2 )RUPDWW\SHWREHXVHG Publication 1398-5.December 1999 . .2)RUPDWSDUDPHWHULVPRGLILHGWKHQWKH8/75$ 'ULYHZLWK'HYLFH1HWKDVWREHHLWKHU • UHVHW • SRZHUF\FOHGRU • WKH'HYLFH1HWFDEOHGLVFRQQHFWHGDQGUHFRQQHFWHGIRUWKHQHZ.2)RUPDWXVLQJ5RFNZHOO6RIWZDUH·V561HW:RU[IRU 'HYLFH1HW. and Cyclic I/O Messaging Input (response) Assembly Instance ID used for Polled I/O Messaging Input (response) Assembly Instance ID used for Change of State and Cyclic Messaging Type 1 1 (0 Bytes) 2 (4 Bytes) 2 (4 Bytes) Type 2 3 (2 Bytes) 2 (4 Bytes) 2 (4 Bytes) Type 3 5 (3 Bytes) 4 (8 Bytes) 2 (4 Bytes) Type 4 6 (8 Bytes) 4 (8 Bytes) 2 (4 Bytes) Refer to the Parameter Objects for more information about the DNet I/O Format parameter. B-18 Polled I/O Examples Figure B.18 Select device parameter and I/O format Publication 1398-5.4 .December 1999 . 2IRUPDWWKH8/75$'ULYHZLWK 'HYLFH1HWVHQGVWKHIROORZLQJHLJKWE\WHVLQWKH3ROOHG.Low Byte 5 Feedback Data Value .Low Middle Byte 6 Feedback Data Value .2IRUPDWWKH8/75$'ULYHZLWK 'HYLFH1HWDFFHSWVWKHIROORZLQJGDWDIRUD3ROOHG. I/O (response) Assembly for Instance ID = 4 Byte Bit 7 0 Bit 6 Bit 5 Bit 4 Drive Enabled At Speed Negative ILimit 1 Drive Ready Brake Active 2 Preset Select B Preset Select A 3 Enable Active Fault Reset 4 Feedback Data Value .High Byte Bit 3 Bit 2 Bit 1 Bit 0 Positive Ilimit Within Velocity Window Zero Velocity Within Position Window In Position Axis Homed Write Data Busy/Ack Write Data Error Reserved Fault Disable DC Bus Charged Operation Mode Override Reverse Clamp Forward Clamp Follower Enable Integrator Inhibit Torque Override Registration Detected In Dwell In Motion Sequence Complete At Home Preset Select C $IWHUVHOHFWLQJ7\SHDQGFURVVUHIHUHQFLQJWRWKH$VVHPEO\2EMHFWVWKHGDWD VL]HLVGHWHUPLQHGWREHE\WHVIRUVFDQQHU7[ 7UDQVPLW. Output (command) Assembly for Instance ID = 6 Byte Bit 7 Bit 6 Bit 5 0 Preset Select Preset Select Operation B A Mode Override 1 Enable 2 Reserved 3 Write Command Data 4 Command Data Value .2UHVSRQVH Assembly Object.High Middle Byte 7 Feedback Data Value .Low Middle Byte 6 Command Data Value .High Byte Fault Reset Bit 4 Bit 3 Reserved Start Homing Remove Command Offset Disable Serial Bit 2 Bit 1 Bit 0 Follower Enable Integrator Inhibit Torque Override Define Home Start Index Preset Select C Feedback Data Index Pointer Reserved Command Data Index :LWK7\SHVHOHFWHGIRUWKH'1HW.2FRPPDQG Assembly Object.Low Byte 5 Command Data Value .Polled I/O Examples B-19 :LWK7\SHVHOHFWHGIRUWKH'1HW.High Middle Byte 7 Command Data Value . 6L]HDQGE\WHVIRU WKHVFDQQHU5[ 5HFHLYH. 6L]H7KLVGDWDQHHGVWREHHQWHUHGLQWRWKH,2 Publication 1398-5.4 - December 1999 B-20 Polled I/O Examples SDUDPHWHUVRIWKHVFDQQHU5HIHUWRWKHIROORZLQJ,QSXWDQG2XWSXWVFUHHQV IURP5RFNZHOO6RIWZDUH·V561HW:RU[IRU'HYLFH1HWIRUWKH6'1 6FDQQHU0RGXOH Figure B.19 Edit I/O Parameter Publication 1398-5.4 - December 1999 Polled I/O Examples B-21 Figure B.20 1747-SDN Scanner Module Input Publication 1398-5.4 - December 1999 21 1747-SDN Scanner Module Output Publication 1398-5.B-22 Polled I/O Examples Figure B.4 .December 1999 . Polled I/O Examples B-23 Enable the 1747-SDN Scanner 7KHVFDQQHUPRGXOHKDVDPRGXOHFRPPDQGUHJLVWHUORFDWHGDW:RUGLQWKH RXWSXWLPDJHDUHDIRUWKHVORW%LWRI:RUGVHWVVFDQQHUPRGXOHLQWRHLWKHU 581RU,'/(PRGH IMPORTANT 581 7KHVFDQQHUPRGXOHPDSVRXWSXWGDWDIURPLWVVFDQQHU RXWSXWWDEOH 02DQGGLVFUHWHRXWSXWVWRHDFKGHYLFHRQ WKHQHWZRUN,QSXWVDUHUHFHLYHGDQGPDSSHGLQWRWKH VFDQQHULQSXWWDEOH 0DQGGLVFUHWHLQSXWV2XWSXWVRQ WKHQHWZRUNDUHXQGHU6/&SURJUDPFRQWURO IMPORTANT ,'/( 7KHVFDQQHUGRHVQRWPDSRXWSXWGDWDWRWKHGHYLFHVEXW NHHSVQHWZRUNFRQQHFWLRQVWRGHYLFHVRSHQVRGHYLFH IDLOXUHVFDQEHGHWHFWHG,QSXWGDWDLVUHWXUQHGIURP GHYLFHVDQGPDSSHGLQWRWKHVFDQQHULQSXWWDEOH 0 DQG.22 Enable the 1747-SDN Scanner 1747-SDN Run Bit O:1 First Pass S:1 0 15 Read Current Motor Position $3ROOHG. DVVKRZQLQ)LJXUH% 7KHGDWDFDQEHVFDOHGLQWRDXVHUGHILQHGYDOXHE\SODFLQJWKHGDWDLQWRWKH ELWPDWKUHJLVWHU 6HH029LQVWUXFWLRQVLQ)LJXUH%.2FRPPDQGLVXVHGWRVSHFLI\ZKDWIHHGEDFNGDWDVKRXOGEHUHWXUQHG LQWKH3ROOHG.DQG WKHGLVFUHWHLQSXWV2XWSXWVRQWKHQHWZRUNDUHQRWXQGHU SURJUDPFRQWURODQGZLOOEHLQWKHLUFRQILJXUHG¶LGOHVWDWH· 7KHVFDQQHULVSXWLQWRWKLVPRGHWRSHUIRUPRQOLQH FRQILJXUDWLRQRIWKHVFDQQHUGDWDEDVHWDEOHV Figure B.2UHVSRQVHIURPWKH8/75$'ULYHZLWK'HYLFH1HW$OLVW RIDYDLODEOHIHHGEDFNGDWDSRLQWHUVDQGFRUUHVSRQGLQJIHHGEDFNGDWDFDQEH IRXQGLQWKH$VVHPEO\2EMHFW)HHGEDFN'DWDWDEOHRIWKH3URJUDPPLQJ UHIHUHQFH$SSHQGL['RQSDJH')LJXUH%VHWVWKH)HHGEDFN'DWD 3RLQWHUWRRQHWRVHOHFWWKH0RWRU3RVLWLRQ7KH0RWRU3RVLWLRQLVUHWXUQHGLQ .2PHVVDJHLVVHQWWRWKH8/75$'ULYHZLWK'HYLFH1HWWR UHWULHYHWKHFXUUHQWSRVLWLRQGDWDLQFRXQWV7KH)HHGEDFN'DWD3RLQWHULQWKH 3ROOHG. 4 .DQGSHUIRUPLQJD 'RXEOH'LYLGHZLWKWKHDQVZHUEHLQJSODFHGLQ1 7KH0DWK2YHUIORZ Publication 1398-5.December 1999 . B-24 Polled I/O Examples ELWLVUHVHWVRWKH6/&ZLOOQRWJHQHUDWHDIDXOW)LJXUH%VKRZVWKHUDZGDWD IURP. DQG. . EHLQJUHDVVHPEOHGLQWKHELW0DWK5HJLVWHU Figure B.4 .4 1< S:14 1< DDV Double Divide Source N9:11 20000< Dest N9:10 5< Overflow Trap S:5 U 0 Publication 1398-5.December 1999 .23 Set the feedback index and convert values Ensures that the 32-bit Math Register is selected Math Overflow Selected S:2 L 14 First Pass S:1 0000 0 Setting the Feedback Data Pointer to Actual Position MOV Move Source 0001 Dest 1 1< O:1.3 -31072< S:13 -31072< I:1.2 1< Converting counts to user units 0002 MOV Move Source Dest MOV Move Source Dest I:1. 25 Data file input .IDVFDOLQJYDOXHWKDWLVKLJKHUWKDQLVQHHGHGWKHQ0XOWLSOH'RXEOH 'LYLGHVDUHUHTXLUHGZLWKE\WHVZDSSLQJEHWZHHQWKH'RXEOH'LYLGHV $WWHQWLRQQHHGVWREHWDNHQDVDELWUHVXOWIURPD'RXEOH'LYLGHLVE\WH VZDSSHGDQGQHHGVWREHVZDSSHGEDFNLQRUGHUWRGHWHUPLQHWKHDQVZHULQ XVHUXQLWV )LJXUH%OLNH)LJXUH%ZLOOXVHWKHELW0DWKUHJLVWHUIRUWKHILUVW GRXEOHGLYLGHIROORZHGE\PRYLQJWKHWZRELWDQVZHUVLQWRWHPSRUDU\ UHJLVWHUV7KHVHWHPSRUDU\UHJLVWHUVZLOOWKHQEHPRYHGEDFNLQWRWKHELW Publication 1398-5.24 Math Status Figure B.Polled I/O Examples B-25 Figure B.December 1999 .4 . B-26 Polled I/O Examples 0DWKUHJLVWHUDQGSHUIRUPD'RXEOH'LYLGH7KHPDWKRYHUIORZELWLVUHVHWVR WKH6/&ZLOOQRWJHQHUDWHDIDXOW Figure B.December 1999 .4 1< S:14 0< DDV Double Divide Source N9:12 5< Dest N9:13 20000< Overflow Trap S:5 U 0 )LJXUH%OLNH)LJXUH%XVHVWKHELW0DWKUHJLVWHUIRUWKHILUVWGRXEOH GLYLGH1H[WWKHWZRELWDQVZHUVDUHVZDSSHGXVLQJWHPSRUDU\UHJLVWHUVDQG WKHQDVHFRQG'RXEOH'LYLGHLVSHUIRUPHG7KHPDWKRYHUIORZELWLVUHVHWVR WKH6/&ZLOOQRWJHQHUDWHDIDXOW Publication 1398-5.2 1< Converting counts to user units 0002 MOV Move Source Dest MOV Move Source Dest I:1.3 -13072< S:13 20000< I:1.4 .26 Multiple double divides with Byte swapping Ensures that the 32-bit Math Register is selected Math Overflow Selected S:2 L 14 First Pass S:1 0000 15 Setting the feedback Data Pointer to Actual Position MOV Move Source 0001 Dest 1 1< O:1. 4 .26 (continued) Multiple double divides with Byte swapping Byte swapping needs to be done as the Double Divide Byte Swaps the answer 0002 MOV Move Source S:13 20000< N9:20 0< Dest MOV Move Source Dest MOV Move Source Dest MOV Move Source Dest S:14 0< N9:21 20000< N9:20 0< S:14 0< N9:21 20000< S:13 20000< DDV Double Divide Source N9:11 20000< Dest N9:10 1< Overflow Trap S:5 U 0 Publication 1398-5.December 1999 .Polled I/O Examples B-27 Figure B. December 1999 .4 .B-28 Polled I/O Examples Publication 1398-5. C Appendix Explicit Message Examples 7KHVHH[DPSOH·VXVHD6/&6'1DQGDQ8/75$'ULYHZLWK 'HYLFH1HW .QGH[LQJYHUVLRQ. .QDGGLWLRQWKHVHH[DPSOHVDVVXPH • 7KH'HYLFH1HW6FDQQHU·VPRGXOHLVLQ6ORWRIWKH6/&FKDVVLV • /DGGHUSURJUDPPLQJLVGRQHXVLQJ5RFNZHOO6RIWZDUH 56/RJL[ Y . • 7KH'HYLFH1HWQHWZRUNLVFRQILJXUHGXVLQJ5RFNZHOO6RIWZDUH 561HW:RU[IRU'HYLFH1HW Y . DQG • $OOSHUVRQDOFRPSXWHUFRPPXQLFDWLRQLQWHUIDFLQJLVGRQHXVLQJ5RFNZHOO 6RIWZDUH 56/LQ[ Y . Figure C. PGM) 2 3 5 78 01 2 3 5 78 DC Bus 9 01 J2 MSD LSD Data Rate 125KB 250KB 500KB L1 L2/N RS-232 CABLE 6 4 6 4 + 9 PERSONAL COMPUTER 100-240 VAC 50/60 Hz Autobaud V+ R Can_H J1 S Shield Can_L Motor V T DEVICENET CABLE 1 This Example Starts on page Example 1: RAM Index Setup and Move C-2 Example 2: Display the Current Position in User Units C-17 Publication 1398-5.1 Example setup SLC 500 CONTROLLER ULTRA 100 Ultra Series Allen Bradley 1747-SDN DEVICENET SCANNER Module Status Status Network Status J5 Node Address Quality CHANNEL 0 (00-63.December 1999 .4 . C-2 Explicit Message Examples Example 1: RAM Index Setup and Move 7KLVH[DPSOHZLOOH[SODLQWKHVWHSVUHTXLUHGWRVHWXSDQGH[HFXWHD5$0LQGH[ PRYHXVLQJ([SOLFLWPHVVDJHVZLWKWKH8/75$'ULYHZLWK'HYLFH1HW .QGH[LQJ9HUVLRQ. 'DWDLVVHQWDQGUHFHLYHGYLDLQVWDQFHVRIWKH3DUDPHWHU 2EMHFW5HIHUWRSDJH'IRUDGHVFULSWLRQRIWKH3DUDPHWHU2EMHFWLQVWDQFHV LPSOHPHQWHGLQWKH8/75$'ULYHZLWK'HYLFH1HW)RUSXUSRVHVRIWKLV H[DPSOHZHZLOODVVXPHWKDWWKHV\VWHPKDVDOUHDG\FRPSOHWHGDKRPLQJ URXWLQHDQGWKH8/75$'ULYHZLWK'HYLFH1HWLVHQDEOHG IMPORTANT )RUWKHSXUSRVHVRIWKLVH[DPSOHWKH5$0LQGH[ZLOOXVH GHIDXOWYDOXHIRUWKH6SHHG$FFHOHUDWLRQDQG'HFHOHUDWLRQ RIUSP7KH+RVW.QGH[&QWUO 3DUDPHWHU.QGH[SRLQWHUDOUHDG\SRLQWVWRWKH 5$0LQGH[EXWLIDQRWKHUZDVWREHVHOHFWHGWKHQ 3DUDPHWHUZRXOGQHHGWREHPRGLILHGWRSRLQWWRWKH UHTXLUHGLQGH[ Enable Host Index Control 7KHILUVW([SOLFLW0HVVDJHZLOOHQDEOHWKH+RVW. DOORZLQJWKH+RVW.QGH[3RLQWHU 3DUDPHWHU. WRGHWHUPLQHZKLFK.QGH[ &RPPDQGZLOOEHDFFHSWHGWKURXJKHLWKHUDFRUUHFWO\DVVLJQHGGLJLWDOLQSXW 'HYLFH1HWRUWKURXJKD+RVW0RGHFRPPDQG 6HULDO.QGH[WKH 'ULYHZLOOH[HFXWHZKHQD6WDUW.QGH[&RPPDQGLVJLYHQ7KH6WDUW. QWHJHU'DWD7DEOH1IURPWKH 6/&0HPRU\EHJLQQLQJDW1 )LJXUH&. 7KHPHVVDJHWREHVHQWLVFRQWDLQHGLQWKH. 2 Explicit Message to Enable Host Index control Publication 1398-5. Size of Data Field = 7H (bytes) N10:2 Service = 10H (set). MAC ID = 14H (node address) .7KHGLVSOD\HGYDOXHVDUHLQ KH[DGHFLPDODQGWKHWDEOHIROORZLQJWKHILJXUHGHVFULEHVWKHRULJLQVRIWKH YDOXHRIHDFKZRUGLQWKH. Command = 01H (execute) N10:1 Port = 0H.QWHJHU'DWD7DEOH1 Figure C.4 .December 1999 Data Address Description N10:0 TXID = 1H. .GHQWLILFDWLRQ 7.'.Explicit Message Examples Data Address Description (Continued) N10:3 Class ID = FH (parameter object) N10:4 Instance = ABH (host index control) N10:5 Attribute = 1H (parameter attribute value) N10:6 Value = 1H (set flag = 1) IMPORTANT C-3 $OOH[DPSOHVXVHWKHYDOXHIRUWKH7UDQVPLVVLRQ . WKHYDOLGUDQJHLVIURP )LJXUH&ZLOOVHQGWKHGDWDIURPWKH.QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH(YHQWKRXJKZHDUHRQO\XVLQJZRUGVRI GDWD 1 WR1 . 224 Length 32 2QFHWKH8/75$'ULYHZLWK'HYLFH1HWUHVSRQGVWRWKHH[SOLFLWPHVVDJH WKHVFDQQHUSODFHVWKHPHVVDJHLQDEXIIHU0 2QFHWKHVFDQQHUKDVD UHVSRQVHWKHH[SOLFLWPHVVDJHUHVSRQVHUHDG\ELW.3 Copy data from SLC Processor to DeviceNet Scanner Module Send Explicit Message B3:0 0 To Ensure Explicit Message data is only sent once B3:1 OSR 0 COP Copy File Source #N10:0 Dest #M0:1. LVVHWKLJK)LJXUH &ZLOOFRS\WKHUHVSRQVHIURPWKHVFDQQHU VPHPRU\LQWRWKH6/&.QWHJHU GDWDWDEOH1IRUYHULILFDWLRQ VHH)LJXUH&.LWLVFRPPRQSUDFWLFHWRFRS\ZRUGVRIGDWDWRWKH VFDQQHUDVGLIIHUHQWW\SHVRIH[SOLFLWPHVVDJHVFDQFRQWDLQODUJHUGDWDVL]HV 7KHVFDQQHUZLOOUHDGWKHGDWDVHQWE\WKH6/&WR0 DQGFUHDWHDQ H[SOLFLWPHVVDJH7KHH[SOLFLWPHVVDJHZLOOEHSODFHGLQDTXHXHDQGVHQWYLD 'HYLFH1HWWRWKH8/75$'ULYHZLWK'HYLFH1HWZKHQ1HWZRUNWUDIILF SHUPLWV Figure C. .WLVFRPPRQSODFHWRFRS\WKH HQWLUHUHVSRQVHEXIIHUFRQWDLQLQJZRUGVRIGDWDDVGLIIHUHQWH[SOLFLW PHVVDJHUHVSRQVHVFDQFRQWDLQODUJHUGDWDVL]HV Figure C.224 Dest #N11:0 Length 32 Publication 1398-5.4 Read data from DeviceNet Scanner Module to SLC Processor Explict Message Response Ready I:1 15 1747-SDN Get Explicit Message Response B3:0 1 To Ensure Explicit Message Data is only Read Once B3:1 OSR 1 COP Copy File Source #M1:1.December 1999 .4 . QWHJHU'DWD 7DEOH1 LQWKLVH[DPSOH. Size of Data Field = 0H (No data sent by the ULTRA 100) N11:2 Service = 90H (Successful response to a set). MAC ID = 14H (node address) 5HIHUWR 7UDQVDFWLRQKHDGHUGDWDILHOGVRQSDJH $IRUDOLVWRISRVVLEOHVWDWXV YDOXHVUHWXUQHGE\WKHVFDQQHULQWKHORZHUE\WHRI:RUGRIWKH.5 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1H.C-4 Explicit Message Examples Figure C. Status = 01H (successful transaction) N11:1 Port = 0H. 4 .December 1999 .$VXFFHVVIXOWUDQVDFWLRQLVLQGLFDWHGE\DVWDWXV FRGHRIRQH $VXFFHVVIXOVHWGDWDUHVSRQVHZLOOKDYHD HLQWKHXSSHUE\WHRI:RUG7KH 8/75$'ULYHZLWK'HYLFH1HWLQGLFDWHVDVXFFHVVIXOUHVSRQVHE\ UHWXUQLQJWKH6HUYLFHE\WHZLWKWKHXSSHUELWVHWWRRQH7KH6HUYLFHE\WHZLOO EH HLIDQHUURUUHVSRQVHLVUHWXUQHG 2QFHGHWHUPLQHGWKDWWKHPHVVDJHZDVVXFFHVVIXODFOHDUEXIIHUFRPPDQG PXVWEHVHQWWRWKH'HYLFH1HWVFDQQHUPRGXOHDVVKRZQLQ)LJXUH&2QFH WKHVFDQQHUKDVUHFHLYHGWKHFOHDUEXIIHUFRPPDQGWKHH[SOLFLWPHVVDJH UHVSRQVHUHDG\ELW. LVVHWORZ Publication 1398-5. 224 260< Publication 1398-5. Command = 04H (clear response buffer) )LJXUH&ZLOOVHQGWKHGDWDIURPWKH.6 Clear buffer response from scanner Data Address Description N7:0 TXID = 1H.December 1999 .4 .Explicit Message Examples C-5 Figure C.7 Clear the DeviceNet Scanner’s Response Buffer Send Buffer Clear B3:0 2 To Ensure the Response Buffer is cleared only once B3:1 OSR 2 MOV Move Source Dest #N7:0 260< #M0:1.QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH7KLVZLOOFOHDUWKHVFDQQHU·VUHVSRQVHEXIIHU DQGDOORZWKHVFDQQHUWRUHFHLYHDQRWKHUH[SOLFLWPHVVDJH Figure C. C-6 Explicit Message Examples Set the RAM Index Type for Absolute Move 7KLV([SOLFLWPHVVDJHZLOOVHWWKHW\SHIRUWKH5$0LQGH[ 3DUDPHWHU. QWHJHU'DWD7DEOH1IURPWKH 6/&0HPRU\EHJLQQLQJDW1 6HH)LJXUH&.WKH W\SHRILQGH[LQJPRYHWKH5$0LQGH[ZLOOEHVHWXSIRULVDQ$EVROXWHPRYH 7KHPHVVDJHWREHVHQWLVFRQWDLQHGLQWKH. 8 Explicit Message to set the RAM Index Type Data Address Description N10:0 TXID = 1H.QWHJHU'DWD7DEOH1 Figure C. Size of Data Field = 7H (bytes) N10:2 Service = 10H (set).7KHGLVSOD\HGYDOXHVDUHLQ KH[DGHFLPDODQGWKHWDEOHIROORZLQJWKHILJXUHGHVFULEHVWKHRULJLQVRIWKH YDOXHRIHDFKZRUGLQWKH. MAC ID = 14H (node address) N10:3 Class ID = FH (parameter object) N10:4 Instance = C9H (RAM index type) N10:5 Attribute = 1H (parameter attribute value) N10:6 Value = 1H (set flag = 1) IMPORTANT $OOH[DPSOHVXVHWKHYDOXHIRUWKH7UDQVPLVVLRQ .GHQWLILFDWLRQ 7.'. Command = 01H (execute) N10:1 Port = 0H.. WKHYDOLGUDQJHLVIURP )LJXUH& ZLOOVHQGWKHGDWDIURPWKH.QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH(YHQWKRXJKZHDUHRQO\XVLQJZRUGVRI GDWD 1 WR1 . LWLVFRPPRQSUDFWLFHWRFRS\ZRUGVRIGDWDWRWKH VFDQQHUDVGLIIHUHQWW\SHVRIH[SOLFLWPHVVDJHVFDQFRQWDLQODUJHUGDWDVL]HV 7KHVFDQQHUZLOOUHDGWKHGDWDVHQWE\WKH6/&WR0 DQGFUHDWHDQ H[SOLFLWPHVVDJH7KHH[SOLFLWPHVVDJHZLOOEHSODFHGLQDTXHXHDQGVHQWYLD 'HYLFH1HWWRWKH8/75$'ULYHZLWK'HYLFH1HWZKHQ1HWZRUNWUDIILF SHUPLWV Publication 1398-5.December 1999 .4 . Explicit Message Examples C-7 Figure C.QWHJHU 'DWD7DEOH1IRUYHULILFDWLRQ 6HH)LJXUH&. LVVHWKLJK)LJXUH &ZLOOFRS\WKHUHVSRQVHIURPWKHVFDQQHU VPHPRU\LQWRWKH6/&.224 Length 32 2QFHWKH8/75$'ULYHZLWK'HYLFH1HWUHVSRQGVWRWKHH[SOLFLWPHVVDJH WKHVFDQQHUSODFHVWKHPHVVDJHLQDEXIIHU0 2QFHWKHVFDQQHUKDVD UHVSRQVHWKHH[SOLFLWPHVVDJHUHVSRQVHUHDG\ELW.9 Copy data from SLC Processor to DeviceNet Scanner Module Send Explicit Message B3:0 0 To Ensure Explicit Message data is only sent once B3:1 OSR 0 COP Copy File Source #N10:0 Dest #M0:1. 4 ..224 Dest #N11:0 Length 32 Figure C.QWHJHU'DWD Publication 1398-5.11 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1H. MAC ID = 14H (node address) 5HIHUWR 7UDQVDFWLRQKHDGHUGDWDILHOGVRQSDJH $IRUDOLVWRISRVVLEOHVWDWXV YDOXHVUHWXUQHGE\WKHVFDQQHULQWKHORZHUE\WHRI:RUGRIWKH.WLVFRPPRQSODFHWRFRS\ WKHHQWLUHUHVSRQVHEXIIHUFRQWDLQLQJZRUGVRIGDWDDVGLIIHUHQWH[SOLFLW PHVVDJHUHVSRQVHVFDQFRQWDLQODUJHUGDWDVL]HV Figure C. Size of Data Field = 0H (No data sent by the ULTRA 100) N11:2 Service = 90H (Successful response to a set). Status = 01H (successful transaction) N11:1 Port = 0H.December 1999 .10 Read data from DeviceNet Scanner Module to SLC Processor Explict Message Response Ready I:1 15 1747-SDN Get Explicit Message Response B3:0 1 To Ensure Explicit Message Data is only Read Once B3:1 OSR 1 COP Copy File Source #M1:1. C-8 Explicit Message Examples 7DEOH1 LQWKLVH[DPSOH. 13 Clear the DeviceNet Scanner’s Response Buffer Send Buffer Clear B3:0 2 To Ensure the Response Buffer is cleared only once B3:1 OSR 2 MOV Move Source Dest Publication 1398-5.$VXFFHVVIXOWUDQVDFWLRQLVLQGLFDWHGE\DVWDWXV FRGHRIRQH $VXFFHVVIXOVHWGDWDUHVSRQVHZLOOKDYHD HLQWKHXSSHUE\WHRI:RUG7KH 8/75$'ULYHZLWK'HYLFH1HWLQGLFDWHVDVXFFHVVIXOUHVSRQVHE\ UHWXUQLQJWKH6HUYLFHE\WHZLWKWKHXSSHUELWVHWWRRQH7KH6HUYLFHE\WHZLOO EH HLIDQHUURUUHVSRQVHLVUHWXUQHG 2QFHGHWHUPLQHGWKDWWKHPHVVDJHZDVVXFFHVVIXODFOHDUEXIIHUFRPPDQG PXVWEHVHQWWRWKH'HYLFH1HWVFDQQHUPRGXOHDVVKRZQLQ)LJXUH&2QFH WKHVFDQQHUKDVUHFHLYHGWKHFOHDUEXIIHUFRPPDQGWKHH[SOLFLWPHVVDJH UHVSRQVHUHDG\ELW.12 Clear buffer response from scanner Data Address Description N7:0 TXID = 1H. LVVHWORZ Figure C. Command = 04H (clear response buffer) )LJXUH&ZLOOVHQGWKHGDWDIURPWKH.December 1999 #N7:0 260< #M0:1.QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH7KLVZLOOFOHDUWKHUHVSRQVHEXIIHUDQGDOORZ WKHVFDQQHUWRUHFHLYHDQRWKHUH[SOLFLWPHVVDJH Figure C.4 .224 260< . QGH[SRVLWLRQ 3DUDPHWHU.Explicit Message Examples C-9 Set the RAM Index Position Using User Defined Scaling 7KHQH[WH[SOLFLWPHVVDJHZLOOVHWWKH5$0. LQ FRXQWVIRUWKH5$0LQGH[EDVHGRQDXVHUVFDOHGYDOXH 7KHPHVVDJHWREHVHQWLVFRQWDLQHGLQWKH.QWHJHU'DWD7DEOH1IURPWKH 6/&0HPRU\EHJLQQLQJDW1 )LJXUH&. Command = 01H (execute) N10:1 Port = 0H.QWHJHU'DWD7DEOH1 Figure C.14 Explicit Message to set the RAM Index Position Data Address Description N10:0 TXID = 1H.7KHGLVSOD\HGYDOXHVDUHLQ KH[DGHFLPDODQGWKHWDEOHIROORZLQJWKHILJXUHGHVFULEHVWKHRULJLQVRIWKH YDOXHRIHDFKZRUGLQWKH. Size of Data Field = AH (bytes) N10:2 Service = 10H (set).GHQWLILFDWLRQ 7.. MAC ID = 14H (node address) N10:3 Class ID = FH (parameter object) N10:4 Instance = D2H (RAM index distance/position) N10:5 Attribute = 1H (parameter attribute value) N10:6 Lower Word of Data = 86A0H N10:7 Upper Word of Data = 1H IMPORTANT $OOH[DPSOHVXVHWKHYDOXHIRUWKH7UDQVPLVVLRQ .'. WKHYDOLGUDQJHLVIURP )LJXUH&VKRZVWKHFRQYHUVLRQRIDELWXVHUVFDOHGSRVLWLRQYDOXHLQWR RQHLQFRXQWVWKDWWKHGULYHZLOOUHFRJQL]H7KHXVHUYDOXH LQWKLVFDVH. LV PXOWLSOLHGZLWKWKHVFDOHIDFWRUYDOXH LQWKLVFDVH. IRUDUHVXOWRI )RUWKLVWKHELWPDWKUHJLVWHULVXVHGDQGKDVWREHHQDEOHG WKLVLV WKHSXUSRVHRIUXQJ. 4 .QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH(YHQWKRXJKZHDUHRQO\XVLQJZRUGVRI Publication 1398-5.December 1999 .7KHELWUHVXOWZLOOEHPRYHGLQWRWKH([SOLFLW PHVVDJHDQGWKH0DWK2YHUIORZELWUHVHWVRWKH6/&ZLOOQRWIDXOW7KH PHVVDJHLVWKHQUHDG\WREHVHQWIURPWKH. C-10 Explicit Message Examples GDWD 1 WR1 . 4 .December 1999 COP Copy File Source #N10:0 Dest #M0:1.LWLVFRPPRQSUDFWLFHWRFRS\ZRUGVRIGDWDWRWKH VFDQQHUDVGLIIHUHQWW\SHVRIH[SOLFLWPHVVDJHVFDQFRQWDLQODUJHUGDWDVL]HV 7KHVFDQQHUZLOOUHDGWKHGDWDVHQWE\WKH6/&WR0 DQGFUHDWHDQ H[SOLFLWPHVVDJH7KHH[SOLFLWPHVVDJHZLOOEHSODFHGLQDTXHXHDQGVHQWYLD 'HYLFH1HWWRWKH8/75$'ULYHZLWK'HYLFH1HWZKHQ1HWZRUNWUDIILF SHUPLWV Figure C.224 Length 32 .15 Setting the absolute position in counts Ensures that the 32-bit Math Register is selected Math Overflow Selected S:2 L 14 First Pass S:1 0000 15 Converting user units to counts MUL Multiply Source A 0001 Source B Dest #N9:10 5< #N9:11 20000< #N9:12 31072< Taking the 32-bit answer from the Math Register and moving it to the Explicit Message MOV Move Source 0002 Dest MOV Move Source Dest S:13 -31072< N10:6 -31072< S:14 1< N10:7 1< Overflow Trap S:5 U 0 Copy data from SLC Processor to DeviceNet Scanner Module Send Explicit Message B3:0 0003 0 To ensure Explicit Message Data is only sent once B3:1 OSR 0 Publication 1398-5. 16 Math Status IMPORTANT .IDVFDOLQJYDOXHWKDWLVKLJKHUWKDQLVQHHGHGWKH 0XOWLSO\ 08/.Explicit Message Examples C-11 Figure C. LQUXQJFDQEHUHSODFHGZLWKD &RPSXWHU &37. 17 Computing multiple multiplys command CPT Compute Dest Expression N9:13 0< (N9:10*N9:11) * N9:12 2QFHWKH8/75$'ULYHZLWK'HYLFH1HWUHVSRQGVWRWKHH[SOLFLWPHVVDJH WKHVFDQQHUSODFHVWKHPHVVDJHLQDEXIIHU0 2QFHWKHVFDQQHUKDVD UHVSRQVHWKHH[SOLFLWPHVVDJHUHVSRQVHUHDG\ELW. LVVHWKLJK)LJXUH &ZLOOFRS\WKHUHVSRQVHIURPWKHVFDQQHU·VPHPRU\LQWRWKH6/&.QWHJHU GDWDWDEOH1IRUYHULILFDWLRQ VHH6HH )LJXUH& RQSDJH &.LQVWUXFWLRQXVLQJPXOWLSOHPXOWLSOLHVDV VKRZQLQ)LJXUH& Figure C. 224 Dest #N11:0 Length 32 Publication 1398-5.December 1999 ..WLV FRPPRQSODFHWRFRS\WKHHQWLUHUHVSRQVHEXIIHUFRQWDLQLQJZRUGVRIGDWD DVGLIIHUHQWH[SOLFLWPHVVDJHUHVSRQVHVFDQFRQWDLQODUJHUGDWDVL]HV Figure C.18 Read data from DeviceNet Scanner Module to SLC Processor Explict Message Response Ready I:1 15 1747-SDN Get Explicit Message Response B3:0 1 To Ensure Explicit Message Data is only Read Once B3:1 OSR 1 COP Copy File Source #M1:1.4 . Size of Data Field = 0H (No data sent by the ULTRA 100) N11:2 Service = 90H (Successful response to a set).QWHJHU'DWD 7DEOH1 LQWKLVH[DPSOH. Status = 01H (successful transaction) N11:1 Port = 0H. MAC ID = 14H (node address) 5HIHUWR 7UDQVDFWLRQKHDGHUGDWDILHOGVRQSDJH $IRUDOLVWRISRVVLEOHVWDWXV YDOXHVUHWXUQHGE\WKHVFDQQHULQWKHORZHUE\WHRI:RUGRIWKH.19 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1H.C-12 Explicit Message Examples Figure C. LVVHWORZ Publication 1398-5.4 .$VXFFHVVIXOWUDQVDFWLRQLVLQGLFDWHGE\DVWDWXV FRGHRIRQH $VXFFHVVIXOVHWGDWDUHVSRQVHZLOOKDYHD HLQWKHXSSHUE\WHRI:RUG7KH 8/75$'ULYHZLWK'HYLFH1HWLQGLFDWHVDVXFFHVVIXOUHVSRQVHE\ UHWXUQLQJWKH6HUYLFHE\WHZLWKWKHXSSHUELWVHWWRRQH7KH6HUYLFHE\WHZLOO EH HLIDQHUURUUHVSRQVHLVUHWXUQHG 2QFHGHWHUPLQHGWKDWWKHPHVVDJHZDVVXFFHVVIXODFOHDUEXIIHUFRPPDQG PXVWEHVHQWWRWKH'HYLFH1HWVFDQQHUPRGXOHDVVKRZQLQ)LJXUH&2QFH WKHVFDQQHUKDVUHFHLYHGWKHFOHDUEXIIHUFRPPDQGWKHH[SOLFLWPHVVDJH UHVSRQVHUHDG\ELW.December 1999 . Command = 01H (successful transaction) )LJXUH&ZLOOVHQGWKHGDWDIURPWKH.QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH7KLVZLOOFOHDUWKHVFDQQHUV·VUHVSRQVHEXIIHU DQGDOORZWKHVFDQQHUWRUHFHLYHDQRWKHUH[SOLFLWPHVVDJH Start Index Command Figure C.QWHJHU'DWD7DEOH1IURPWKH 6/&0HPRU\EHJLQQLQJ1 6HH)LJXUH&.20 Clear buffer response from scanner Data Address Description N7:0 TXID = 1H.224 260< 7KLVQH[W([SOLFLWPHVVDJHZLOOEHWKHVWDUWLQGH[FRPPDQGDQGWKHPRYHZLOO EHLQLWLDWHGZKHQWKHPHVVDJHUHDFKHVWKH8/75$'ULYHZLWK'HYLFH1HW 7KHPHVVDJHWREHVHQWLVFRQWDLQHGLQWKH.21 Clear the DeviceNet Scanner’s Response Buffer Send Buffer Clear B3:0 2 To Ensure the Response Buffer is cleared only once B3:1 OSR 2 MOV Move Source Dest #N7:0 260< #M0:1.Explicit Message Examples C-13 Figure C. December 1999 .7KHGLVSOD\HGYDOXHVDUHLQ Publication 1398-5.4 . QWHJHU'DWD7DEOH1 Figure C. Size of Data Field = 7H (bytes) N10:2 Service = 10H (set).C-14 Explicit Message Examples KH[DGHFLPDODQGWKHWDEOHIROORZLQJWKHILJXUHGHVFULEHVWKHRULJLQVRIWKH YDOXHRIHDFKZRUGLQWKH.22 Explicit Message to send the Start Index Command Data Address Description N10:0 TXID = 1H. Command = 01H (execute) N10:1 Port = 0H.'. MAC ID = 14H (node address) N10:3 Class ID = FH (parameter object) N10:4 Instance = B3H (start index command) N10:5 Attribute = 1H (parameter attribute value) N10:6 Value = 1H (set flag = 1) IMPORTANT $OOH[DPSOHVXVHWKHYDOXHIRUWKH7UDQVPLVVLRQ ..GHQWLILFDWLRQ 7. QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH(YHQWKRXJKZHDUHRQO\XVLQJZRUGVRI GDWD 1 WR1 .WKHYDOLGUDQJHLVIURP )LJXUH&ZLOOVHQGWKHGDWDIURPWKH. LWLVFRPPRQSUDFWLFHWRFRS\ZRUGVRIGDWDWRWKH VFDQQHUDVGLIIHUHQWW\SHVRIH[SOLFLWPHVVDJHVFDQFRQWDLQODUJHUGDWDVL]HV 7KHVFDQQHUZLOOUHDGWKHGDWDVHQWE\WKH6/&WR0 DQGFUHDWHDQ H[SOLFLWPHVVDJH7KHH[SOLFLWPHVVDJHZLOOEHSODFHGLQDTXHXHDQGVHQWYLD 'HYLFH1HWWRWKH8/75$'ULYHZLWK'HYLFH1HWZKHQ1HWZRUNWUDIILF SHUPLWV IMPORTANT Publication 1398-5.4 .December 1999 2QFHWKH([SOLFLWPHVVDJHLVUHFHLYHGE\WKH8/75$ 'ULYHZLWK'HYLFH1HWWKHPRYHZLOOVWDUWHYHQLIWKH $FNQRZOHGJPHQWKDVQRWEHHQUHFHLYHGE\WKH6/& . LVVHWKLJK)LJXUH &ZLOOFRS\WKHUHVSRQVHIURPWKHVFDQQHU VPHPRU\LQWRWKH6/&.224 Length 32 2QFHWKH8/75$'ULYHZLWK'HYLFH1HWUHVSRQGVWRWKHH[SOLFLWPHVVDJH WKHVFDQQHUSODFHVWKHPHVVDJHLQDEXIIHU0 2QFHWKHVFDQQHUKDVD UHVSRQVHWKHH[SOLFLWPHVVDJHUHVSRQVHUHDG\ELW.23 Copy data from SLC Processor to DeviceNet Scanner Module Send Explicit Message B3:0 0 To Ensure Explicit Message data is only sent once B3:1 OSR 0 COP Copy File Source #N10:0 Dest #M0:1.QWHJHU 'DWD7DEOH1IRUYHULILFDWLRQ 6HH)LJXUH&.Explicit Message Examples C-15 Figure C. 224 Dest #N11:0 Length 32 Figure C.QWHJHU'DWD 7DEOH1 LQWKLVH[DPSOH.25 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1H. MAC ID = 14H (node address) 5HIHUWR 7UDQVDFWLRQKHDGHUGDWDILHOGVRQSDJH $IRUDOLVWRISRVVLEOHVWDWXV YDOXHVUHWXUQHGE\WKHVFDQQHULQWKHORZHUE\WHRI:RUGRIWKH.WLVFRPPRQSODFHWRFRS\ WKHHQWLUHUHVSRQVHEXIIHUFRQWDLQLQJZRUGVRIGDWDDVGLIIHUHQWH[SOLFLW PHVVDJHUHVSRQVHVFDQFRQWDLQODUJHUGDWDVL]HV Figure C.24 Read data from DeviceNet Scanner Module to SLC Processor Explict Message Response Ready I:1 15 1747-SDN Get Explicit Message Response B3:0 1 To E sure Expl c t Message Data is only Read Once B3:1 OSR 1 COP Copy File Source #M1:1. Size of Data Field = 0H (No data sent by the ULTRA 100) N11:2 Service = 90H (Successful response to a set). Status = 01H (successful transaction) N11:1 Port = 0H.. December 1999 .$VXFFHVVIXOWUDQVDFWLRQLVLQGLFDWHGE\DVWDWXV FRGHRIRQH Publication 1398-5.4 . 26 Clear buffer response from scanner Data Address Description N7:0 TXID = 1H. LVVHWORZ Figure C.QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKH6FDQQHU0RGXOH7KLVZLOOFOHDUWKHUHVSRQVHEXIIHUDQGDOORZ WKHVFDQQHUWRUHFHLYHDQRWKHUH[SOLFLWPHVVDJH Figure C.27 Clear the DeviceNet Scanner’s Response Buffer Send Explicit Message B3:0 0 To Ensure Explicit Message data is only sent once B3:1 OSR 0 Publication 1398-5. Status = 01H (successful transaction) )LJXUH&ZLOOVHQGWKHGDWDIURPWKH.C-16 Explicit Message Examples $VXFFHVVIXOVHWGDWDUHVSRQVHZLOOKDYHD HLQWKHXSSHUE\WHRI:RUG7KH 8/75$'ULYHZLWK'HYLFH1HWLQGLFDWHVDVXFFHVVIXOUHVSRQVHE\ UHWXUQLQJWKH6HUYLFHE\WHZLWKWKHXSSHUELWVHWWRRQH7KH6HUYLFHE\WHZLOO EH HLIDQHUURUUHVSRQVHLVUHWXUQHG 2QFHGHWHUPLQHGWKDWWKHPHVVDJHZDVVXFFHVVIXODFOHDUEXIIHUFRPPDQG PXVWEHVHQWWRWKH'HYLFH1HWVFDQQHUPRGXOH$VVKRZQLQ)LJXUH&RQFH WKHVFDQQHUKDVUHFHLYHGWKHFOHDUEXIIHUFRPPDQGWKHH[SOLFLWPHVVDJH UHVSRQVHUHDG\ELW.4 .December 1999 COP Copy File Source #N10:0 Dest #M0:1.224 Length 32 . Explicit Message Examples Example 2: Display the Current Position in User Units C-17 7KLVH[DPSOHZLOOH[SODLQWKHVWHSVUHTXLUHGWRUHDGDQGFRQYHUWWKHFXUUHQW PRWRUSRVLWLRQXVLQJDXVHUGHILQHGVFDOHZLWKWKH8/75$'ULYHZLWK 'HYLFH1HW .QGH[LQJ9HUVLRQ. QVWDQFHV.'DWDLVVHQWDQGUHFHLYHGYLDLQVWDQFHVRIWKH 3DUDPHWHU2EMHFW5HIHUWR 3DUDPHWHU2EMHFW.' RQ SDJH 'IRUDGHVFULSWLRQRIWKH3DUDPHWHU2EMHFWLQVWDQFHVLPSOHPHQWHGLQ WKH8/75$'ULYHZLWK'HYLFH1HW Read the Current Motor Position 7KH([SOLFLW0HVVDJHZLOOUHTXHVWWKH&XUUHQW0RWRU3RVLWLRQ 3DUDPHWHU. QWHJHU'DWD7DEOH 1IURPWKH6/&0HPRU\EHJLQQLQJDW1 6HH)LJXUH&. 7KHELWUHVSRQVHZLOOEHGLYLGHGDOORZLQJWKHELWDQVZHUDYDLODEOHIRU LQWHUSUHWDWLRQ7KHPHVVDJHWREHVHQWLVFRQWDLQHGLQWKH. .QWHJHU'DWD7DEOH1 Figure C. Command = 01H (execute) N10:1 Port = 0H.GHQWLILFDWLRQ 7.28 Explicit Message to read the Current Motor Position Data Address Description N10:0 TXID = 1H.7KH GLVSOD\HGYDOXHVDUHLQKH[DGHFLPDODQGWKHWDEOHIROORZLQJWKHILJXUHGHVFULEHV WKHRULJLQVRIWKHYDOXHRIHDFKZRUGLQWKH.'. MAC ID = 14H (node address) N10:3 Class ID = FH (parameter object) N10:4 Instance = 89H (motor position) N10:5 Attribute = 1H (parameter attribute value) IMPORTANT $OOH[DPSOHVXVHWKHYDOXHIRUWKH7UDQVPLVVLRQ . Size of Data Field = 6H (bytes) N10:2 Service = 0EH (get). QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH(YHQWKRXJKZHDUHRQO\XVLQJZRUGVRI GDWD 1 WR1 .WKHYDOLGUDQJHLVIURP )LJXUH& ZLOOVHQGWKHGDWDIURPWKH. LWLVFRPPRQSUDFWLFHWRFRS\ZRUGVRIGDWDWRWKH Publication 1398-5.December 1999 .4 . LVVHWKLJK)LJXUH &ZLOOFRS\WKHUHVSRQVHIURPWKHVFDQQHU VPHPRU\LQWRWKH6/&.29 Copy data from SLC Processor to DeviceNet Scanner Module Send Explicit Message B3:0 0 To Ensure Explicit Message data is only sent once B3:1 OSR 0 COP Copy File Source #N10:0 Dest #M0:1.QWHJHU 'DWD7DEOH1IRUYHULILFDWLRQ 6HH)LJXUH&.224 Length 32 2QFHWKH8/75$'ULYHZLWK'HYLFH1HWUHVSRQGVWRWKHH[SOLFLWPHVVDJH WKHVFDQQHUSODFHVWKHPHVVDJHLQDEXIIHU0 2QFHWKHVFDQQHUKDVD UHVSRQVHWKHH[SOLFLWPHVVDJHUHVSRQVHUHDG\ELW.C-18 Explicit Message Examples VFDQQHUDVGLIIHUHQWW\SHVRIH[SOLFLWPHVVDJHVFDQFRQWDLQODUJHUGDWDVL]HV 7KHVFDQQHUZLOOUHDGWKHGDWDVHQWE\WKH6/&WR0 DQGFUHDWHDQ H[SOLFLWPHVVDJH7KHH[SOLFLWPHVVDJHZLOOEHSODFHGLQDTXHXHDQGVHQWYLD 'HYLFH1HWWRWKH8/75$'ULYHZLWK'HYLFH1HWZKHQ1HWZRUNWUDIILF SHUPLWV Figure C. .WLVFRPPRQSODFHWRFRS\ WKHHQWLUHUHVSRQVHEXIIHUFRQWDLQLQJZRUGVRIGDWDDVGLIIHUHQWH[SOLFLW PHVVDJHUHVSRQVHVFDQFRQWDLQODUJHUGDWDVL]HV 7KH0RWRUSRVLWLRQLVORFDWHGLQ1 DQG1 DVVKRZQLQ)LJXUH& 7KHPRWRUSRVLWLRQFDQEHVFDOHGLQWRDXVHUGHILQHGYDOXHE\SODFLQJWKHGDWD LQWRWKHELWPDWKUHJLVWHU 6HH029LQVWUXFWLRQVLQ)LJXUH&. DQG SHUIRUPLQJD'RXEOH'LYLGHZLWKWKHDQVZHUEHLQJSODFHGLQ1 7KH 0DWK2YHUIORZELWLVUHVHWVRWKH6/&ZLOOQRWJHQHUDWHDIDXOW)LJXUH& VKRZVWKHUDZGDWD IURP1 DQG1 . December 1999 .EHLQJUHDVVHPEOHGLQWKHELW 0DWK5HJLVWHU Publication 1398-5.4 . 4 .30 Read data from DeviceNet Scanner Module to SLC Processor Current Motor Math Overflow Selected S:2 L 14 First Pass S:1 15 Explicit Message Response ready I:1 15 1747-SDN Get Explicit Message Response B3:0 1 To ensure Explicit Message Data is only read once B3:1 OSR 1 COP Copy File Source #M1:1.December 1999 .224 Dest #N11:0 Length 32 MOV Move Source Dest MOV Move Source Dest N11:3 -13072< S:13 -13072< N11:4 1< S:14 1< DDV Double Divide Source N9:11 20000< Dest N9:10 5< Overflow Trap S:5 U 0 Figure C.Explicit Message Examples C-19 Figure C.31 Position in the Math Register Publication 1398-5. C-20 Explicit Message Examples Figure C. Size of Data Field = 4H (4 bytes of data sent by the ULTRA 100) N11:2 Service = 8EH (Successful response to a set). MAC ID = 14H (node address) N11:3 Lower Byte of Data = 86A0H N11:4 Upper Byte of Data = 1H 5HIHUWR 7UDQVDFWLRQKHDGHUGDWDILHOGVRQSDJH $IRUDOLVWRISRVVLEOHVWDWXV YDOXHVUHWXUQHGE\WKHVFDQQHULQWKHORZHUE\WHRI:RUGRIWKH.QWHJHU'DWD 7DEOH1 LQWKLVH[DPSOH. Status = 01H (successful transaction) N11:1 Port = 0H.32 Explicit Message response from ULTRA 100 via DeviceNet Data Address Description N11:0 TXID = 1H. 4 .IDVFDOLQJYDOXHWKDWLVKLJKHUWKDQLVQHHGHGWKHQ0XOWLSOH'RXEOH 'LYLGHVDUHUHTXLUHGZLWKE\WHVZDSSLQJEHWZHHQWKH'RXEOH'LYLGHV $WWHQWLRQQHHGVWREHWDNHQDVDELWUHVXOWIURPD'RXEOH'LYLGHLVE\WH VZDSSHGDQGQHHGVWREHVZDSSHGEDFNLQRUGHUWRGHWHUPLQHWKHDQVZHULQ XVHUXQLWVDVVKRZQLQ)LJXUH& )LJXUH&OLNH)LJXUH&XVHVWKHELW0DWKUHJLVWHUIRUWKHILUVWGRXEOH GLYLGH1H[WWKHWZRELWDQVZHUVDUHVZDSSHGXVLQJWHPSRUDU\UHJLVWHUVDQG WKHQDVHFRQG'RXEOH'LYLGHLVSHUIRUPHG7KHPDWKRYHUIORZELWLVUHVHWVR WKH6/&ZLOOQRWJHQHUDWHDIDXOW Figure C.December 1999 .$VXFFHVVIXOWUDQVDFWLRQLVLQGLFDWHGE\DVWDWXV FRGHRIRQH $VXFFHVVIXO*HWGDWDUHVSRQVHZLOOKDYHD(HLQWKHXSSHUE\WHRI:RUG 7KH8/75$ZLWK'HYLFH1HWLQGLFDWHVDVXFFHVVIXOUHVSRQVHE\UHWXUQLQJ WKH6HUYLFHE\WHZLWKWKHXSSHUELWVHWWRRQH7KH6HUYLFHE\WHZLOOEH HLI DQHUURUUHVSRQVHLVUHWXUQHG .33 Multiple double divides with Byte swapping Publication 1398-5. Explicit Message Examples C-21 Ensures that the 32 bit Math Register is selected Math Overflow Selected S:2 L 14 First Pass S:1 0000 15 Explicit Message Response ready I:1 Get Explicit Message Response B3:0 0001 15 1747-SDN 1 To ensure Explicit Message Data is only read once B3:1 OSR 1 COP Copy File Source #M1:1.December 1999 .224 Dest #N11:0 Length 32 MOV Move Source Dest MOV Move Source Dest N11:3 -13072< S:13 -13072< N11:4 1< S:14 1< DDV Double Divide N9:12 Source 5< Dest N9:13 20000< Overflow Trap S:5 U 0 Publication 1398-5.4 . December 1999 .4 .33 (continued) Multiple double divides with Byte swapping Byte swapping needs to be done as the Double Divide Byte Swaps the answer 0002 MOV Move Source S:13 20000< N9:20 0< Dest MOV Move Source Dest MOV Move Source Dest MOV Move Source Dest S:14 0< N9:21 20000< N9:20 0< S:14 0< N9:21 20000< S:13 20000< DDV Double Divide Source N9:11 20000< Dest N9:10 1< Overflow Trap S:5 U 0 Publication 1398-5.C-22 Explicit Message Examples Figure C. 34 Clear buffer response from scanner Data Address Description N7:0 TXID = 1H.224 260< Publication 1398-5.Explicit Message Examples C-23 Figure C.35 Clear the DeviceNet Scanner’s Response Buffer Send Buffer Clear B3:0 2 To Ensure the Response Buffer is cleared only once B3:1 OSR 2 MOV Move Source Dest #N7:0 260< #M0:1.4 .QWHJHU'DWD7DEOH1LQWKH6/& PHPRU\WRWKHVFDQQHUPRGXOH7KLVZLOOFOHDUWKHVFDQQHU·VUHVSRQVHEXIIHU DQGDOORZWKHVFDQQHUWRUHFHLYHDQRWKHUH[SOLFLWPHVVDJH Figure C.December 1999 . Command = 04H (clear response buffer) )LJXUH&ZLOOVHQGWKHGDWDIURPWKH. December 1999 .4 .C-24 Explicit Message Examples Publication 1398-5. Appendix D Programming Reference 7KH8/75$'ULYHZLWK'HYLFH1HWLPSOHPHQWVDYHQGRUVSHFLILFGHYLFH SURILOH5RFNZHOO$XWRPDWLRQ0LVFHOODQHRXV 'HYLFH7\SH KH[. ZKLFKLV VLPLODUWRWKH'HYLFH1HW*HQHULF'HYLFH7\SH 'HYLFH7\SH KH[. 4 . Instance Specific occurrence of an Object. Attribute Description of a characteristic or feature of an Object. They provide status information or govern the operation of an Object. 7KHFRQILJXUDWLRQGDWDDQGEHKDYLRUVLPSOHPHQWHGLQWKH8/75$'ULYH ZLWK'HYLFH1HWDUHGHILQHGXVLQJREMHFWPRGHOLQJ7KH8/75$'ULYH ZLWK'HYLFH1HWLVPRGHOHGDVDFROOHFWLRQRIREMHFWV$Q2EMHFWLVDFROOHFWLRQ RIUHODWHGDWWULEXWHVDQGVHUYLFHV$QDWWULEXWHLVDQH[WHUQDOO\YLVLEOH FKDUDFWHULVWLFRUIHDWXUHRIDQREMHFWZKLOHDVHUYLFHLVDSURFHGXUHDQREMHFW FDQSHUIRUP 1 This term Means Object Representation of a particular type of data component within the DeviceNet node.December 1999 . Service Function preformed by an Object. Publication 1398-5. December 1999 Class ID #16 0X10 03H Class ID #3 0X03 10H 0FH ULTRA 100 (no public interface) Class ID #15 0X0F . Non-indexing Drive .289.1 Object Model DeviceNet Network DeviceNet Node 05H Class ID #5 0X05 04H Class ID #4 0X04 02H Class ID #2 0X02 2BH Class ID #43 0X2B 01H Class ID #1 0X01 Publication 1398-5.4 .185 Parameter Group Indexing Drive . Non-indexing Drive .14 Acknowledge Handler 1 Figure D.25.D-2 Programming Reference 7KH2EMHFW0RGHOUHSUHVHQWVWKHREMHFWVVXSSRUWHGLQWKH8/75$'ULYH ZLWK'HYLFH1HW Object Model 7KHIROORZLQJWDEOHLQGLFDWHV • 7KHREMHFWFODVVHVSUHVHQWLQWKLVGHYLFHDQG • 7KHQXPEHURILQVWDQFHVSUHVHQWLQHDFKFODVV Object Class Number of Instances Identity 5 Message Router 1 DeviceNet 1 Assembly 6 Connection 2 I/O and 6 explicit Parameter Indexing Drive . Programming Reference D-3 How Objects Affect Behavior 7KHREMHFWVLQWKH8/75$'ULYHZLWK'HYLFH1HWDIIHFWLW·VEHKDYLRUDV VKRZQLQWKHWDEOHEHORZ Object Effect on Behavior Message Router No effect DeviceNet Configures port attributes (node address. and BOI) Assembly Defines I/O data format Connection Contains the number of logical ports into or out of the device Parameter Provides a public interface to the device configuration data Parameter Group Provides an aid to device configuration Acknowledge Handler Manages the reception of message acknowledgments The Defined Object Interface 7KHREMHFWVLQWKH8/75$'ULYHZLWK'HYLFH1HWKDYHWKHLQWHUIDFHOLVWHG LQWKHIROORZLQJWDEOH Object Interface Message Router Explicit Messaging Connection Instance DeviceNet Message Router Assembly I/O Connection or Message Router Connection Message Router Parameter Message Router Parameter Group Message Router Acknowledge Handler I/O Connection or Message Router Publication 1398-5. data rate.4 .December 1999 . GHQWLILHU 0$&.D-4 Programming Reference Object Addressing 7KH0HGLD$FFHVV&RQWURO.'. 4 . It is also possible to address the Class itself by utilizing the Instance ID value zero (0).'LVDXQLTXHLQWHJHUDVVLJQHGWRHDFK'HYLFH1HWQRGHWKDW GLVWLQJXLVKHVLWVSHFLILFDOO\IURPDPRQJRWKHUQRGHVRQWKHVDPHQHWZRUNDQG DOVRLVUHIHUUHGWRDVWKHQRGHDGGUHVV Component Description Class ID The Class ID is a unique integer value assigned to each Object Class accessible from the network. Instance ID The Instance ID is a unique identification assigned to an Object Instance that identifies it among all Instances of the same Class. The ULTRA 100 supports an 16-bit Instance ID.2 Node Objects Publication 1398-5.LVWKHFRPPRQEDVLVIRU ORJLFDOO\DGGUHVVLQJVHSDUDWHSK\VLFDOFRPSRQHQWVDFURVV'HYLFH1HW7KH 0$&. The ULTRA 100 supports an 8-bit Class ID. Figure D. Attribute ID The Attribute ID is a unique identification assigned to a Class attribute and/or Instance attribute.December 1999 . December 1999 . 1 byte length indicator) BYTE Bit string. Instances ID 1-5 Instance ID Description 1 ULTRA 100 2 ULTRA 100 Main Firmware 3 ULTRA 100 Boot Firmware 4 ULTRA 100 DeviceNet Interface Board Boot Firmware 5 ULTRA 100 DeviceNet Interface Board Main Firmware Publication 1398-5. (1 byte) DWORD Bit string.GHQWLW\2EMHFWV RQHIRUWKHZKROH GHYLFHDQGIRXUWKDWUHSUHVHQWYDULRXVILUPZDUHFRPSRQHQWV Identity Object. The largest instance number of a created object at this class hierarchy level. Attribute for Instance ID = 0 (Class Attributes) Attr Access Attribute ID Rule Name 2 Get Type Description Semantics of Values Max Instance UINT Maximum instance number of an object currently created in this class level of the device.Programming Reference Data Type Definitions Identity Object (Class ID 01 ) H D-5 Mnemonic Description WORD 16-bit word.4 . (4 bytes) 7KLVREMHFWVXSSRUWVLGHQWLILFDWLRQLQIRUPDWLRQDERXWWKHGHYLFHDQGUHVHW VHUYLFH7KHLQWHUIDFHFDUGLPSOHPHQWVILYH. Identity Object. (2 bytes) UINT Unsigned integer (2 bytes) INT Signed integer (2 bytes) BOOL Boolean (1 byte) SINT Signed Short integer (1 byte) DINT Signed Double integer (4 bytes) USINT Unsigned Short integer (1 byte) UDINT Unsigned Double integer (4 bytes) SHORT_STRING Character string (1 byte per character. Instance 1: 115 = Rockwell Automation Miscellaneous 105 = Returned by Instance #2-5 (sub-component) 3 Product code Identification of a particular product of an individual vendor Instance 1: 06 = 1398-DDM-005-DN 07 = 1398-DDM-009-DN 08 = 1398-DDM-019-DN 09 = 1398-DDM-005X-DN 10 = 1398-DDM-009X-DN 11 = 1398-DDM-019X-DN Instances 2-5: 01 = (Firmware) 4 Revision Major Minor STRUCT of: USINT USINT Revision of the item the Identity Object represents. 7 Product Name SHORT_ Readable STRING identification Major Revision Minor Revision Unique identifier for each product. Status Description of Attribute ID #5 6 Serial Number UDINT Serial number of device Unique identifier for each device. 5. 7 Vendor specific . 5 Status WORD This attribute represents the current status of the entire device. Attributes of Instances ID 1-5 Attr.December 1999 0 = Reserved Configured Always = 0 3 0 = Reserved 4. Status Description of Attribute ID #5 Bit (s) Description Semantics of Values 0 Owned TRUE = device has an owner 1 2 Publication 1398-5.D-6 Programming Reference Identity Object. 6. Identity Object. Access Attribute ID Rule Name Type Description Semantics of Values 1 UINT Identification of each vendor by number 01 = Rockwell Automation/ Allen-Bradley Get Vendor ID 2 Device Type Indication of general type of product. Its value changes as the state of the device changes.4 . See table: Identity Object. Find_Next_Object_ Instance Causes the specified Class to search and return a list of instance IDs of existing instances of the Identity object. 13 Reserved. Common Services Service Code Implemented for Class Instance 0EH Yes Yes 05H No 11H Yes n/a Service Name Service Description Get_Attribute_Single Returns the contents of the specified attribute. set to 0 14. Publication 1398-5. Reset Invokes the Reset service for the device.December 1999 . 15 Identity Object. Status Description of Attribute ID #5 (Continued) Bit (s) Description Semantics of Values 8 Minor recoverable fault Always = 0 9 Minor unrecoverable fault Always = 0 10 Major recoverable fault TRUE if self diagnosis detects a major fault 11 Major unrecoverable fault Always = 0 12.4 .Programming Reference D-7 Identity Object. Common Services DeviceNet Object (Class ID 03 ) Service Code Service Name Service Description 0EH Get_Attribute_Single Returns the contents of the specified attribute 7KH'HYLFH1HW2EMHFWSURYLGHVFRQILJXUDWLRQDQGVWDWXVDWWULEXWHVRID 'HYLFH1HWSRUW H DeviceNet Object. ID Access Attribute Rule Name Type Description Semantics of Values 1 UINT Revision of the DeviceNet object Class definition upon which the implementation is based.December 1999 Attr.4 .D-8 Programming Reference Message Router Object (Class ID 02 ) H 7KH0HVVDJH5RXWHU2EMHFWSURYLGHVDPHVVDJLQJFRQQHFWLRQSRLQWWKURXJK ZKLFKD&OLHQWPD\DGGUHVVDVHUYLFHWRDQ\REMHFWFODVVRULQVWDQFHUHVLGLQJLQ WKHSK\VLFDOGHYLFH Message Router Object. =2 Get Revision . Attributes of Instance ID = 1 Attr. Access Attribute ID Rule Name Type Description Semantics of Values 2 UINT Maximum number of connections supported Count of the max number of connections supported Current count of the number of connections allocated to system communication Get Number Available 3 Number active Number of connections currently used by system components 4 Active connections ARRAY of: UINT Array of system A list of the connection IDs of connection IDs the currently active connections Message Router Object. Attribute of Instance ID = 0 (Class Attribute) Publication 1398-5. 0 = No Change 1 = Change since last Reset or power-up The Baud Rate Switch(es) have changed since last power-up/ reset. Refer to Setting rotary DIP switches to node address and data rate on page 4-1 3 Set 4 5 Get Bus OFF interrupt (BOI) BOOL Bus-OFF Interrupt Default = 0 Bus OFF Counter USINT Number of times CAN went to the bus-OFF state Allocation STRUCT of: information BYTE USINT Range 0-255 Allocation Choice Refer to the (1 byte) DeviceNet Object definition in the + Master MAC DeviceNet Specification ID (1 byte) Range 0-63. Range 0-63 Range 0-2 Actual value of Baud Rate switch(es).4 . Access ID Rule Attribute Name Type Description Semantics of Values 1 MAC ID USINT Node Address Range 0-63 Data Rate 0 = 125K. Publication 1398-5. 0 = No Change 1 = Change since last Reset or power-up Actual value of Node Address switch(es) or EEPROM value if programmable. 255 Modified via Allocate only. 1 = 250K. Attributes of Instance ID = 1 Attr. 2 = 500K Set 2 Baud Rate “Set” is only supported if the MAC ID and Data Rate are programmable.December 1999 . EEPROM value if programmable. or operating value after an autobaud was completed. 6 MAC ID Switch Changed 7 Baud Rate Switch Changed 8 MAC ID Switch Value 9 Baud Rate Switch Value BOOL USINT The Node Address Switch(es) have changed since last power-up/ reset.Programming Reference D-9 DeviceNet Object. D-10 Programming Reference DeviceNet Object. These connections are to be released (deleted). 7KH'HYLFH1HW6SHFLILFDWLRQGHILQHV$VVHPEO\2EMHFWVDVREMHFWVWKDW´ELQG DWWULEXWHVRIPXOWLSOHREMHFWVWRDOORZGDWDWRRUIURPHDFKREMHFWWREHVHQW RYHUDVLQJOHFRQQHFWLRQµ7KH8/75$'ULYHZLWK'HYLFH1HWXVHV $VVHPEO\2EMHFWVWRVHQGGDWDWRDQGIURPD0DVWHU VFDQQHU. Class Specific Services Assembly Object (Class ID 04 ) H Service Code Service Name Service Description 4BH Allocate_Master/ Slave_Connection_Set Requests the use of the Predefined Master/Slave Connection Set. 4CH Release_Group_2_ Identifier_Set Indicates that the specified Connections within the Predefined Master/Slave Connection Set are no longer desired. Common Services Service Code Service Name Service Description 0EH Get_Attribute_Single Returns the contents of the specified attribute. DeviceNet Object. 10H Set_Attribute_Single Modifies the specified attribute. QSXW$VVHPEOLHVDUHWKHVWDWXVLQIRUPDWLRQ WKDWLVFRQVXPHGE\WKHVFDQQHURUDUHWKHVFDQQHU·V´LQSXWµ7KH8/75$ 'ULYHZLWK'HYLFH1HWDOORZVWKHXVHUWRFKRRVHEHWZHHQYDULRXV.QSXWDQG 2XWSXW$VVHPEOLHVWKHUHE\FKRRVLQJWKHGDWDIRUPDWRIWKHPHVVDJHVWKDWDUH SDVVHGEDFNDQGIRUWKEHWZHHQWKH8/75$'ULYHZLWK'HYLFH1HWDQGWKH VFDQQHURQWKH.QDGGLWLRQWKHXVHUFDQVHQGH[SOLFLWPHVVDJHVWRWKH.QSXWDQG2XWSXW $VVHPEOLHV´([SOLFLWPHVVDJHZULWHVµWRDQ2XWSXW$VVHPEO\FDQSHUIRUP FRQWUROIXQFWLRQV7KHUHIRUH´H[SOLFLWPHVVDJHZULWHVµDUHRQO\DOORZHGZKHQ WKH0DVWHU VFDQQHU.GHYLFHRYHUDQ .2FRQQHFWLRQ .QSXWµDQG´2XWSXWµDUHGHILQHGIURPWKH VFDQQHU·VSRLQWRIYLHZ8/75$'ULYHZLWK'HYLFH1HW2XWSXW $VVHPEOLHVDUHGHILQHGDVWKHLQIRUPDWLRQWKDWLV´RXWSXWµE\WKHVFDQQHUDQG FRQVXPHGE\WKH8/75$.2FRQQHFWLRQ7KHWHUPV´. 2PHVVDJLQJ DQGWKH´PHVVDJHZULWHµLVGRQHWKURXJKDFRQQHFWLRQZLWKDWLPHRXWYDOXH QRWHTXDOWR]HUR$IWHUDZULWHDQ\WLPHRXWRUFORVXUHRIWKHFRQQHFWLRQPD\ FDXVHWKHGULYHWRIDXOW5HIHUWR 8VLQJ([SOLFLW0HVVDJLQJWR&RQWUROWKH 8/75$RQSDJH '7KLVPDQXDOPD\UHIHUWR´.QSXWDQG2XWSXW $VVHPEOLHVµDV´UHVSRQVHµDQG´FRPPDQGµ$VVHPEOLHVUHVSHFWLYHO\ Publication 1398-5.December 1999 .4 .LVQRWDFWLYHO\FRQWUROOLQJWKHGULYHYLD. Maximum instance number of an object currently created in this class level of the device.2 LQWKHIROORZLQJIDVKLRQ 52 5HDG2QO\53: 5HDG:ULWH3URWHFWHG. The current value assigned to this attribute is two (02). ID Access Attribute Rule Name Type Description Semantics of Values 1 UINT Revision of this object. The largest instance number of a created object at this class hierarchy level. Attributes of Instance ID = 0 (Class Attributes) Attr.Programming Reference D-11 Assembly Object. Get 2 Revision Max Instance 7KHIROORZLQJ$VVHPEO\2EMHFWVDUHLPSOHPHQWHGLQWKHGULYHDQGEXIIHU. Set_Attribute_Single Modifies an attribute value. Command Data Assembly Object. Common Services Service Code Implemented for Class Instance 0EH Yes Yes 10EH No Service Name Service Description Get_Attribute_Single Returns the contents of the specified attribute.6 ID Type Access 1 Static Output N/A Null 2 Static Input Logic (Drive) Status 3 Static Output R/PW Logic Command 4 Static Input Logic Status and Feedback Data 5 Static Output R/PW 6 R/PW RO RO Description Logic Command and Feedback Data Pointer Logic Command.December 1999 . Publication 1398-5. Assembly Object. Feedback Data Pointer.4 . Instance ID = 1 .6 Attr ID Access Rule Attribute Name Type 3 Get Data ARRAY Assembly Object. Attribute of Instances ID 1 . D-12 Programming Reference 3DUDPHWHU'1HW.2)RUPDW 3DUDPHWHU.QGH['ULYH3DUDPHWHU 1RQLQGH[LQJ'ULYH. and Cyclic I/O Messaging Input (response) Assembly Instance ID used for Polled I/O Messaging Input (response) Assembly Instance ID used for Change of State and Cyclic Messaging Type 1 1 (0 bytes) 2 (4 bytes) 2 (4 bytes) Type 2 3 (2 bytes) 2 (4 bytes) 2 (4 bytes) Type 3 5 (3 bytes) 4 (8 bytes) 2 (4 bytes) Type 4 6 (8 bytes) 4 (8 bytes) 2 (4 bytes) Refer to the Parameter Objects for more information about the DNet I/O Format parameter.IWKH'1HW.2 PHVVDJLQJFRQQHFWLRQ Assembly Object.PXVWEHSURJUDPPHGWRVHOHFWWKHDSSURSULDWH DVVHPEOLHVWREHVHQWRYHUDQ. IMPORTANT .2)RUPDWSDUDPHWHULVPRGLILHGWKHXVHU KDVWRHLWKHUSRZHUF\FOHWKH'ULYHUHVHWWKH'ULYHRU UHPRYHDQGUHDSSO\'HYLFH1HWSRZHUIRUWKH'ULYHWRXVH WKHPRGLILHGYDOXH 7KHIROORZLQJWDEOHVGHVFULEHWKHGDWDIRUPDWRIWKH2XWSXW FRPPDQG.QSXWDQG 2XWSXW$VVHPEO\WRXVHVKRXOGEHEDVHGRQZKDWVRUWRILQIRUPDWLRQLV DSSURSULDWHLQDSDUWLFXODUV\VWHP7KH$VVHPEO\2EMHFW. Change of State.2FRQQHFWLRQ7KHFKRLFHRIZKLFK.2)RUPDW7\SH 6HOHFWLRQ7DEOHOLVWVWKHLQSXWDQGRXWSXWDVVHPEOLHVH[FKDQJHGRYHUDQ. I/O Format Type DeviceNet I/O Format Output (command) Assembly Instance ID used for Polled. Output (command) Assembly for Instance ID = 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 (No data) Assembly Object.4 . Output (command) Assembly for Instance ID = 3 Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Preset Select B Preset Select A Operation Mode Override Reserved 1 Enable Fault Reset Start Homing Remove Command Offset Publication 1398-5.GDWD $VVHPEOLHV Assembly Object.December 1999 Bit 3 Disable Serial Bit 2 Bit 1 Bit 0 Follower Enable Integrator Inhibit Torque Override Define Home Start Index Preset Select C . High byte Fault Reset Bit 5 Bit 4 Bit 3 Reserved Start Homing Remove Command Offset Disable Serial Bit 2 Bit 1 Bit 0 Follower Enable Integrator Inhibit Torque Override Define Home Start Index Preset Select C Feedback Data Pointer Reserved Command Data Pointer $GGLWLRQDOLQIRUPDWLRQUHJDUGLQJFRQILJXUDWLRQDSSOLFDWLRQDQGXVHRIWKH 'ULYHFDQEHIRXQGLQWKH8/75$6HULHV'ULYHV.High Middle byte 7 Command Data Value .QVWDOODWLRQ0DQXDO 3XE . Output (command) Assembly for Instance ID = 5 Byte Bit 7 Bit 6 Bit 5 Bit 4 0 Preset Select B Preset Select A Operation Mode Override Reserved 1 Enable Fault Reset Start Homing 2 Reserved Remove Command Offset Bit 3 Disable Serial Bit 2 Bit 1 Bit 0 Follower Enable Integrator Inhibit Torque Override Define Home Start Index Preset Select C Feedback Data Pointer Assembly Object.Low Middle byte 6 Command Data Value . Output (command) Assembly for Instance ID = 6 Byte Bit 7 Bit 6 0 Preset Select Preset Select Operation B A Mode Override 1 Enable 2 Reserved 3 Write Command Data 4 Command Data Value .Programming Reference D-13 Assembly Object.Low byte 5 Command Data Value . Logic Command 7KHILUVWELWVLQWKH2XWSXW FRPPDQG. $VVHPEOLHVDUHUHIHUUHGWRDVWKH ORJLFFRPPDQG7KHORJLFFRPPDQGELWVFRUUHVSRQGWRIXQFWLRQVDYDLODEOHYLD WKHKDUGZDUHGLJLWDOLQSXWVRQWKH8/75$'ULYHZLWK'HYLFH1HW7KH (1$%/(ELWLQWKHORJLFFRPPDQGLV¶25·HGRU¶$1'·HGZLWKWKHKDUGZDUH (1$%/(LQSXWDVVSHFLILHGE\WKH(QDEOH%HKDYLRUSDUDPHWHU 3DUDPHWHU 1RQLQGH[LQJ'ULYH3DUDPHWHU .QGH[LQJ'ULYH. IDIXQFWLRQKDVEHHQDVVLJQHG WRDKDUGZDUHLQSXWWKHFRUUHVSRQGLQJORJLFFRPPDQGELWLV¶25·HGZLWKWKH KDUGZDUHLQSXW%LWVLQWKHORJLFFRPPDQGFDQEHPDVNHGRIIE\XVLQJWKH Publication 1398-5.4 ..December 1999 .IDIXQFWLRQKDVQRW EHHQDVVLJQHGWRDQ\RIWKHKDUGZDUHLQSXWVWKHFRUUHVSRQGLQJORJLF FRPPDQGELWH[FOXVLYHO\FRQWUROVWKHIXQFWLRQ. QGH[LQJ'ULYH.D-14 Programming Reference /RJLF&RPPDQG0DVNSDUDPHWHU 3DUDPHWHU1RQLQGH[LQJ'ULYH 3DUDPHWHU. .IDELWLQWKH/RJLF&RPPDQG0DVNLV]HUR . WKHQWKHFRUUHVSRQGLQJELWLQWKHORJLFFRPPDQGZLOOEHVHWWR]HURLQVLGH WKH8/75$$OORIWKHORJLFFRPPDQGELWVZLOOEHPDVNHGRII VHWWR]HUR. XQOHVVWKH/RJLF&RPPDQG0DVNSDUDPHWHULVFKDQJHGIURPWKHGHIDXOWYDOXH RI]HUR . QWHJUDWRU 1RQ.QWHJUDWRU Follower Enable 7KLVELWLVXVHGWRDOORZWKHSRVLWLRQORRSWRWUDFNWKH3RVLWLRQ&RPPDQG ZKHQWKH'ULYHLVVHWWRD3RVLWLRQ)ROORZHU0RGH Operation Mode Override 7KH2YHUULGH&RPPDQG6RXUFH 3DUDPHWHU.QSXWLVORZ Integrator Inhibit 7KLVELWLVXVHG]HURWKHYHORFLW\ORRSLQWHJUDWRU .QKLELW. IMPORTANT IMPORTANT $WUDQVLWLRQRQDORJLFFRPPDQGELWZLOOQRWEHUHFRJQL]HG LIWKHFRUUHVSRQGLQJKDUGZDUHLQSXWLVDFWLYH5HIHUWRWKH GHVFULSWLRQIRUWKH(1$%/(ELWIRUPRUHLQIRUPDWLRQ UHJDUGLQJWKHLQWHUDFWLRQEHWZHHQWKHORJLFFRPPDQG (1$%/(ELWDQGWKHKDUGZDUH(QDEOHLQSXW 7RJJOLQJPRUHWKDQRQHELWDWRQHWLPHPD\SURGXFH LQGHWHUPLQDWHEHKDYLRU )RUH[DPSOHFKDQJLQJWKH3UHVHWVDQGWUDQVLWLRQLQJWKH 6WDUW.QGH[IURPWRPD\FDXVHWKHSUHYLRXVO\VHOHFWHG .QGH[3UHVHWWREHH[HFXWHG Torque Override 7KLVELWLVXVHGWRIRUFHWKHGULYHLQWR7RUTXH0RGH 7RUTXH0RGH 7RUTXH2YHUULGH.QKLELW. LVVHOHFWHGDVWKH FRPPDQGVRXUFHDQGWKH2YHUULGH'ULYH0RGH 3DUDPHWHU. LV VHOHFWHGDVWKHGULYHPRGH &RPPDQG6RXUFH 3DUDPHWHU. DQG'ULYH0RGH 3DUDPHWHU. 4 .DUH VHOHFWHGDVWKHFRPPDQGVRXUFHDQGGULYHPRGH Publication 1398-5.December 1999 . Programming Reference D-15 Selection Table of Presets 7KHVHELWVDUHXVHGWRVHOHFWD9HORFLW\3UHVHW7RUTXH3UHVHWRU.QGH[6HOHFW Preset Select C B A 0 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 Start Index $ULVLQJHGJH WUDQVLWLRQIURPWR. RIWKH6WDUW.QGH[ELWEHJLQVDQLQGH[LQJ PRYHLIWKH'ULYH VFXUUHQW2SHUDWLRQ0RGHLVLQGH[LQJ FRPPDQGVRXUFH LQGH[LQJ. 7KH'ULYH0RGH 3DUDPHWHU. VKRXOGEHVHWWR9HORFLW\0RGHRU HOVHWKHYHORFLW\ORRSZLOOEHE\SDVVHG$WUDQVLWLRQZLOOQRWEHUHFRJQL]HGLID KDUGZDUHLQSXWFRQILJXUHGDVD6WDUW.QGH[LQJ'ULYH Define Home $ULVLQJHGJH WUDQVLWLRQIURPWR.QGH[LVDOUHDG\DFWLYH7KLVRSWLRQLV RQO\DYDLODEOHRQDQ. FDXVHVWKHSUHVHQWPRWRUSRVLWLRQWREH VHOHFWHGDV+RPH3RVLWLRQ 3DUDPHWHU. 7KLVPHDQVWKDWWKHSRVLWLRQ FRPPDQGLVVHWWRWKH+RPH3RVLWLRQDQGWKHSRVLWLRQIHHGEDFNLV VLPXOWDQHRXVO\VHWWRLWVDSSURSULDWHYDOXHDFFRUGLQJWRWKHSRVLWLRQHUURU7KLV RSWLRQLVRQO\DYDLODEOHRQDQ.QGH[LQJ'ULYH Disable Serial 7KLVELWLQKLELWVWKHVHULDOFRPPXQLFDWLRQVSRUWRSHUDWLRQRQWKH'ULYH 6HULDOFRPPXQLFDWLRQVGLVDEOHG 6HULDOFRPPXQLFDWLRQVHQDEOHG Remove COMMAND Offset $ULVLQJHGJH WUDQVLWLRQIURPWR. QSXWWREHPHDVXUHG DIWHUDYHUDJLQJ.FDXVHVWKHRIIVHWRIWKH$QDORJ &200$1'. QSXW2IIVHWDQG9HORFLW\&200$1'.December 1999 .4 .DQGWKH7RUTXH &200$1'.QSXW2IIVHW SDUDPHWHUVDUHVHWWRWKHQHJDWLYHRIWKLVYDOXHWRKHOSUHGXFHGULIW Publication 1398-5. D-16 Programming Reference Start Homing $ULVLQJHGJH WUDQVLWLRQIURPWR. FDXVHVWKH'ULYHWRLQLWLDWHWKHKRPLQJ URXWLQH7KLVRSWLRQLVRQO\DYDLODEOHRQDQ.QGH[LQJ'ULYH Fault Reset $ULVLQJHGJH WUDQVLWLRQIURPWR. ZLOOUHVHWDQ\GHWHFWHG'ULYHIDXOWV.IWKH 'ULYH(QDEOHLVKLJK . WKH'ULYHZLOOHQDEOHDQGXQH[SHFWHGPRWLRQPD\ KDSSHQ Enable 7KH(QDEOHELWHQDEOHVWKH'ULYH HQDEOH GLVDEOH. GHSHQGLQJRQWKH +DUGZDUH(QDEOHLQSXWDQGWKH(QDEOH%HKDYLRUSDUDPHWHU 3DUDPHWHU 1RQLQGH['ULYHDQG3DUDPHWHU .QGH[LQJ'ULYH. 7KH(QDEOHELWFDQEH FRQILJXUHGWREH 25 HGRU $1' HGZLWKWKHKDUGZDUHHQDEOHE\VHWWLQJWKH (QDEOH%HKDYLRUSDUDPHWHU.IWKH(QDEOH%HKDYLRUSDUDPHWHULVVHWWR +DUGZDUH25'1HWWKHQRQO\RQHHQDEOHLQSXWKDVWREHDFWLYDWHGWRHQDEOH WKHGULYH2WKHUZLVHERWKHQDEOHLQSXWVKDYHWREHDFWLYDWHGWRHQDEOHWKH GULYH7KH+RVW&RQWURO0RGH 3DUDPHWHU . QSXW UHVSRQVH.FDQWHPSRUDULO\GLVDEOHWKH GULYHUHJDUGOHVVRIWKHKDUGZDUHHQDEOHLQSXWDQG'HYLFH1HWHQDEOHELW Feedback Data Pointer 7KHWKLUGE\WHLQDVVHPEOLHVDQGFRQWDLQVDIHHGEDFNGDWDSRLQWHUWKDW VHOHFWVWKHIHHGEDFNGDWDYDOXH5HIHUWR $VVHPEO\2EMHFW. December 1999 Feedback Data Pointer Description Data Type 0 Commanded Position DINT 1 Actual Position 2 Actual Velocity 3 Average Current DINT (a sign extended INT) 4 Fault Status DWORD .' RQSDJH ' Assembly Object.QVWDQFH. Feedback Data Publication 1398-5.4 . $VVHPEO\IRU. Programming Reference D-17 Command Data 7KHFRPPDQGGDWDSRLQWHUGHILQHVZKLFKFRPPDQGGDWDVKRXOGEHXSGDWHGLQ WKHGULYH7KHFRPPDQGGDWDSRLQWHUVHOHFWVRQHRIWKHFRPPDQGGDWDOLVWHG LQ$VVHPEO\2EMHFW&RPPDQG'DWDWDEOH7KH:ULWH&RPPDQG'DWDELWLV XVHGWRODWFKWKHFRPPDQGGDWDYDOXHWKDWLVORFDWHGLQWKHODVWIRXUE\WHVRI WKH2XWSXW FRPPDQG. $VVHPEO\$QHZFRPPDQGGDWDYDOXHZLOOEH DFFHSWHGE\WKHGULYHRQWKHULVLQJHGJHRIWKH:ULWH&RPPDQG'DWDELW WUDQVLWLRQIURPWR. QSXW UHVSRQVH.LIWKH:ULWH'DWD%XV\$FNELW ORFDWHGLQWKH. QVWDQFH.$VVHPEO\. LVORZ EXV\ LGOH7KH:ULWH'DWD %XV\$FNELWZLOOEHFOHDUHGZKHQWKH:ULWH&RPPDQG'DWDELWLVVHWWR]HUR . 'LVXSGDWHGYLDDQ.QVWDQFH.QSXW UHVSRQVH.IWKH$VVHPEO\ 2EMHFWLVXSGDWHGYLDDQ.2PHVVDJHWKH8/75$ 'ULYHZLWK'HYLFH1HWVHWVWKH:ULWH'DWD(UURUELWLQWKH .DQGWKH8/75$'ULYHZLWK'HYLFH1HWLVQRWEXV\VDYLQJWKH FRPPDQGGDWD7KH:ULWH&RPPDQG'DWDDQG:ULWH'DWD%XV\$FNELWVDUH LJQRUHGLIWKHFRPPDQG$VVHPEO\LVXSGDWHGYLDDQH[SOLFLWPHVVDJH IMPORTANT .I$VVHPEO\2EMHFW.2RU H[SOLFLWPHVVDJHWKHGULYHZLOODFWRQWKHORJLFFRPPDQG EHIRUHUHDGLQJWKHFRPPDQGGDWDYDOXH7KHUHIRUHWKH GULYHZLOODFFHSWWKHORJLFFRPPDQGHYHQWKRXJKWKH FRPPDQGGDWDYDOXHPD\EHLQYDOLG. December 1999 .4 .IWKH$VVHPEO\2EMHFWLVXSGDWHGYLDDQH[SOLFLW PHVVDJHWKH'ULYHZLOOUHWXUQDQHUURUUHVSRQVHLIWKH FRPPDQGGDWDYDOXHLVLQYDOLG Assembly Object. Command Data Command Data Pointer Command Data Description Data Type Parameter Number 0x00 Null - 0x01 Host Setpoint Control Enable USINT 170 0x02 Host Velocity Setpoint DINT 172 0x03 Host Torque Setpoint INT 173 0x04 Host Setpoint Acceleration UDINT 174 0x05 Host Index Control Indexing Drive only USINT 171 0x06 Host Index Indexing Drive only 181 0x07 RAM Index Type Indexing Drive only 201 Publication 1398-5.$VVHPEO\LIWKHFRPPDQGGDWDYDOXHLV LQYDOLG. Command Data (Continued) Command Data Pointer Command Data Description Data Type Parameter Number 0x08 RAM Index Distance/Position Indexing Drive only DINT 210 0x09 RAM Index Registration Distance Indexing Drive only UDINT 219 0x0A RAM Index Velocity Indexing Drive only 0x0B RAM Index Acceleration Indexing Drive only 0x0C RAM Index Deceleration Indexing Drive only 0x0D RAM Index Dwell Time Indexing Drive only 0x0E RAM Index Count Indexing Drive only 0x0F RAM Index Termination Indexing Drive only 0x10 RAM Index Pointer Indexing Drive only UINT 255 USINT 273 7KHIROORZLQJWZRWDEOHVGHVFULEHWKHGDWDIRUPDWRIWKH.QSXW UHVSRQVH.D-18 Programming Reference Assembly Object. 4 . $VVHPEOLHV Assembly Object. Input (response) Assembly for Instance ID = 2 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Enabled At Speed Negative ILimit Positive Ilimit Within Velocity Window Zero Velocity Within Position Window In Position 1 Drive Ready Brake Active Axis Homed Reserved Fault Disable DC Bus Charged 2 Preset Select B Preset Select A Operation Mode Override Reverse Clamp Forward Clamp Follower Enable Integrator Inhibit Torque Override 3 Enable Active Fault Reset Registration Detected In Dwell In Motion Sequence Complete At Home Preset Select C Publication 1398-5.December 1999 . Input (response) Assembly for Instance ID = 4 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Enabled At Speed Negative ILimit Positive Ilimit Within Velocity Window Zero Velocity Within Position Window In Position 1 Drive Ready Brake Active Axis Homed Write Data Busy/ Ack Write Reserved Data Error Fault Disable DC Bus Charged 2 Preset Select B Preset Select A Operation Mode Override Reverse Clamp Forward Clamp Follower Enable Integrator Inhibit Torque Override 3 Enable Active Fault Reset Registration Detected In Dwell In Motion Sequence Complete At Home Preset Select C 4 Feedback Data Value .Programming Reference D-19 Assembly Object.High Middle byte 7 Feedback Data Value .High byte Logic Status Definitions 7KHILUVWIRXU .Low Middle byte 6 Feedback Data Value .Low byte 5 Feedback Data Value . QSXW UHVSRQVH.E\WHVRIWKH. $VVHPEOLHVDUHUHIHUUHGWRWKH ORJLF RU'ULYH. (UHOD\LV&ORVHGWKH EUDNHLVUHOHDVHG Drive Ready 7KLVELWLQGLFDWHVWKDWWKHGULYHGRHVQRWKDYHDQ\GLVDEOLQJIDXOWV 'ULYHRSHUDWLRQDO 'ULYHIDXOWHG Torque Override 7KLVELWLQGLFDWHVZKHWKHUWKHGULYHPRGHLVLQWRUTXHRYHUULGHPRGH 7RUTXH0RGH 1RUPDORSHUDWLRQ 7KLVELWUHIOHFWVWKHVWDWHRIWKH7RUTXH2YHUULGHLQSXWELW5HFDOOWKDWDQLQSXW ELWPD\EHVHWYLDDQDVVLJQHGKDUGZDUHLQSXWRUD'HYLFH1HWPHVVDJH Publication 1398-5.4 .(UHOD\ LV2SHQWKHEUDNHLVEHLQJDSSOLHG:KHQWKH%5$.(UHOD\LVFORVHG:KHQWKH%5$.December 1999 .VWDWXV Brake Active 7KLVELWLQGLFDWHVZKHWKHUWKH%5$. D-20 Programming Reference Integrator Inhibit 7KLVELWLQGLFDWHVZKHWKHUWKHYHORFLW\ORRSLQWHJUDWRULVLQKLELWHGDQGUHIOHFWV WKHVWDWHRIWKH.QWHJUDWRU. C 7KHVHELWVLQGLFDWHWKHVWDWHRIWKH3UHVHW6HOHFWLQSXWV. B.IWKHGULYHLVH[HFXWLQJ DQLQGH[WKHVHELWVGRQRWQHFHVVDULO\LQGLFDWHZKLFKLQGH[LVH[HFXWLQJ At Home 7KLVELWLQGLFDWHVWKDWWKHSRVLWLRQFRPPDQGLVHTXDOWRWKH+RPH3RVLWLRQ 3DUDPHWHU.QKLELWLQSXW Follower Enable 7KLVLQGLFDWHVZKHWKHUWKHIROORZHUHQDEOHLQSXWLVDFWLYHDQGWKHSRVLWLRQORRS LVDOORZHGWRWUDFNWKHSRVLWLRQFRPPDQGZKHQWKHGULYHLVVHWWRD3RVLWLRQ )ROORZHUPRGH7KLVELWUHIOHFWVWKHVWDWHRIWKH)ROORZHU(QDEOHLQSXW Operation Mode Override 7KH2YHUULGH&RPPDQG6RXUFHVHOHFWVWKHFRPPDQGVRXUFHDQGWKH 2YHUULGH'ULYH0RGHVHOHFWVWKHGULYHPRGH &RPPDQG6RXUFHDQG'ULYH0RGHVHOHFWWKHFRPPDQGVRXUFHDQGGULYH PRGH7KLVELWUHIOHFWVWKHVWDWHRIWKH2SHUDWLRQ0RGH2YHUULGHLQSXW Preset Select A. 7KLVELWGRHVQRWSHUWDLQWRD1RQLQGH[LQJ'ULYH Sequence Complete 7KLVELWLQGLFDWHVWKDWDOOLWHUDWLRQVRIDQLQGH[KDYHEHHQFRPSOHWHG7KLVELW GRHVQRWSHUWDLQWRD1RQLQGH[LQJ'ULYH In Motion 7KLVELWLQGLFDWHVZKHQWKHPRWRULVPRYLQJWKHFRPPDQGHGLQGH[GLVWDQFHRU UHJLVWUDWLRQGLVWDQFH7KLVELWGRHVQRWSHUWDLQWRD1RQLQGH[LQJ'ULYH In Dwell 7KLVELWLQGLFDWHVZKHQWKHPRWRULVKROGLQJSRVLWLRQDQGZDLWLQJWKH FRPPDQGHGLQGH[GZHOOWLPH7KLVELWGRHVQRWSHUWDLQWRDQRQLQGH[LQJ GULYH Registration Detected 7KLVELWLQGLFDWHVZKHWKHUWKH5HJLVWUDWLRQ6HQVRUKDVEHHQGHWHFWHGDQGWKH PRYHKDVEHHQDGMXVWHGIRUWKLVLWHUDWLRQRIWKHLQGH[7KH5HJLVWUDWLRQ Publication 1398-5.4 .December 1999 . Programming Reference D-21 'LVWDQFHPXVWEHODUJHUWKDQWKHGHFHOHUDWLRQGLVWDQFHRUWKHPRYHZLOOQRWEH DGMXVWHG7KLVELWGRHVQRWSHUWDLQWRD1RQLQGH[LQJ'ULYH Fault Reset 7KLVELWLQGLFDWHVZKHWKHUWKH)DXOW5HVHWLQSXWLVKLJK Enable Active 7KLVELWLQGLFDWHVZKHWKHUWKHGULYHLVHQDEOHG (QDEOHG 'LVDEOHG DeviceNet Communication Fault Action 7KHXVHUFDQFRQILJXUHWKH8/75$'ULYHZLWK'HYLFH1HWWRSHUIRUPD VSHFLILFDFWLRQLIWKH2XWSXW FRPPDQG. $VVHPEO\LVQRWSHULRGLFDOO\XSGDWHG DIWHUWKH.2 RUH[SOLFLW. PHVVDJLQJFRQQHFWLRQKDVEHHQHVWDEOLVKHGDQGWKH '1HW.2)RUPDWSDUDPHWHULVFRQILJXUHGIRU7\SH7\SHRU7\SH7KH 2XWSXW$VVHPEO\PD\QRWJHWXSGDWHGIRUDVHYHUDOUHDVRQV • WKHPHVVDJLQJFRQQHFWLRQLVFORVHG • WKHVFDQQHU 0DVWHU. 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QSXWRQSDJH ' Using Explicit Messaging to Control the ULTRA 100 ([SOLFLWPHVVDJHVSURYLGHPXOWLSXUSRVHSRLQWWRSRLQWFRPPXQLFDWLRQSDWKV EHWZHHQWZRGHYLFHV.WLVSRVVLEOHWRFRQWUROWKH'ULYHWKURXJKH[SOLFLW PHVVDJLQJRQ'HYLFH1HWE\IROORZLQJSDUWLFXODUJXLGHOLQHVDQGE\ZULWLQJWR YDULRXV$VVHPEO\2EMHFWVWKDWDUHEXIIHULQJWKH.$VVHPEO\REMHFWIURPEHLQJXSGDWHG • )DXOW=HUR'DWD³7KH8/75$'ULYHZLWK'HYLFH1HWIDXOWVDQGWKH ORJLFFRPPDQGLVFOHDUHG • )DXOW+ROG/DVW³7KH8/75$'ULYHZLWK'HYLFH1HWIDXOWVDQGWKH ODVWORJLFFRPPDQGUHFHLYHGLVODWFKHG • =HUR'DWD³7KHORJLFFRPPDQGLVFOHDUHG • +ROG/DVW³7KHODVWORJLFFRPPDQGUHFHLYHGLVODWFKHG • )DXOW&RQILJXUH³7KH)DXOW&RQILJ/RJLFSDUDPHWHUVSHFLILHVWKHORJLF FRPPDQGYDOXH7KH8/75$'ULYHZLWK'HYLFH1HWGRHVQRWIDXOW 5HIHUWR 8VLQJWKH)DXOW&RQILJXUHG.2GDWD • :ULWHDFFHVVWRDQ\$VVHPEO\2EMHFWZLOOQRWEHDOORZHGLIWKHPHVVDJHLV SDVVHGWKURXJKDFRQQHFWLRQZKRVHH[SHFWHGSDFNHWUDWH (35.2GDWD$OWKRXJKLWLV SRVVLEOHWRFRQWUROWKH'ULYHE\ZULWLQJWRYDULRXVSDUDPHWHUREMHFWVWKHXVHU VKRXOGFRQVLGHUXVLQJWKH$VVHPEO\2EMHFWVIRUFRQWUROOLQJWKH'ULYH7KH JXLGHOLQHVDUHDVIROORZV • :ULWHWRWKHYDULRXV$VVHPEO\2EMHFWVWKDWDUHEXIIHULQJWKH. 2FRQQHFWLRQ • 0XOWLSOHH[SOLFLWFRQQHFWLRQVFDQZULWHRYHUZULWHWKHFRQWURO.IDPDUNHGFRQQHFWLRQKDVLWV(35YDOXHUHVHWWR]HUR .LV]HURRULI .2 FRQQHFWLRQ • .2 IDXOWDFWLRQZLOOEHWKDWFRQILJXUHGIRU&RPPXQLFDWLRQ/RVVRYHUWKH.2PHVVDJLQJFRQQHFWLRQ • 7KH'ULYHPDUNVDQ\H[SOLFLWFRQQHFWLRQDIWHUDOORZLQJDZULWHWRDQ $VVHPEO\2EMHFWWKURXJKLW • .2GDWDLVEHLQJVHQWRYHUDQ.GOHRYHUWKH.GOHFRQGLWLRQIURPWKHDOORFDWLQJ FRQWUROOHULVWUDQVLWLRQHGEDFNWRYDOLGGDWDWKHQDOOPDUNHGH[SOLFLW FRQQHFWLRQVZLOOEHUHVHWWRXQPDUNHGDQGIXWXUHZULWHVEORFNHG • .2LIWKH\ PHHWWKHJXLGHOLQHVVSHFLILHG(DFKFRQQHFWLRQZLOOEHPDUNHGLQGLYLGXDOO\ ZLWKLQWKH'ULYH • .IDPDUNHGH[SOLFLWFRQQHFWLRQLVGHOHWHGWKHQWKH.2 GDWDLVEHLQJVHQWWRWKH'ULYHRULIDQ.IDPDUNHGH[SOLFLWFRQQHFWLRQWLPHVRXWEDVHGRQWKH(35WKHQWKH.IWKH'ULYHJHWVDOORFDWHGUHDOORFDWHGE\DFRQWUROOHUVXFKWKDWYDOLG.2IDXOWDFWLRQZLOOEH WKDWFRQILJXUHGIRU. December 1999 .DIWHUEHLQJ PDUNHGWKHQWKHFRQQHFWLRQZLOOEHFRPHXQPDUNHG Publication 1398-5.4 . Attributes of Instances ID 1 .December 1999 . Instance ID 1 .10 Instance ID Instances 1 Group 2 Explicit Message Connection 2 Poll I/O Connection 4 Change of State or Cyclic I/O Connection 6-10 Group 3 Explicit Message Connections DeviceNet Connection Object.4 .Programming Reference DeviceNet Connection Object (Class ID 05 ) H D-23 7KH&RQQHFWLRQ2EMHFWPDQDJHVWKHLQWHUQDOUHVRXUFHVDVVRFLDWHGZLWKERWK . 13 17 Get Set Publication 1398-5.QVWDQFHRUD&RQQHFWLRQ 2EMHFW$&RQQHFWLRQ2EMHFWZLWKLQDSDUWLFXODUPRGXOHDFWXDOO\UHSUHVHQWV RQHRIWKHHQGSRLQWVRIDFRQQHFWLRQ DeviceNet Connection Object.10 Attr ID Access Attribute Rule Name Type Description 1 Get USINT State of the Connection State Semantics of Values 2 Instance Type 3 Transport_class_trigger BYTE Defines the behavior of the Connection 4 Produced_connection_id UINT CAN identifier to transmit on 5 Consumed_connection_id 6 Initial_comm_characteristics BYTE Defines the Message Group(s) associated with this Connection 7 Produced_connection_size UINT Maximum number of bytes transmitted across this Connection 8 Consumed_connection_size Maximum number of bytes received across this Connection Expected_packet_rate Defines timing associated with this Connection 9 Set 12 I/O or Message Connection CAN identifier to receive on Watchdog_timeout_action USINT Defines how to handle Inactivity/Watchdog time-outs Produced_connection_path_l ength UINT Number of bytes in the produced_connection_path attribute 14 Produced_connection_path Array of USINT Specifies the Application Object whose data is to be produced by this Connection object 15 Consumed_connection_path_ UINT length Number of bytes in the Consumed_connection_path attribute 16 Consumed_connection_path Array of USINT Specifies the Application Object(s) that are to receive the data consumed by this Connection Production_inhibit_time UINT Defines minimum time between new data production for COS connections.2DQG([SOLFLW0HVVDJLQJ&RQQHFWLRQV7KHVSHFLILFLQVWDQFHJHQHUDWHGE\ WKH&RQQHFWLRQ&ODVVLVUHIHUUHGWRDVD&RQQHFWLRQ. WVXSSOLHVDIXOOGHVFULSWLRQRIWKH SDUDPHWHULQFOXGLQJLWVPLQPD[YDOXHVDQGDUHDGDEOHWH[WVWULQJGHVFULELQJ WKHSDUDPHWHU7KHLQVWDQFHVVWDUWDWRQHDQGLQFUHPHQWZLWKQRJDSV Parameter Object.4 . 05H Reset Used to reset the Inactivity/Watchdog Timer associated with a Connection Object Parameter Object (Class ID 0F ) H 7KH'HYLFH1HW3DUDPHWHU2EMHFWSURYLGHVWKHLQWHUIDFHWRWKH8/75$ 'ULYHZLWK'HYLFH1HWFRQILJXUDWLRQGDWD. Attributes for Instance ID = 0 (Class Attributes) Attr ID Access Rule Name Data Type Description Semantics of Values 1 Get Revision UINT Revision of this object Current value = 01 Maximum instance number of an object currently created in this class level of the device The largest instance number of a created object at this class hierarchy level 2 Max Instances 8 Parameter Class Descriptor WORD Bit field that describe parameters Bit 0 = supports parameter instances Bit 1 = full attributes Bit 2 = non-volatile storage save command Bit 3 = params are stored in non-volatile storage 9 Configuration Assembly Instance UINT Instance number of the configuration assembly 0 = configuration assembly not supported 7KHWDEOH´3DUDPHWHU2EMHFW$WWULEXWHVµRQ3DJH 'OLVWVWKHLQVWDQFH DWWULEXWHVRIWKHSDUDPHWHUREMHFW7KHIROORZLQJWDEOH´3DUDPHWHU2EMHFW .QVWDQFHVµOLVWVWKHSDUDPHWHULQVWDQFHVLPSOHPHQWHGLQWKH8/75$'ULYH ZLWK'HYLFH1HW$SDUDPHWHUYDOXHLVDFFHVVHGYLD$WWULEXWHRIDSDUDPHWHU LQVWDQFH$GGLWLRQDOLQIRUPDWLRQDERXWWKHSDUDPHWHUREMHFWLVORFDWHGDIWHU WKHWDEOH´3DUDPHWHU2EMHFW$WWULEXWHVµ IMPORTANT Publication 1398-5.D-24 Programming Reference DeviceNet Connection Object. 10H Set_Attribute_Single Modifies the specified attribute. Common Services Service Code Service Name Service Description 0EH Get_Attribute_Single Returns the contents of the specified attribute.December 1999 6RPHSDUDPHWHUVFDQQRWEHPRGLILHGZKLOHWKH8/75$ 'ULYHZLWK'HYLFH1HWLVHQDEOHG7KH'ULYHZLOOUHWXUQ WKHHUURUFRGH´K'HYLFHVWDWHFRQIOLFWµLI\RXWU\WR PRGLI\RQHRIWKHVHSDUDPHWHUVZKLOHWKH'ULYHLVHQDEOHG . Autobaud 5 Chg of State Msk (bit definition) 3 6 Get/Set Get DWORD 4 DNet I/O Status (bit definition) 7 Drive Main Version 8 Drive Boot Version 9 Product Type 10 Powerup Status The change of state mask is used when a master has allocated the change of state I/O message connection.Autobaud DN-NV Node Addr The programmed nonvolatile DeviceNet Node Address (Mac_ID). 0 . Get 2 USINT DN-SW Baud Rate DeviceNet Baud Rate (Data Rate) switch setting. Micro-size Indexing Drive The status of the drive during power up testing.Autobaud 6 .Autobaud 5 . 0 .250 kbps 2 .successful power-up Publication 1398-5. Instances ID 1-289 Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 1 DN-SW Node Address 1 DeviceNet Node Address (Mac_ID) switch setting. then a change of state I/O message will be produced whenever the corresponding bit in ’Parameter 6 . Micro-size Non-indexing Drive 11 . change of state.63 4 DN-NV Baud Rate The programmed nonvolatile DeviceNet Baud Rate.500 kbps 3 . 0 .DNet I/O Status’ changes value. then a change of state I/O message will not be produced if the corresponding bit in ’Parameter 6 .Programming Reference D-25 Parameter Object.Autobaud 7 . Refer to Assembly Object.DeviceNet (TM). and cyclic I/O messages. Major.500 kbps 3 . UINT 2 The version number of the main firmware loaded in the drive's regulator card.December 1999 . If a particular bit is set (one) in ’Chg of State Msk’. 0 .125 kbps 1 . Major revision = Int (Value/100) Minor revision = Remainder (Value/100) USINT Identifies the drive product type.DNet I/O Status’ changes.125 kbps 1 .4 .Autobaud 4 . “DNet I/O Status” is equivalent to the Logic Status field in the input (response) assemblies. ‘DNet I/O Status' is the same information sent by the polled. 9 . Input (response) Assembly for Instance ID = 2 on page D-18.250 kbps 2 . If a bit is clear (zero) in ’Chg of State Msk’.DeviceNet (TM). Minor Revision = Value/100 The version number of the boot firmware loaded in the drive's regulator card. December 1999 1/128 Sets or returns the Kp gain for the position loop. Series Drive manual for a list of motor IDs and corresponding • A value of 65535 for the Motor ID selects a custom motor as motors. Refer to the ULTRA 100 new Motor ID are properly initialized. Range: 0 to 4095 Default: 0 Sets or returns the Kff gain for the position loop. If the position error is greater than the Integrator Zone. The Ki gain generates a control signal proportional to the integral of the velocity error. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale 11 Get/Set Motor ID UINT 2 12 Get/Set Pos Loop P_Gain UINT 2 13 Get/Set Pos Loop I_Gain UINT Command Description Sets or gets the motor in the drive’s motor parameter table currently being used. Integral gain eliminates steady state position error. Range: 0 to 32767 Default: 20 USINT 1 mS Sets or returns the minimum time which the position error must be less than the Position Window Size to set the In-Position flag. Range: 0 to 4095 Default: 0 1/128 Sets or returns the Kd gain for the position loop. defined by Parameters 45 to 55 and 57 to 61. 14 Pos Loop D_Gain 15 Pos Loop FF_Gain 16 Pos Loop I_Zone 17 Pos Window Size 18 Pos Window Time Publication 1398-5. the user has to reset or power cycle the drive to activate the modified parameters. Range: 0 to 32767 Default: 1000 Sets or returns the maximum position error which allows the In-Position flag to remain set. The Kp gain generates a control signal proportional to the position error.00) 1/128 Sets or returns the Ki gain for the position loop. which can reduce overshoot. The Kd gain generates a control signal proportional to measured velocity. It can be used to reduce steady state position error while moving. and affects the ability to reject load disturbances. Range: 0 to 4095 Default: 512 (4. and the setting 65535 (FFFF) This will result in all DeviceNet message connections to be indicates motor parameters were set individually and not read closed. motor has been selected. Kp gain affects the response time to a command signal and the position loop bandwidth. It provides damping to the position loop. The Kff gain generates a feed forward signal proportional to the commanded speed. the integrator is reset. The setting 0 (0000) indicates that no • If the Motor ID is modified.D-26 Programming Reference Parameter Object. If one or more of the motor parameters are modified. the drive will automatically reset. Range: 0 to 200 Default: 100 Cnts Sets or returns the maximum position error which the position loop’s integrator is still active. The drive reset ensures that all parameters related to the from the drive’s motor parameter table.4 . Range: 1 to 255 Default: 20 . then writing a one (1) to the Gear Ratio Cmd will produce an error response. and the polarity of the direction input in the Step/Direction mode.Transfer Buffered Gear Ratio If Parameter 25 is equal to zero (0). rpm/sec Range: 0 to 0x7FFFFFFF Default: 2000 Sets or returns the flag which indicates if the slew rate (limit) is used in follower mode.Disable (default) 1 . The slew rate indicates the limit of rate of change in speed the drive allows when the master changes speed. The gear ratio (ratio between motor encoder counts and master counts) is used for the master (follower input) mode.Forward Direction (default) 1 .4 ."Active Gear Ratio .Slew Enable. Range: 1 to 65535 Default: 100 21 Master Rot Dir USINT 1 22 Slew Rate UDINT 4 23 Slew Enable USINT 1 24 Gear Ratio Cmd Get/Set Sets or returns the rotation direction of the master encoder in follower mode. 0 . Parameter 27 "Active Gear Ratio . Writing to Parameters 25 and 26 does not modify the active gear ratio in the drive."Buffered Gear Ratio . Position Error Limit may be referred to as Following Error Limit. Range: 1 to 0x7FFFFFFF Default: 8000 20 Pos Error Time UINT 2 mS Sets or returns the minimum time which the position error must be greater than the Position Error Limit to cause an Excessive Following Error fault. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 19 Pos Error Limit UDINT 4 Cnts Sets or returns the maximum position error which allows the Excess Position Error flag to remain clear."Buffered Gear Ratio Master" to the drive.Reverse Direction rpm/ sec Sets or returns the acceleration limit for the motor when used in a follower mode and if the slew rate is active . Publication 1398-5.Motor" and Parameter 28 .No action 1 . Master Rotation Direction may be referred to as Follower Input Rotation and follower mode may be referred to as Master Encoder mode.Programming Reference D-27 Parameter Object. 0 .December 1999 .Motor" and Parameter 26 .Master" returns the actual gear ratio currently being used by the drive.Enable Transfers the gear ratio defined by Parameter 25 . 0 . and affects the ability to reject load disturbances. Vel Loop P_Gain UINT Sets or returns the proportional gain (P gain) for the velocity loop. Range: 0 to 1000 Default: 200 Vel Loop I_Gain Get Cnts Reserved Publication 1398-5."Gear Ratio Command" before any changes to the "Buffered Gear Ratio" become effective. Range: 1 to 32767 Default: 1 Active Gear-Mtr Parameter 27 (motor counts) and Parameter 28 . Range: 0 to 1000 Default: 66 USINT 1 .4 .Motor" (motor counts) define the buffered ratio between motor and master counts used for the master (follower input) mode. Range: -32767 to +32767 Do not use zero (0)."Active Gear Ratio . The I gain generates a control signal proportional to the integral of the velocity error. I gain eliminates steady state velocity error. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 25 Buf Gr Ratio-Mtr 2 Parameter 25 (motor counts) and Parameter 26 . P gain affects the response time to a command signal and the velocity loop bandwidth."Gear Ratio Command" before any changes to the "Buffered Gear Ratio" become effective."Active Gear Ratio .D-28 Programming Reference Parameter Object.Master" (master counts) define the active ratio between motor and master counts used for the master (follower input) mode. The buffered ratio has to be transferred to the active gear ratio by writing a one to Parameter 24 . The proportional gain generates a control signal proportional to the velocity error.December 1999 Sets or returns the integral gain (I gain) for the velocity loop. Writing to this parameter does not modify the active gear ratio in the drive.Master" (master counts) define the buffered ratio between motor and master counts used for the master (follower input) mode."Buffered Gear Ratio . Active Gear-Mstr Parameter 28 (master counts) and Parameter 27 ."Buffered Gear Ratio . Writing to this parameter does not modify the active gear ratio in the drive.Motor" (motor counts) define the active ratio between motor and master counts used for the master (follower input) mode. The buffered ratio has to be transferred to the active gear ratio by writing a one to Parameter 24 . Default: 1 Get/Set 26 27 Get 28 29 Get/Set 30 31 INT Buf GrRatio Master Parameter 26 (master counts) and Parameter 25 . The drive limits the actual drive current to the minimum of this value. and the Reverse Current Limit (-ILIMIT) analog input.4 . Range: 1 to 992 Default: 150 40 LowPass Filter USINT 1 41 Positive I Limit UINT 2 42 Negative I Limit Sets or returns the user specified negative current limit for the drive.December 1999 . Range: 0 to 32767 Publication 1398-5.00 rpm) Get/Set UDINT rpm/ 65536 33 Velocity Window Sets or returns the maximum motor velocity error which allows the Velocity Window flag to remain set. Range: 0 to 0x7FFFFFFF Default: 0x7D00000 (2000 rpm) 36 Get Reserved USINT 1 37 Get/Set Vel Error Limit UDINT 4 rpm/ 65536 Sets or returns the minimum velocity error which allows the Excess Velocity Error flag to remain clear. the peak rating of the drive. Range: 0 to 0x7FFFFFFF Default: 0x3E80000 (1000 rpm) 38 Vel Error Time UINT 2 mS Sets or returns the minimum time which the velocity error must be greater than the Velocity Error Limit to cause an Excess Velocity Error fault.Programming Reference D-29 Parameter Object.Enable (default) 0 . the peak rating of the drive.Disable Amps/ 128 Sets or returns the user specified positive current limit for the drive. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 32 Zero Vel Window 4 Sets or returns the maximum motor velocity which allows the Zero Velocity flag to remain set. Range: 0 to 32767 43 Fault Current Sets or returns the user specified average current faulting value. the peak rating of the motor. The drive limits the actual drive current to the minimum of this value. Range: 0 to 0x7FFFFFFF Default: 0xA0000 (10 rpm) 34 Vel Overspd Lim Sets or returns the minimum motor velocity which causes the Overspeed fault to occur. Range: 0 to 32767 Sets or returns the flag which indicates if the low pass filter is used in the control loop. and the Forward Current Limit (+ILIMIT) analog input. This parameter is provided to allow a faulting current value which is less than the capacity of the drive and motor. 1 . Range: 0 to 0x7FFFFFFF Default: 0x30000 (3. the peak rating of the motor. Range: 1 to 65535 Default: 1000 39 Low Pass Bndwdth Hz Sets or returns the cutoff frequency of the low pass filter. Range: 0 to 0x7FFFFFFF 35 At Speed Value Sets or returns the minimum motor velocity which causes the At Speed flag to be set. The maximum speed value is used to limit speed-related parameters.Disable 45 Get/Set* (Set not supported if Motor ID is not equal to 65535) Encoder Lines UINT 2 Sets or returns the number of lines on the motor encoder. Max Motor Speed UDINT 4 rpm/ 65536 Sets or returns the maximum safe operating speed of the motor. at low speeds and low currents. The Kt value is used to automatically scale the loop gain of the velocity loop. The output current of the drive will be limited to or below this value. 53 Winding Ind mH/ 256 Sets or returns the phase to phase inductance of the motor windings.December 1999 Sets or returns the peak current rating of the motor. the drive automatically adjusts the PWM frequency between its full frequency and 1/2 frequency.D-30 Programming Reference Parameter Object. The resistance value is used by the current regulator to automatically scale its tuning parameters. Normally. Disabling PWM frequency changes forces full frequency operation at all times which makes the audible noise quieter. the PWM frequency is set to 1/2 times the normal frequency. 0 . so that gain settings are consistent for all drive / motor combinations.Enable (default) 1 . The autotune algorithm also uses the Kt value to estimate load inertia. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 44 Get/Set Dynamic PWM Freq USINT 1 Sets or returns the flag which indicates if the PWM frequency changes with the speed and current demands of the motor. Publication 1398-5. The drive limits the actual drive current to the minimum of this value. 2 Amps/ 128 Sets or returns the continuous current rating of the motor. 52 Winding Res Ohms/ 256 Sets or returns the nominal phase to phase resistance of the motor winding. For example. 50 Rotor Inertia Jm kg-cm2 / 64 Sets or returns the motor’s rotor inertia (Jm) excluding the load.4 . . 46 47 Motor Cont UINT Curr 48 Motor Peak Curr 49 Torque Const Kt Nm/ Amp/ 4096 Sets or returns the sine wave torque constant (Kt) of the motor. and is critical to current regulation. The autotune algorithm also uses the Jm value to estimate load inertia. the peak rating of the drive. The Jm value is used to automatically scale the loop gain of the velocity loop. depending on the operating conditions. and the Forward Current Limit (+ILIMIT) and Reverse Current Limit (-ILIMIT) analog inputs. so that gain settings are consistent for all drive / motor combinations. 51 Back EMF Cnst Ke V/ krpm/ 256 Sets or returns the nominal back EMF constant (Ke) of the motor. 6 step ABS/ Index 2 .Programming Reference D-31 Parameter Object.8 step ABS/ Index 3 .December 1999 .Not Preset 1 . then the drive will generate a Motor Overtemp fault if the thermostat inputs to the drive are in an open state.Induction Motor 1 .4 .Disable 1 . If parameter set present. 0 . 0 .Hall/ Index 4 . 0 .Enable (default) 55 56 Publication 1398-5. The Thermal Time Constant is used by the formula to protect the motor.Preset Commutation Type Sets or returns the commutation type of the motor. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 54 Get/Set* (Set not supported if Motor ID is not equal to 65535) Thermostat USINT 1 Sets or returns the flag which indicates if the motor contains an overtemperature protection thermostat.Hall/ Hall Get/Set Thermal Protect Sets or returns the flag which indicates if drive will use an I2T formula to generate a Motor Thermal Protection fault if the motor continuous current level is exceeded for a period of time. 0 . 58 Pole Count USINT 1 59 Hall Offset UINT 2 60 Index Offset 61 Motor Forwrd Dir Get/Set* (Set not supported if Motor ID is not equal to 65535) Publication 1398-5. and measuring the time for the hottest part of the motor winding to drop 63% of the difference from ambient. The pole count is used for commutation of the motor. after filtering using the time constant value. Sets or returns the offset of the motor encoder index alignment with respect to the rotor.D-32 Programming Reference Parameter Object.Counterclockwise . An estimate of the motor power dissipation. USINT 1 Sets or returns the motor’s forward direction when viewed from the end of the shaft. 0 . An offset of zero degrees corresponds to the index being located where the R-phase line-to-neutral back-EMF signal crosses zero.4 . C=0 state being located where the R-phase line-to-neutral back-EMF signal crosses zero.Clockwise 1 . disabling the drive.2 Poles 1 . A Hall offset of zero degrees corresponds to the center of the A=1.4 Poles 2 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 57 Thermal Constant UINT 2 Sets or returns the thermal time constant for protecting the motor. The index offset is defined as the location of the index pulse with respect to the back-EMF signals of the motor. The thermal time constant of the motor is measured by stabilizing the motor temperature at its rated condition. The Hall offset is defined as the location of the Hall signals with respect to the back-EMF signals of the motor.December 1999 Secs Sets or returns the number of poles in the motor. B=1. will be compared against the continuous torque current capability of the motor.8 Poles Degs Sets or returns the offset of the Hall-effect sensor alignment with respect to the motor windings.6 Poles 3 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type 62 Dig Input 1 Cnfg Get/Set 63 Dig Input 2 Cnfg 64 Dig Input 3 Cnfg 65 Get Reserved Data Size Units/ (Bytes) Scale DWORD 4 USINT Command Description Sets or returns which flag is (or flags are) controlled by digital input one. 26.Programming Reference D-33 Parameter Object. Bit 0: Disable Serial communications Bit 16: Torque Override Bit 17: Integrator Inhibit Bit 18: Follower Enable Bit 19: Forward Enable Bit 20: Reverse Enable Bit 21: Operation Mode Override Bit 22: Preset Select Line A Bit 23: Preset Select Line B Bit 24: Preset Select Line C Bit 25: Start Index Bit 26: Define Home Bit 27: Registration (Not available with Parameters 62 and 64) Bit 28: Remove COMMAND Offset Bit 29: Start Homing Bit 30: Fault Reset The Preset Select lines can be used together or separately to select the desired preset. 27. 3 011 4 100 5 101 6 110 7 111 1 Publication 1398-5. If no bits are set for an input. and 29 are 1 001 “Reserved” on Non-indexing 2 010 Drives. Unassigned Preset Select lines are set to 0. it is unassigned. The Digital Input list describes the available digital input assignments. The select codes are as follows: Preset CBA 0 000 Bits 25.4 .December 1999 . The Digital Input list describes the available digital input assignments. 3 011 4 100 5 101 6 110 7 111 Get/Set Publication 1398-5. If no bits are set for an input. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 66 Flt Reset Config 2 Sets or returns the flags which are controlled by the Fault Reset digital input. If no bits are set for the input. The select codes are as follows: Preset CBA 0 000 Bits 9.December 1999 WORD . it is unassigned.D-34 Programming Reference Parameter Object. 10. The Digital Input list describes the available digital input assignments. it is unassigned.4 . Bit 0: Torque Override Bit 1: Integrator Inhibit Bit 2: Follower Enable Bit 3: Forward Enable Bit 4: Reverse Enable Bit 5: Operations Mode Override Bit 6: Preset Select Line A Bit 7: Preset Select Line B Bit 8: Preset Select Line C Bit 9: Start Index Bit 10: Define Home Bit 11: Reserved Bit 12: Remove COMMAND Offset Bit 13: Start Homing Bit 14: Fault Reset The Preset Select lines can be used together or separately to select the desired preset. Sets or returns which flag is (or flags are) controlled by digital input one. Unassigned Preset Select lines are set to 0. and 13 are 1 001 “Reserved” on non-indexing 2 010 Drives. Bit 0: At Home (Reserved on Non-indexing Drives) Bit 1: Sequence Complete (Reserved on Non-indexing Drives) Bit 2: In Motion (Reserved on Non-indexing Drives) Bit 3: In Dwell (Reserved on Non-indexing Drives) Bit 4: Registration Detected (Reserved on Non-indexing Drives) Bit 5: Axis Homed (Pertains to indexing Drives) Bit 16: In-Position Bit 17: Within Position Window Bit 18: Zero Speed Bit 19: Within Speed Window Bit 20: Positive ILimit Bit 21: Negative ILimit Bit 22: At Speed Bit 23: Drive Enabled Bit 24: DC Bus Charged Bit 25: Disabling Fault 1 70 Publication 1398-5.Programming Reference D-35 Parameter Object.4 .December 1999 . it is unassigned. The Digital Output list describes the available digital output assignments. If no bits are set for an output. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type 67 Dig Outpt 1 DWORD 4 Cnfg 68 Dig Outpt 2 Cnfg 69 Get Reserved USINT Data Size Units/ (Bytes) Scale Command Description Sets or returns which flag is (or flags are) monitored on digital output. Range: -32767 to +32767 Default: 0 Sets or returns the flag which indicates that acceleration limits are enabled.4 . This flag is only used while the drive is in velocity mode and the Command Source is set to analog COMMAND input. Negative values indicate the time that the BRAKE is inactive before disabling the drive. The input scale is represented as a percentage of the Maximum Velocity COMMAND Input Scale. Negative values indicate the time that the BRAKE is active before enabling the drive.Enable rpm/ sec Sets or returns the acceleration value used when the analog COMMAND input changes. and deactivating the BRAKE output. and activating the BRAKE output. Range: -10000 to +10000 Default: 0 79 Vel CMD In Scale % /100 Sets or returns the scale applied to the COMMAND analog input when being used for velocity command. Range: -10000 to +10000 Pos CMD In Scale Counts /Volt Sets or returns the scale applied to the COMMAND analog input when being used for position command. Range: -32767 to +32767 Default: 0 Get/Set INT 72 Brake Off Delay 73 Limit Anlg Accel USINT 1 74 Anlg Accel Limit UDINT 4 75 Anlg Decel Limit 76 Pos CMD In INT Offst 77 mS Sets or returns the time delay between disabling the drive. Range: 0 to 0x7FFFFFFF Default: 2000 mV Sets or returns the offset applied to the COMMAND analog input when being used for position command.December 1999 2 .Disable (default) 1 . This limit is only used while the drive is in velocity mode and the Command Source is set to analog COMMAND input. This limit is only used while the drive is in velocity mode and the Command Source is set to analog COMMAND input. Range: 0 to 0x7FFFFFFF Default: 2000 rpm/ sec Sets or returns the deceleration value used when the analog COMMAND input changes. Range: -32767 to +32767 Default: 1000 78 Vel CMD In Offst mV Sets or returns the offset applied to the COMMAND analog input when being used for velocity command.D-36 Programming Reference Parameter Object. 0 . Range: -10000 to +10000 (-100% to 100%) Publication 1398-5. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 71 Brake On Delay 2 Sets or returns the time delay between enabling the drive. Peak Positive Error OD (13) Position . Range: -10000 to +10000 Sets or returns the scale applied to the specified Analog output.December 1999 . Range: -10000 to +10000 Default: 0 82 Tor CMD In Scale % /100 Sets or returns the scale applied to the COMMAND analog input when being used for torque command. Range: -10000 to +10000 83 Get MaxTrq CMD Scale UINT 84 Get/Set Anlg Out1 Cnfg USINT 1 85 Anlg Out1 Offset INT 2 86 Anlg Out1 Scale Amps/ V / 256 Returns maximum scale for the Torque COMMAND Input. Range: -32767 to +32767 Publication 1398-5. 00 Current Command 01 Current .4 .Slewed OB (11) Position Error OC (12) Position . The input scale is represented as a percentage of the Maximum Torque COMMAND Input Scale. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 80 Get MaxVel CMD Scale UINT 2 rpm/V Returns maximum scale for the Velocity COMMAND Input. The Drive Signal list describes the available analog output assignments.Programming Reference D-37 Parameter Object.Positive Peak 03 Current .Negative Peak 04 Positive ILimit 05 Negative ILimit 06 Motor Velocity 07 Velocity Command 08 Velocity Error 09 Motor Position OA (10) Position Command . Range: 1 to 32767 81 Get/Set Tor CMD In Offst INT mV Sets or returns the offset applied to the COMMAND analog input when being used for torque command.Average Command 02 Current .Peak Negative Error 14 (20) Master Position 15 (21) Position Loop Output 16 (22) Velocity Loop Output 17 (23) Filter Output 18 (24) Notch Output 19 (25) R Phase Current 1A (26) T Phase Current 1B (27) Torque Current 1C (28) Field Current 1D (29) Torque Voltage 1E (30) Field Voltage 1F (31) Command Analog Input 20 (32) Bus Voltage mV Sets or returns the offset applied to Analog output one (1). Range: 1 to 32767 Sets or returns which drive signal is monitored on analog output one (1). The Preset Acceleration Limit is not used in the drive if the Limit Preset Acceleration parameter is disabled. 0 .D-38 Programming Reference Parameter Object.December 1999 Sets or returns the value to write to analog output one (1) when Analog Output Override is enabled. The Preset Deceleration Limit is not used in the drive if the Limit Preset Acceleration parameter is disabled. 0 . Range: 0 to 0x7FFFFFFF Default: 500 4 rpm/ 65536 Sets or returns the command velocity level used when the drive is configured with Presets as the Command Source and Velocity as the Drive Mode.Enable (default) UDINT Vel Preset 0 DINT 97 mV 4 rpm/ sec Sets or returns the acceleration value used when the preset velocity changes.Disable 1 .Normal (default) 1 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale 87 Get Reserved 1 Get/Set Analog Out Mode USINT Command Description 88 89 90 91 Anlg Out1 Ovride INT 2 USINT 1 92 Get Reserved 93 Get/Set Limit Preset Acc 94 Preset Acc Limit 95 Preset Dec Limit 96 Get/Set Sets or returns the analog output override control flag to allow the user to write the outputs directly.Override Vel Preset 1 98 Vel Preset 2 99 Vel Preset 3 100 Vel Preset 4 101 Vel Preset 5 102 Vel Preset 6 103 Vel Preset 7 Publication 1398-5.4 . Range: 0x80000001 to 0x7FFFFFFF (-32768 to +32768 rpm) Default: 0 . Range: 0 to 0x7FFFFFFF Default: 500 Sets or returns the deceleration value used when the preset velocity changes. Range: -10000 to +10000 Sets or returns the flag which indicates that acceleration limits are enabled. This limit is only used while the drive is in velocity mode and the Command Source is set to Preset input. This flag is only used while the drive is in velocity mode and the Command Source is set to Preset input. This limit is only used while the drive is in velocity mode and the Command Source is set to Preset input. A particular velocity preset is selected via the Preset Select Digital Inputs. Step+/ Step05 .Step/Direction 04 . or Step+/Step-). the Override command source should not be set to a different following mode or unexpected results may occur. A particular torque preset is selected via the Preset Select Digital Inputs.Indexing (Indexing Drive only) 06 .Analog COMMAND Input (default) 01 . 00 .Master Encoder 03 . Only certain combinations of Override Command Source and Override Drive Mode are valid.Programming Reference D-39 Parameter Object.Step/Direction 04 .Indexing (Indexing Drive only) 06 .Velocity (default) 1 . Range: 0x8001 to 0x7FFF (-256 to +256 Amps) Default: 0 USINT 1 Get/Set Amps/ 128 105 Torque Preset 1 106 Torque Preset 2 107 Torque Preset 3 108 Torque Preset 4 109 Torque Preset 5 110 Torque Preset 6 111 Torque Preset 7 112 Command Source 113 Drive Mode Sets or returns the flag which indicates if the velocity control loop is active. 00 . 0 . and Torque as the Drive Mode.Analog Position (Indexing Drive only) Publication 1398-5.Analog Position (Indexing Drive only) Sets or returns the signal used for the drive’s command source.Master Encoder 03 .Torque 114 Override Cmd Src Sets or returns the command source which is selected when the Override Drive Mode Select digital input is set active. Step/Direction. If the drive’s configured Command Source is set to a following mode (Master Encoder. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 104 Torque Preset 0 INT 2 Sets or returns the command torque level used when the drive is configured with Presets as the Command Source.Step+/ Step05 . Certain Command Sources require the velocity loop to be active in order to properly execute.Presets 02 . Only certain combinations of Command Source and Drive Mode are valid.Analog COMMAND Input (default) 01 .December 1999 .Presets 02 .4 . 0 .Divide by 4 3 .Divide by 1 (default) 1 .Normal (default) 1 .Velocity 3 .Torque Get/Set 116 Enc Outpt Config Sets or returns the divisor for the motor encoder quadrature output.Velocity (default) 1 . the mode can be changed for tuning. Usually.Divide by 2 2 .Reversed 118 Tuning/ Oper Mode Sets or returns the operating mode for the drive. 0 . the drive is in Normal mode. 0 .December 1999 .Normal (default) 1 .Position Publication 1398-5.Divide by 8 117 Change Direction Sets or returns the flag which indicates if the normal direction has been changed (reversed). Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 115 Overide Drv USINT Mode 1 Sets or returns the flag which indicates if the velocity control loop is active when the Override Drive Mode Select digital input is set active. 0 .Manual tuning . However.AutoTune 2 .D-40 Programming Reference Parameter Object. Certain Override Command Sources require the velocity loop to be active in order to properly execute.Manual Tuning .4 . AutoTune Failed 120 Get/Set Autotune Max Cur UINT 121 Autotune Max Dis UDINT 122 MTune Pos Period UINT 123 Amps/ 128 Sets or returns the maximum current used in the AutoTune algorithm. Bit 0 . 0 .Motor Index Detected Bit 3 . Range: 1 to 32767 4 Cnts Sets or returns the maximum distance the motor can travel in the AutoTune algorithm.Forward 2 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 119 Get Tuning Status WORD 2 Returns the status bits for the various operating modes.Encoder Alignment Complete Bit 2 .December 1999 . Range: 1 to 32767 Default: 400 ManTune Pos Step Cnts Sets or returns the amplitude of the square wave used in the position step manual tuning mode.Bi-directional (default) 1 . Range: 1 to 32767 Default: 400 124 MTune Vel Period mS Sets or returns the period of the square wave used in the velocity step manual tuning mode.AutoTune Complete Bit 1 . Range: 1 to 32767 Default: 400 125 ManTune Vel Step UDINT 4 rpm/ 65536 Sets or returns the amplitude of the square wave used in the velocity step manual tuning mode.Master Encoder Resolution Determined Bit 6 . Range: 0 to 0x7FFFFFFF Default: 0xC80000 (200 rpm) 126 Tuning Direction USINT 1 Sets or returns the flag which indicates the direction the motor rotates during tuning.Master Index Detected Bit 4 .Reverse Publication 1398-5.Programming Reference D-41 Parameter Object.Motor Encoder Resolution Determined Bit 5 . Range: 1 to 0x7FFFFFFF Default: 800000 2 mS Sets or returns the period of the square wave used in the position step manual tuning mode.4 . Start Homing Bit 30 .Negative ILimit Bit 6 .Follower Enable Bit 19 .Preset Select B Bit 24 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type 127 Drive Status Get Publication 1398-5.Zero Speed Bit 3 .Fault Reset Bit 31 .Within Position Window Bit 2 .Integrator Inhibit Bit 18 .Drive Ready Bit 16 .Forward Clamp Bit 20 .Remove CMD offset Bit 29 .Reverse Clamp Bit 21 .Within Velocity Window Bit 4 .At Speed Bit 7 .In-Position Bit 1 .Registration Bit 28 .Drive Enabled Bit 8 .Enable Active .Define Home Bit 27 .4 .DC Bus Charged Bit 9 .Brake Active Bit 15 .December 1999 Data Size Units/ (Bytes) Scale DWORD 4 Command Description Returns the status of various flags in the drive.Fault Disable Bit 14 . Bit 0 .Operation Mode Override Bit 22 .Start Index Bit 26 .Preset Select A Bit 23 .Torque Override Bit 17 .Preset Select C Bit 25 .D-42 Programming Reference Parameter Object.Positive ILimit Bit 5 . +24V fuse blown Bit 1 .Illegal Hall State Bit 11 .IPM Thermal Protection Bit 23 .4 .Bus Overvoltage Bit 10 .Motor Encoder State Error Bit 20 .Excessive Average Current Bit 17 .Excessive Following Error Bit 19 .Channel AM Line Break Bit 8 .Main processor Unused Interrupt Bit 13 .Programming Reference D-43 Parameter Object.Motor Overspeed Bit 18 .Channel IM Line Break Bit 6 .IPM Fault (Overtemperature / Overcurrent / Short Circuit) Bit 5 .Motor Thermal Protection Bit 22 .+5V fuse blown Bit 2 .Encoder fuse blown Bit 3 .Motor Overtemperature.Axis Not Homed Bit 27 .Commutation Angle Error Bit 26 .Bus Undervoltage Bit 9 .Invalid Motor Selected Bit 31 .Excess Velocity Error Bit 24 .CPU Communications Error Publication 1398-5. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type 128 Fault Status Get Data Size Units/ (Bytes) Scale DWORD 4 Command Description Returns the present state of the possible fault conditions.Channel BM Line Break Bit 7 .Enabled with No Motor Selected Bit 28 . Bit 0 . Thermostat Bit 4 .Master Encoder State Error Bit 21 .December 1999 .DeviceNet Communication Fault Bit 16 .Sub processor Unused Interrupt Bit 12 . Fault Disable Bit 30 . Bit 0 .Zero Speed Bit 19 .In Motion (Indexing Drives only) Bit 3 .Within Position Window Bit 18 .READY Output State Bit 1 . Bit 0 .ENABLE Input State Bit 2 .D-44 Programming Reference Parameter Object.At Home (Indexing Drives only) Bit 1 .DC Bus Charged Bit 25 .Axis Homed (Indexing Drives only) Bit 16 .OUTPUT1 Output State Bit 3 .Negative ILimit Bit 22 .Registration Detected (Indexing Drives only) Bit 5 .Brake Active Bit 31 .Within Velocity Window Bit 20 .BRAKE Output State Bit 2 .INPUT3 Input State 131 Dig Outpt States 132 Analog CMD Input 133 Get Data Size Units/ (Bytes) Scale 2 Command Description Returns the present state of the digital outputs. Range: -10000 to +10000 136 Reserved Publication 1398-5.Drive Enabled Bit 24 .Sequence Complete (Indexing Drives only) Bit 2 . Range: -10000 to +10000 +ILimit Inpt Val Amps/ 128 Returns the +ILIMIT input value.Drive Ready 130 Dig Input States WORD Returns the present state of the digital inputs.OUTPUT2 Output State mV Returns the analog COMMAND input value before the scale and offset are applied. Bit 0 .In-Position Bit 17 .At Speed Bit 23 . 135 Analog Output 1 mV Returns analog output value one (1).RESET FAULTS Input State Bit 1 .In Dwell (Indexing Drives only) Bit 4 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type 129 Output Status DWORD 4 Returns the expanded output status.Positive ILimit Bit 21 . 134 -ILimit Inpt Val Amps/ 128 Returns the -ILIMIT input value.4 .INPUT2 Input State Bit 4 .INPUT1 Input State Bit 3 .December 1999 INT USINT 1 . 141 Peak +Pos Error Returns the maximum amount the Motor Position lagged the Position Command. 155 Field Voltage 156 Torque Voltage rpm/ 65536 INT 2 Amps/ 128 Volts/ 128 Returns the command value to the velocity loop. 140 Position Error Returns the difference between the Position Command and the Motor Position. 149 Neg Peak Current Returns the negative peak output of the velocity control loop. 146 Current Command 147 Average Current Returns the average output of the velocity control loop after filtering and current limiting. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 137 Motor Position 4 Returns the value of the motor encoder register.December 1999 . 139 Position Command Returns the position command input to the position loop.Programming Reference D-45 Parameter Object. 151 Field Current INT Amps/ 128 Returns the actual field-producing current of the motor. Returns the field-producing voltage of the motor. Get DINT Cnts 138 Master Position Returns the value of the master input register. after gearing and slew rate limiting. 153 R-Phase Current Returns the current in the R-phase of the motor. 143 Velocity Command 144 Motor Velocity Returns the feedback value to the velocity loop. Returns the output of the velocity loop after filtering and current limiting.4 . Publication 1398-5. which is the master position. 142 Peak -Pos Error Returns the maximum amount the Position Command lagged the Motor Position. 148 Pos Peak Current Returns the positive peak output of the velocity control loop. 145 Velocity Error Returns the difference between Velocity Command and Motor Velocity. 154 T-Phase Current Returns the current in the T-phase of the motor. 150 DC Bus Voltage UINT Volts Returns the measured voltage of the DC bus. Returns the torque-producing voltage of the motor. 152 Torque Current Returns the actual torque-producing current of the motor. Fault History 1 is the most recent and 10 is the least recent. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 157 Motor Thermal Filter INT 2 Returns the output of the motor thermal protection filter.Thermal Protect is enabled.December 1999 %/ 128 Parameters 159 to 168 returns the most recent faults detected in the drive.D-46 Programming Reference Parameter Object. If Parameter 56 . Thermostat 05 IPM Fault (Overtemperature / Overcurrent / Short Circuit) 06 Channel IM Line Break 07 Channel BM Line Break 08 Channel AM Line Break 09 Bus Undervoltage 0A (10) Bus Overvoltage 0B (11) Illegal Hall State 0D (13) Main processor Unused Interrupt 0E (14) DeviceNet Communication Fault 11 (17) Excessive Average Current 12 (18) Motor Overspeed 13 (19) Excessive Following Error 14 (20) Motor Encoder State Error 15 (21) Master Encoder State Error 16 (22) Motor Thermal Protection 17 (23) IPM Thermal Protection 18 (24) Excess Velocity Error 19 (25) Commutation Angle Error 1B (27) Axis not Homed 1C (28) Enabled with No Motor Selected 1D (29) Motor Selection not in Table 1E (30) Personality Write Error 1F (31) Service Write Error 20 (32) CPU Communications Error 33 (51) Program Memory Boot Block Error 34 (52) Program Memory Main Block Error 35 (53) Uninitialized Personality EEPROM Error 36 (54) Personality EEPROM Read Error 37 (55) Personality EEPROM Data Corruption Error 38 (56) Main Processor Watchdog Error 3A (58) Main Processor RAM Error .4 . the drive will fault when the filter output reaches 12800 (100%). 158 Reserved USINT 1 159 Fault History 1 160 Fault History 2 161 Fault History 3 162 Fault History 4 163 Fault History 5 164 Fault History 6 165 Fault History 7 166 Fault History 8 167 Fault History 9 168 Fault History 10 GET Publication 1398-5. Valuefault number Hex (Dec) 00 No Fault 01 +24VDC Fuse Blown 02 +5VDC Fuse Blown 03 Encoder Power Fuse Blown 04 Motor Overtemperature. the drive is enabled.Programming Reference D-47 Parameter Object. 0 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 168 continued Fault History 10 1 3C (60) 3D (61) 3E (62) 3F (63) 41 (65) 42 (66) 4A (74) 4B (75) 4C (76) 4E (78) 4F (79) 50 (80) 51 (81) 52 (82) 53 (83) 54 (84) 57 (87) 58 (88) 59 (89) GET USINT 5A (90) 5B (91) 5C (92) 5D (93) 5E (94) 169 Get/Set Host Contrl Mode USINT 1 Uninitialized Service EEPROM Error Service EEPROM Read Error Service EEPROM Data Corruption Error Main Processor A/D Converter Error ANALOG1 Output Error Gate Array Error Personality EEPROM Write Error Service EEPROM Write Error Software Clock Error Sine Table Generation Error Personality Data Out Of Range Service Data Out Of Range Motor Block Checksum Error Mask ROM Checksum Error Personality EEPROM Mismatch Service EEPROM Mismatch Option Board Boot Block Error Option Board Main Block Error Option Board Interface IncompatibilityUpgrade Option Board Firmware Option Board Interface IncompatibilityUpgrade Drive Firmware Option Board Vendor Identification Not Initialized DeviceNet(TM) Serial Number Not Initialized Option Board NVMEM Error Option Board Dual Port Error Sets or returns the host drive enable flag. By default. the “Host Contrl Mode” is enabled. If the drive is disabled and the drive is reset or power cycled. If set to Disable Drive or the ENABLE input is not active. the "Host Control Mode" is re-enabled. the “Host Contrl Mode” is re-enabled. By default. In addition.4 . Most of the “Command” parameters 169-181 are intended for initial start up of the drive or for debugging the drive and application. the drive has to be enabled via a hardware digital input or/ and DeviceNet Logic Command for the drive to be enabled.Disable 1 . the "Host Control Mode" is enabled.December 1999 . ATTENTION ! 'RQRWDVVXPHWKDWDGHYLFHZLOOEH SHUPDQHQWO\GLVDEOHGYLDWKH ´+RVW&RQWUO0RGHµSDUDPHWHU Publication 1398-5.Enable (default) The “Host Contrl Mode” parameter allows the user to enable/disable the drive. the drive is disabled. If the drive is disabled and the drive is reset or power cycled. If set to Enable Drive and the ENABLE input is active. and negative peak current. Override Drive Mode. the drive will use the Host Torque Setpoint.Reset 177 Reset Faults Resets the fault detection circuitry. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 170 Host Setpnt USINT Ctrl 1 Sets or returns the setpoint control enable flag. 0 . positive peak current. Host Index selects the active index number. 0 .Enable Get/Set 171 Host Index Cntr/ (indexing Drive) Reserved (non-indexi ng Drive) 172 Host Vel Setpnt DINT 4 rpm/ 65536 Sets or returns the velocity command value used when the drive mode (Drive Mode / Override Drive Mode) is Velocity. Range: -32767 to 32767 Default: 0 174 Host Acc Setpnt UDINT 4 rpm/ sec Sets or returns the acceleration value used when the Host Velocity Setpoint changes. Range: 0 to 0x7FFFFFFF Default: 2000 175 Reset Personalty USINT 1 176 Reset Drive Resets the drive hardware and reboots the drive’s processors. 0 .December 1999 Sets or returns the host indexing control enable flag. 0 . Command Source. The drive will use the Host Velocity Setpoint if the drive mode (Drive Mode / Override Drive Mode) is Velocity. Otherwise.D-48 Programming Reference Parameter Object.Disable (default) 1 . When the flag is active. the drive is in host indexing mode (with the velocity loop active). then command input specified by Command Source (or Override Command Source) is overridden. negative peak position error.No action (default) 1 . and the Host Setpoint Control is Enabled. 0 . and Override Command Source are bypassed in the drive.Reset Resets the peak detection firmware for positive peak position error. and the Host Setpoint Control is Enabled.No action (default) 1 .4 .0 0 . Drive Mode.Enable USINT 1 Resets the personality EEPROM to its factory default settings.\0 . and the Host Setpoint Control is Enabled.No action (default) 1 .Reset 178 Get/Set Reset I Peaks Publication 1398-5. If Host Setpoint Control is enabled. Range: 0x80000001 to 0x7FFFFFFF Default: 0 173 Host Torq Setpnt INT 2 Amps/ 128 Sets or returns the torque command value used when the drive mode (Drive Mode / Override Drive Mode) is Torque.No action (default) 1 .Disable (default) 1 .Reset . Range: 0x80000001 to 0x7FFFFFFF Default: 0 Sets or returns the home position. or at the completion of a homing procedure.Execute Command 181 Host Index Sets or returns the index which is selected for execution when Host Index Control is enabled. An error is also returned if an index is already executing.Index 2 03 .No action (default) 1 .Index 3 04 .Index 0 01 . An error is returned if the drive is not in a mode to accept it (Host Index Control Mode or configured as a Command Source). 0 . Range: 1 to 0x7FFFFFFF Default: 500 DINT Cnts Sets or returns the offset move distance for homing.No action (default) 1 .4 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description Additional parameters for Non-indexing and Indexing Drives are listed in the “New Parameter” table.Index 1 02 .Programming Reference D-49 Parameter Object.Index 6 07 . 0 .Index 4 05 . Refer to New Parameters on page D-58. 179 Get/Set Start Index Cmd USINT 1 Starts executing the selected index.Execute Command 180 Start Homing Cmd Initiates the homing sequence.Index 5 06 . The following Parameter Instances are only implemented in Indexing Drives.RAM Index 182 Homing Velocity DINT 183 Homing Accel/Dec 184 Home Offset Move 185 Home Position 4 rpm/ 65536 Sets or returns the velocity used for homing. The offset move distance specifies how far the axis will be from the marker (or sensor for Home to Sensor) after the homing procedure is complete. Range: 0x80000001 to 0x7FFFFFFF Default: 0x1F740000 (500 rpm) UDINT rpm/ sec Sets or returns the acceleration and deceleration used for homing. Range: 0x80000001 to 0x7FFFFFFF Default: 0 Publication 1398-5.Index 7 08 .December 1999 . The sign of the velocity specifies the direction of motion during homing. 00 . This value is used as the home position when the Define Home input is activated. Home to sensor 03 .4 .Index 3 4 . 0 . in case the homing procedure is started with the Sensor input active.Index 2 3 . until the Sensor input is detected inactive. This velocity is only used in the "Home to sensor then back to marker" home type. When the flag is active.Home to sensor / then backward to marker Get/Set USINT 187 Auto-Start Home Sets or returns the Auto-start homing flag.Index 6 7 . 190 191 Get Index Count UINT Publication 1398-5. Motion will continue in the reverse direction (adhering to the homing acceleration.Enable Home Sensor Back-off flag (default) 189 Homing Creep Vel UDINT 4 Selected Index USINT 1 Returns the number of the selected index.Disable Home Sensor Back-off flag 01 .D-50 Programming Reference Parameter Object. The parameter represents the absolute value of the velocity used to search for the marker after the sensor is found. This capability does not apply if Home to Marker is selected as the homing type.Index 7 8 . deceleration.Home to marker 02 .RAM Index 2 Returns the remaining iterations of the selected index.Index 5 6 .Index 4 5 . and the direction of motion is reversed. Home Sensor Back-off allows the drive to start motion in the direction opposite that specified by the Homing Velocity. at which point the normal homing procedure will take over. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 186 Homing Type 1 Sets or returns the homing type. 0 .Enable Auto-start Homing After Reset Only 2 . 00 . Range: 0 to 0x7FFFFFFF Default: 0x140000 (20 rpm) . The homing direction is determined by the home velocity parameter. When the flag is active.Enable Auto-start Homing 188 Home Sens Bckoff Sets or returns the Home Sensor Back-off flag.December 1999 rpm/ 65536 Sets or returns the "creep" velocity used for homing. the drive will begin executing the homing procedure on the activation of the Enable input.Home to sensor / then forward to marker 01 .Disable Auto-start Homing (default) 1 . 00 .Index 0 1 . and velocity).Index 1 2 . Index 2 Type Parameter 196 .Index 4 Type Parameter 198 .Index 3 Type Parameter 197 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 192 Auto-Start Index 1 Sets or returns the Auto-start indexing flag.Disable (default) 1 .Index 6 Type Parameter 200 . the drive will begin executing the selected index on the activation of the Enable input.RAM Index Type 0 .Programming Reference D-51 Parameter Object.Registration Publication 1398-5. Parameter 193 .Index 5 Type Parameter 199 .4 . When the flag is active.Index 0 Type Parameter 194 .Index 1 Type Parameter 195 .Absolute 2 .Index 7 Type Parameter 201 .Enable Get/Set 193 Index 0 Type 194 Index 1 Type 195 Index 2 Type 196 Index 3 Type 197 Index 4 Type 198 Index 5 Type 199 Index 6 Type 200 Index 7 Type 201 RAM Index Type USINT Sets or returns the type of index. 0 .Incremental (default) 1 .December 1999 . D-52 Programming Reference Parameter Object.Index 7 Distance/Position Parameter 210 .Index 4 Distance/Position Parameter 207 .December 1999 Cnts Range: 0x80000001 to 0x7FFFFFFF Default: 0 DINT Sets or returns the distance the motor will travel after detecting the registration input for an index.Index 0 Registration Distance Parameter 212 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 202 Index 0 Dist/Pos 4 Sets or returns the distance or position the motor will travel (to) for an index.Index 4 Registration Distance Parameter 216 .RAM Index Distance/Position Get/Set DINT 203 Index 1 Dist/Pos 204 Index 2 Dist/Pos 205 Index 3 Dist/Pos 206 Index 4 Dist/Pos 207 Index 5 Dist/Pos 208 Index 6 Dist/Pos 209 Index 7 Dist/Pos 210 RAM Idx Dist/Pos 211 Index 0 Reg UDINT Dist 212 Index 1 Reg Dist 213 Index 2 Reg Dist 214 Index 3 Reg Dist 215 Index 4 Reg Dist 216 Index 5 Reg Dist 217 Index 6 Reg Dist 218 Index 7 Reg Dist 219 RAM Idx Reg Dist Publication 1398-5.Index 5 Registration Distance Parameter 217 .Index 3 Registration Distance Parameter 215 .Index 3 Distance/Position Parameter 206 .Index 6 Distance/Position Parameter 209 .RAM Index Registration Distance Range: 0 to 0x7FFFFFFF Default: 0 .Index 2 Registration Distance Parameter 214 . Parameter 202 .Index 1 Registration Distance Parameter 213 .Index 7 Registration Distance Parameter 219 .Index 1 Distance/Position Parameter 204 .Index 5 Distance/Position Parameter 208 .Index 6 Registration Distance Parameter 218 . Parameter 211 .Index 0 Distance/Position Parameter 203 .4 .Index 2 Distance/Position Parameter 205 . Index 1 Acceleration Parameter 231 .Index 2 Velocity Parameter 223 .Index 7 Acceleration Parameter 237 .RAM Index Velocity Get/Set 221 Index 1 Velocity 222 Index 2 Velocity 223 Index 3 Velocity 224 Index 4 Velocity 225 Index 5 Velocity 226 Index 6 Velocity 227 Index 7 Velocity 228 RAM Idx Velocity 229 Index 0 Accel 230 Index 1 Accel 231 Index 2 Accel 232 Index 3 Accel 233 Index 4 Accel 234 Index 5 Accel 235 Index 6 Accel 236 Index 7 Accel 237 RAM Index Accel UDINT rpm/ 65536 Range: 0 to 0x7FFFFFFF Default: 0x1F40000 (500 rpm) rpm/ sec Sets or returns the acceleration used for an index.Index 3 Acceleration Parameter 233 .Index 7 Velocity Parameter 228 .Index 6 Velocity Parameter 227 .Index 1 Velocity Parameter 222 .December 1999 .Index 0 Acceleration Parameter 230 .Index 4 Velocity Parameter 225 .Programming Reference D-53 Parameter Object. Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 220 Index 0 Velocity 4 Sets or returns the velocity used for an index. Parameter 229 .Index 2 Acceleration Parameter 232 .Index 0 Velocity Parameter 221 .Index 6 Acceleration Parameter 236 .Index 3 Velocity Parameter 224 . Parameter 220 .Index 5 Acceleration Parameter 235 .RAM Index Acceleration Range: 1 to 0x7FFFFFFF Default: 500 Publication 1398-5.4 .Index 4 Acceleration Parameter 234 .Index 5 Velocity Parameter 226 . Index 0 Deceleration Parameter 239 . Parameter 238 .RAM Index Deceleration Get/Set 239 Index 1 Decel 240 Index 2 Decel 241 Index 3 Decel 242 Index 4 Decel 243 Index 5 Decel 244 Index 6 Decel 245 Index 7 Decel 246 RAM Index Decel 247 Index 0 Dwell 248 Index 1 Dwell 249 Index 2 Dwell 250 Index 3 Dwell 251 Index 4 Dwell 252 Index 5 Dwell 253 Index 6 Dwell 254 Index 7 Dwell 255 RAM Index Dwell Publication 1398-5.Index 4 Dwell Parameter 252 .Index 6 Deceleration Parameter 245 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 238 Index 0 Decel 4 Sets or returns the deceleration used for an index.4 .Index 3 Deceleration Parameter 242 .Index 0 Dwell Parameter 248 .D-54 Programming Reference Parameter Object.Index 7 Dwell Parameter 255 .Index 4 Deceleration Parameter 243 .Index 2 Deceleration Parameter 241 .Index 5 Dwell Parameter 253 .RAM Index Dwell Range: 0 to 65535 Default: 0 .Index 1 Dwell Parameter 249 .Index 2 Dwell Parameter 250 .Index 6 Dwell Parameter 254 .Index 1 Deceleration Parameter 240 .Index 7 Deceleration Parameter 246 .December 1999 UDINT rpm/ sec Range: 1 to 0x7FFFFFFF Default: 500 UINT 2 mS Sets or returns the dwell time used for an index. Parameter 247 .Index 3 Dwell Parameter 251 .Index 5 Deceleration Parameter 244 . Parameter 256 .Index 6 Count Parameter 263 .Index 3 Count Parameter 260 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 256 Index 0 Count 2 Sets or returns the batch count used for the index.Index 4 Count Parameter 261 .Index 1 Count Parameter 258 .RAM Index Count Get/Set 257 Index 1 Count 258 Index 2 Count 259 Index 3 Count 260 Index 4 Count 261 Index 5 Count 262 Index 6 Count 263 Index 7 Count 264 RAM Index Count UINT Range: 0 to 65535 Default: 1 Publication 1398-5.4 .Index 2 Count Parameter 259 .Index 5 Count Parameter 262 .Programming Reference D-55 Parameter Object.December 1999 .Index 0 Count Parameter 257 .Index 7 Count Parameter 264 . Index 0 Termination Parameter 266 .RAM Index New Parameters: See the next table for more detailed information. Parameter 265 .Index 6 7 .December 1999 USINT 1 .Index 5 6 .Index 1 Termination Parameter 267 .Index 2 Termination Parameter 268 .Stop (default) 1 .Index 4 Termination Parameter 270 .RAM Index Pointer 0 .Index 1 2 .Index 5 Pointer Parameter 280 .Index 6 Termination Parameter 272 .Index 5 Termination Parameter 271 . 283 284 Get/Set DNet I/O Format Idle Flt Action Publication 1398-5.Index 6 Pointer Parameter 281 .Index 0 (default) 1 .Index 0 Pointer Parameter 275 .Index 3 Pointer Parameter 278 .RAM Index Termination Get/Set 266 Index 1 Terminat 267 Index 2 Terminat 268 Index 3 Terminat 269 Index 4 Terminat 270 Index 5 Terminat 271 Index 6 Terminat 272 Index 7 Terminat 273 RAM Idx Terminat 274 Index 0 Pointer 275 Index 1 Pointer 276 Index 2 Pointer 277 Index 3 Pointer 278 Index 4 Pointer 279 Index 5 Pointer 280 Index 6 Pointer 281 Index 7 Pointer 282 RAM Idx Pointer USINT 0 .Index 1 Pointer Parameter 276 .Index 7 Pointer Parameter 282 .Start another index immediately 2 .D-56 Programming Reference Parameter Object. These parameters are numbered 179 to 185 in non-indexing drives.Index 4 Pointer Parameter 279 . Parameter 274 .Index 2 3 .Index 2 Pointer Parameter 277 .Index 7 8 .Index 7 Termination Parameter 273 .Index 4 5 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale Command Description 265 Index 0 Terminat 1 Sets or returns the termination instruction for an index.Index 3 Termination Parameter 269 .Start another index at next Start Index transition Sets or returns the index number to be executed when another index terminates.Index 3 4 .4 . Instances ID 1-289 (Continued) Parameter Access Instance Rule Parameter Data Name Type Data Size Units/ (Bytes) Scale 285 Comm Flt Action USINT 1 286 Fault Cfg Logic WORD 2 287 Logic Cmd Mask 288 I/O Logic Cmd 289 Enable behavior USINT 1 Get/Set Command Description * Set_Attribute service not supported if Parameter Instance 11 .December 1999 .Programming Reference D-57 Parameter Object.Motor ID is not equal to 65535 Publication 1398-5.4 . 284 (180) Idle Flt Action Units/ Scale Command Description 0 .GOH)OW$FWLRQµ SDUDPHWHUDOORZVWKHXVHUWRFKDQJHWKHGHIDXOWFRQILJXUDWLRQWKDWZRXOGDOORZ WKHPRGXOHDQGDVVRFLDWHGGULYHWRFRQWLQXHWRRSHUDWHLIFRPPXQLFDWLRQLV ORVW ! 3UHFDXWLRQVVKRXOGEHWDNHQWRDVVXUHWKDW\RXUVHWWLQJVIRUWKHVHSDUDPHWHUV DQG\RXUDSSOLFDWLRQGRQRWFUHDWHERGLO\LQMXU\RUHTXLSPHQWGDPDJH5HIHU WR 8VLQJWKH)DXOW&RQILJXUHG.4 . Also.Hold Last 4 .Type 1 (default) 1 . 0 .Zero data 3 .Fault/ Zero Data (default) 1 . No action is taken if DNet I/O Format is set to Type 1. selects the command assembly to be used with change of state and cyclic I/O.Fault/Hold Last 2 . No action is taken if DN Poll I/O Type is set to Type 1.Fault Config .QSXWRQSDJH ' 285 (181) Comm Flt Action Publication 1398-5.Hold Last 4 .Type 4 1 Determines the action the drive should take if the drive detects that the PLC is set to program mode. If the value is modified.Type 2 2 .Type 3 3 .D-58 Programming Reference New Parameters 7KHIROORZLQJWDEOHSURYLGHVLQIRUPDWLRQRQWKHQHZSDUDPHWHUVUHFHQWO\ DGGHGWRWKHILUPZDUH7ZRSDUDPHWHUQXPEHUVDUHOLVWHGLQHDFKURZ7KHILUVW SDUDPHWHUQXPEHUFRUUHVSRQGVWRWKHLQGH[LQJYHUVLRQRIWKHGULYHDQGWKH VHFRQGQXPEHUZLWKLQSDUHQWKHVLVFRUUHVSRQGVWRWKHQRQLQGH[LQJYHUVLRQRI WKHGULYH # Index (#)nonIndex Access Parameter Rule Name Data Type Data Size (bytes) 283 (179) Get/Set DNet I/O Format USINT 1 Selects the command and response assemblies to be used with polled I/O. reset the drive. the user has to either power cycle the drive. or remove and reapply DeviceNet power for the drive to use the modified value.Fault/ Hold Last 2 .Zero Data 3 . 0 .Fault/Zero Data (default 1 .December 1999 USINT 1 Determines the action the Drive should take if the Drive detects a network failure.I\RXFKDQJHWKLVSDUDPHWHU·VYDOXHWKHXVHUDSSOLFDWLRQPD\QRWEHDEOHWR FRQWUROWKHSURGXFWDIWHUDIDXOW ATTENTION 5LVNRIVHYHUHERGLO\LQMXU\RUHTXLSPHQWGDPDJHH[LVWV7KH´.Fault Configuration . QSXWµRQSDJH 286 (182) IMPORTANT Fault Cfg Logic WORD 2 Provides the logic command data to the drive when drive is instructed to use the value from the Fault Cfg Logic parameter.Programming Reference # Index (#)nonIndex Access Parameter Rule Name Data Type Data Size (bytes) Units/ Scale D-59 Command Description ATTENTION . Refer to the Logic Command field in the output (command) assemblies for the bit definition. The Enable bit may be configured to be ‘OR’ed or ‘And’ed with the hardware Enable input. Publication 1398-5.I\RXFKDQJHWKLVSDUDPHWHU·VYDOXHWKHXVHUDSSOLFDWLRQPD\QRWEHDEOHWR FRQWUROWKHSURGXFWDIWHUDIDXOW ! 5LVNRIVHYHUHERGLO\LQMXU\RUHTXLSPHQWGDPDJHH[LVWV7KH´&RPP)OW $FWLRQµSDUDPHWHUDOORZVWKHXVHUWRFKDQJHWKHGHIDXOWFRQILJXUDWLRQWKDW ZRXOGDOORZWKHPRGXOHDQGDVVRFLDWHGGULYHWRFRQWLQXHWRRSHUDWHLI FRPPXQLFDWLRQLVORVW 3UHFDXWLRQVVKRXOGEHWDNHQWRDVVXUHWKDW\RXUVHWWLQJVIRUWKHVHSDUDPHWHUV DQG\RXUDSSOLFDWLRQGRQRWFUHDWHDKD]DUGRIERGLO\LQMXU\RUHTXLSPHQW GDPDJH6HH´8VLQJWKH)DXOW&RQILJXUHG. otherwise the unmasked Fault Cfg Logic bits are ‘OR’ed with the corresponding hardware inputs. Bit 0 = Torque Override Bit 1 = Integrator Inhibit Bit 2 = Follower Enable Bit 3 = Reserved Bit 4 = Reserved Bit 5 = Operation Mode Override Bit 6 = Preset Select A Bit 7 = Preset Select B Bit 8 = Preset Select C Bit 9 = Start Index Bit 10 = Define Home Bit 11 = Disable Serial Bit 12 = Remove Command Offset Bit 13 = Start Homing Bit 14 = Fault Reset Bit 15 = Enable Default: 0x0000 The Fault Cfg Logic will not affect those bits that have been masked off by the Logic Mask parameter.December 1999 .4 . 0 . Refer to the Logic Command field in the output (command) assemblies for the bit definition.Hardware OR DNet Input (default) 1 .Hardware AND DNet Input .D-60 Programming Reference # Index (#)nonIndex Access Parameter Rule Name 287 (183) Logic Cmd Mask 288 (184) I/O Logic Cmd 289 (185) Enable Behavior Publication 1398-5. The logic mask can not be modified while the ULTRA 100 is enabled. and change of state I/O messages.December 1999 Data Type Data Size (bytes) WORD 2 Units/ Scale Command Description Used to mask off certain logic command bits from DeviceNet polled. Bit 0 = Torque Override Bit 1 = Integrator Inhibit Bit 2 = Follower Enable Bit 3 = Reserved Bit 4 = Reserved Bit 5 = Operation Mode Override Bit 6 = Preset Select A Bit 7 = Preset Select B Bit 8 = Preset Select C Bit 9 = Start Index Bit 10 = Define Home Bit 11 = Disable Serial Bit 12 = Remove Command Offset Bit 13 = Start Homing Bit 14 = Fault Reset Bit 15 = Enable USINT 1 Used to determine if the drive can be enabled with either the DeviceNet enable or hardware enable. cyclic. Any bits masked off by the Logic Cmd Mask will be clear (0).4 . or if both enables are required. Bit 0 = Torque Override Bit 1 = Integrator Inhibit Bit 2 = Follower Enable Bit 3 = Reserved Bit 4 = Reserved Bit 5 = Operation Mode Override Bit 6 = Preset Select A Bit 7 = Preset Select B Bit 8 = Preset Select C Bit 9 = Start Index Bit 10 = Define Home Bit 11 = Disable Serial Bit 12 = Remove Command Offset Bit 13 = Start Homing Bit 14 = Fault Reset Bit 15 = Enable Default: 0x0000 The logic command being used by the drive. Refer to the Logic Command field in the output (command) assemblies for the bit definition. Programming Reference D-61 Using the Fault Configured Input <RXFDQVHOHFWDFRQVWDQWYDOXHIRUWKHORJLFFRPPDQGLQWKHHYHQWRID FRQWUROOHU VFDQQHU. If this attribute is 0.GOH)OW$FWLRQSDUDPHWHUDQGRUWKH&RPP)OW$FWLRQ SDUDPHWHUWR)DXOW&IJ Parameter Object Attributes for Instance ID = 1 . Link Path ARRAY of path segments Path to the object from where this parameter value is retrieved.December 1999 . Segment type/port BYTE Segment Address Path (format depends on data contained in segment type/port) 4 Descriptor WORD Descriptor of parameter. This attribute is read-only if bit 4 of Attribute #4 is TRUE.289 Attr ID Access Rule Stub/ Full Name Data Type Description 1 ➀ Stub Parameter Value Data type specified in Descriptor. 2 Get Link Path Size USINT Size of Link Path attribute. Parameter Value 3 Publication 1398-5.4 . then no link is specified. Data type Actual value of parameter. It can be read and Data Size from or written to.I\RXLQWHQGWRXVHWKH)DXOW&RQILJXUHG.PRGHFKDQJHRUHUURU7KLVFRQVWDQWYDOXHLVUHIHUUHGWRDV )DXOW&RQILJXUHGLQSXW:KHQWKHFRQWUROOHULVSODFHGLQSURJUDPPRGHRUD 'HYLFH1HWQHWZRUNIDXOWRFFXUVWKHORJLFFRPPDQGWRWKHGULYHFDQEHVHWWR DXWRPDWLFDOO\VZLWFKWRWKHFRQVWDQWYDOXHVHWLQWKH)DXOW&IJ/RJLFSDUDPHWHU . The link path is limited to 255 BYTEs.QSXW\RXPXVWGRWKHIROORZLQJ 6HWWKHGHVLUHYDOXHIRUWKH)DXOW&IJ/RJLFSDUDPHWHU 6HWWKH. “Parameter Object Data Types for Instance Attribute 5” on page 63 6 Data Size USINT Number of BYTEs in attribute 1. Number of BYTEs in attribute 3. “Parameter Object Bit Definitions for Instance Attribute 4” on page 63 5 Data Type USINT Data type code. 20 Offset Link Parameter object instance number of offset source. (The first byte is a length code.) 9 The maximum number of characters is 64. 18 Divisor Link Parameter object instance number of base source. the Descriptor. The maximum number of characters is 4. Also used to determine actual increment value so that incrementing a value causes a change in scaled engineering value to this precision. If bit 4 is 1.D-62 Programming Reference Parameter Object Attributes for Instance ID = 1 . Parameter Value can be set 12 Default Value The actual value attribute 1. (The first byte is a length code.4 . If bit 4 is 0 the access rule is Set and the Parameter Value can be read and written. Multiplier for scaling formula Specifies number of decimal places to use when displaying the scaled engineering value.December 1999 . ➀ The access rule is defined in bit 4 of instance attribute 4.) Always returns 0. 5 (Data Type) and 6 (Data Size). ➁ Data type specified in instance attributes 4 (Descriptor). For example. 10 Minimum Value Same as attribute 1 11 Maximum Value The maximum valid actual value to which attribute 1. 21 Decimal Precision UINT USINT The minimum valid actual value to which attribute 1. 13 Scaling Multiplier 14 Scaling Divisor Divisor for scaling formula 15 Scaling Base Base for scaling formula 16 Scaling Offset Offset for scaling formula 17 Multiplier Link Parameter object instance number of multiplier source. Publication 1398-5.) 8 Units String Engineering unit string. the access rule is Get and the Parameter Value can only be read.289 (Continued) Attr ID Access Rule Stub/ Full Name Data Type Description 7 Get Full Parameter Name SHORT_ STRING A human readable string representing the parameter name. Parameter Value can be set. “Vel Loop P-Gain” The maximum number of characters is 16. (The first byte is a length code. Parameter Value should be set to when the user wants the default for the parameter. 19 Base Link Parameter object instance number of offset source. Access rule is get. 5 Monitor parameter 0 = Parameter value attribute is not updated in real time by the device. 1 = Parameter value attribute is updated in real time by the device. 1 = The values for the scaling attributes may be retrieved from other parameter object instances.4 .Programming Reference D-63 Parameter Object Bit Definitions for Instance Attribute 4 Bit Definition Value 0 Supports settable path 0 = Link path can not be set. 1 = Extended precision scaling should be implemented and the value presented to the user in engineering units. 1 = Enumerated strings are supported and may be read with the Get_Enum_String service. 2 Supports scaling 0 = Scaling not supported. ID Definition Data Type Description Scaling Supported 1 WORD 16-bit word (2 bytes) No 2 UINT Unsigned integer (2 bytes) Yes 3 INT Signed integer (2 bytes) Yes 4 BOOL Boolean (1 byte) No 5 SINT Signed Short integer (2 bytes) Yes 6 DINT Signed Double integer (4 bytes) Yes 8 USINT Unsigned Short integer (1 byte) Yes 9 UDINT Unsigned Double Integer (4 bytes) Yes 24 BYTE 8-bit string (1 byte) No 25 DWORD 32-bit string (4 bytes) No Publication 1398-5. 1 = Scaling is supported. The scaling attributes are implemented and the value presented is in engineering units.December 1999 . 6 Supports extended precision scaling 0 = Extended precision scaling is not supported. 3 Supports scaling links 0 = Scaling links not supported. 1 Supports enumerated strings 0 = Enumerated strings are not supported. 1 = Parameter value attribute can only be read. Access rule is set. Parameter Object Data Types for Instance Attribute 5 Attr. 1 = Link path can be set. 4 Read only parameter 0 = Parameter value attribute can be written (set) and read (get). default character count = 0 8 Units String.4 . default character count = 0 9 Help String.December 1999 Class Attribute ID Attribute Name and Default Value 1 Parameter Value 2 Link Path Size 3 Link Path 4 Descriptor 5 Data Type 6 Data Size 7 Parameter Name String. default character count = 0 10 Minimum Value default = 0 11 Maximum Value default = 0 12 Default Value default = 0 13 Scaling Multiplier Default = 1 14 Scaling Divisor Default = 1 15 Scaling Base Default = 1 16 Scaling Offset Default = 0 17 Multiplier Link Default = 0 18 Divisor Link Default = 0 19 Base Link Default = 0 20 Offset Link Default = 0 21 Decimal Precision Default = 0 .D-64 Programming Reference Parameter Object Common Services Service Code Implemented for: Service Name Class Instance 0x01 No Yes Get_Attribute_All 0x0E Yes Yes Get_Attribute_Single 0x10 No Yes Set_Attribute_Single Get_Attribute_All Response $WWKHLQVWDQFHOHYHOWKHRUGHURIDWWULEXWHVUHWXUQHGLQWKH *HWB$WWULEXWHVB$OOUHVSRQVHLVDVIROORZV Publication 1398-5. IWKHVWULQJWREHUHWXUQHGLVDYDOXHHQXPHUDWHGVWULQJWKHQWKH HQXPHUDWHGVWULQJQXPEHUUHSUHVHQWVDYDOXHDQGWKH*HWB(QXPB6WULQJ VHUYLFHUHWXUQVDVWULQJIRUWKDWYDOXH 7KHHQXPHUDWHGVWULQJLVUHWXUQHGLQWKHIRUPRID6+257B675.IWKHGDWDW\SHLV.17RU8.IWKHGDWDW\SHLVD%<7(:25'RU':25'WKHHQXPHUDWHGVWULQJLVDELW HQXPHUDWHGVWULQJ. • . Parameter Object.December 1999 .1786. (QXPHUDWHGVWULQJVDUHKXPDQUHDGDEOHVWULQJVWKDWGHVFULEHHLWKHUDELWRUD YDOXHGHSHQGLQJRQWKHGDWDW\SHRILQVWDQFHDWWULEXWHWKH3DUDPHWHU9DOXH . See DeviceNet Specification Vol 2: Object Library.Programming Reference D-65 Parameter Object Specific Services Service Code Service Name Service Description 4BH Get_Enum_String Use this service to read enumerated strings from the Parameter Instance.17WKHHQXPHUDWHG VWULQJLVDYDOXHHQXPHUDWHGVWULQJ$Q\RWKHUGDWDW\SHGRHVQRWKDYH HQXPHUDWHGVWULQJV 7KHWDEOHEHORZGHVFULEHVWKH*HWB(QXPB6WULQJUHTXHVWVHUYLFHDWWULEXWH Name Data Type Description of Attribute Enumerated String Number USINT Number of enumerated string to retrieve (MAX value is 255).1*ZLWKD PD[LPXPQXPEHURIFKDUDFWHUVRI Publication 1398-5.IWKHVWULQJWREHUHWXUQHGLVDELWHQXPHUDWHGVWULQJWKHQWKHHQXPHUDWHG VWULQJQXPEHUUHSUHVHQWVDELWSRVLWLRQDQGWKH*HWB(QXPB6WULQJVHUYLFH UHWXUQVDVWULQJIURPWKDWELW • .4 . . 3 1st Parameter Number in group 4 2nd Parameter Number in group n (n-2)th Parameter Number in group Get Max Instance Parameter Group Object Attributes for Instances 1. Frequency Set) Maximum number of characters = 16 2 Number of members in group UINT Number of parameters in group. The largest instance number of a created object at this class hierarchy level.December 1999 Get Parameter Instance Number .4 .(n) Publication 1398-5.D-66 Programming Reference Parameter Group Object (Class ID 10 ) H 7KH3DUDPHWHU*URXS2EMHFWLGHQWLILHVJURXSVRISDUDPHWHUVLQDGHYLFH%\ JURXSLQJSDUDPHWHUVD'HYLFH1HWVRIWZDUHWRROFDQSURYLGHDFRQYHQLHQW DFFHVVWRUHODWHGVHWVRISDUDPHWHUV7KHUHLVRQHLQVWDQFHIRUHDFKRIWKH GHYLFH·VSDUDPHWHUJURXSV7KLV2EMHFWLVLQWHQGHGSULPDULO\WREHXVHGE\D 'HYLFH1HWVRIWZDUHWRROWRFUHDWHDQ('6ILOH IMPORTANT 7KH3DUDPHWHU*URXSREMHFWGRHVQRWUHWXUQSDUDPHWHU YDOXHV Parameter Group Object Attribute for Instance ID = 0 (Class Attribute) Attr ID Access Attribute Rule Name Type Description Semantics of Values 2 UINT Maximum instance number of an object currently created in this class level of the device. Setup.g. Attr ID Access Attribute Rule Name Type Description Semantics of Values 1 group Name String SHORT_ STRING A human-readable string representing the group name (e. Programming Reference D-67 Parameter Group Object Group Instance ID 1.4 .25 Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 1 DeviceNet 1 DN-SW Node Address 2 DN-SW Baud Rate 3 DN-NV Node Addr 4 DN-NV Baud Rate 5 Chg of State Mask 6 DNet I/O Status 283 (179) DNet I/O Format 284 (180) Idle Flt Action 285 (181) Comm Flt Action 286 (182) Fault Cfg Logic 287 (183) Logic Cmd Mask 288 (184) I/O Logic Cmd 289 (185) Enable Behavior 12 Pos Loop P_Gain 13 Pos Loop I_Gain 14 Pos Loop D_Gain 15 Pos Loop FF_Gain 16 Pos Loop I_Zone 17 Pos Window Size 18 Pos Window Time 19 Pos Error Limit 20 Pos Error Time 21 Master Rot Dir 22 Slew Rate 23 Slew Enable 24 Gear Ratio Cmd 25 Buf Gr Ratio-Mtr 26 Buf GrRatio-Mstr 27 Active Gear-Mtr 28 Active Gear-Mstr Non-Index Drive parameter numbers in parenthesis () 2 Position Loop Publication 1398-5.December 1999 . December 1999 Torque Current Motor Data .4 .D-68 Programming Reference Parameter Group Object Group Instance ID 1.25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 3 Velocity Loop 29 Vel Loop P_Gain 30 Vel Loop I_Gain 31 Reserved 32 Zero Vel Window 33 Velocity Window 34 Vel Overspd Lim 35 At Speed Value 36 Reserved 37 Vel Error Limit 38 Vel Error Time 39 Low Pass Bndwdth 40 LowPass Filter 41 Positive I Limit 42 Negative I Limit 43 Fault Current 44 Dynamic PWM Freq 11 Motor ID 45 Encoder Lines 46 Max Motor Speed 47 Motor Cont Curr 48 Motor Peak Curr 49 Torque Constant Kt 50 Rotor Inertia Jm 51 Back EMF Const Ke 52 Winding Res 53 Winding Ind 54 Thermostat 55 Commutation Type 56 Thermal Protect 57 Thermal Constant 58 Pole Count 59 Hall Offset 60 Index Offset 61 Motor Forwrd Dir 4 5 Publication 1398-5. 25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 6 Digital I/O 62 Dig Input 1 Cnfg 63 Dig Input 2 Cnfg 64 Dig Input 3 Cnfg 65 Reserved 66 Flt Reset Config 67 Dig Outpt 1 Cnfg 68 Dig Outpt 2 Cnfg 69 Reserved 70 Reserved 71 Brake On Delay 72 Brake Off Delay 73 Limit Anlg Accel 74 Anlg Accel Limit 75 Anlg Decel Limit 76 Pos CMD In Offst 77 Pos CMD In Scale 78 Vel CMD In Offst 79 Vel CMD In Scale 80 MaxVel CMD Scale 81 Tor CMD In Offst 82 Tor CMD In Scale 83 MaxTrq CMD Scale 84 Anlg Outpt1 Cnfg 85 Anlg Out1 Offset 86 Anlg Out1 Scale 87 Reserved 88 Reserved 89 Reserved 90 Analog Out Mode 91 Anlg Out1 Ovride 92 Reserved 7 Analog I/O Publication 1398-5.4 .December 1999 .Programming Reference D-69 Parameter Group Object Group Instance ID 1. December 1999 Operating Mode Tuning .4 .25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 8 Presets 93 Limit Preset Acc 94 Preset Acc Limit 95 Preset Dec Limit 96 Vel Preset 0 97 Vel Preset 1 98 Vel Preset 2 99 Vel Preset 3 100 Vel Preset 4 101 Vel Preset 5 102 Vel Preset 6 103 Vel Preset 7 104 Torque Preset 0 105 Torque Preset 1 106 Torque Preset 2 107 Torque Preset 3 108 Torque Preset 4 109 Torque Preset 5 110 Torque Preset 6 111 Torque Preset 7 112 Command Source 113 Drive Mode 114 Override CMD Scr 115 Override Drv Mode 116 Enc Outpt Config 117 Change Direction 118 Tuning/Oper Mode 119 Tuning Status 120 Autotune Max Cur 121 Autotune Max Dis 122 MTune Pos Period 123 ManTune Pos Step 124 MTune Vel Period 125 ManTune Vel Step 126 Tuning Direction 9 10 Publication 1398-5.D-70 Programming Reference Parameter Group Object Group Instance ID 1. December 1999 .25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 11 Runtime Status 127 Drive Status 128 Fault Status 129 Output Status 130 Dig Input States 131 Dig Outpt States 132 Analog CMD Input 133 +ILimit Inpt Val 134 -ILimit Inpt Val 135 Analog Output 1 136 Reserved 137 Motor Position 138 Master Position 139 Position Command 140 Position Error 141 Peak +Pos Error 142 Peak -Pos Error 143 Velocity Command 144 Motor Velocity 145 Velocity Error 146 Current Command 147 Average Current 148 Pos Peak Current 149 Neg Peak Current 150 DC Bus Voltage 151 Field Current 152 Torque Current 153 R-Phase Current 154 T-Phase Current 155 Field Voltage 156 Torque Voltage 157 Motor Thermal Filter 158 Reserved 12 Runtime Data Publication 1398-5.4 .Programming Reference D-71 Parameter Group Object Group Instance ID 1. 25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 13 Fault History 159 Fault History #1 160 Fault History #2 161 Fault History #3 162 Fault History #4 163 Fault History #5 164 Fault History #6 165 Fault History #7 166 Fault History #8 167 Fault History #9 168 Fault History #10 169 Host Contrl Mode 170 Host Setpnt Ctrl 171 Host Index Cntrl 172 Host Vel Setpnt 173 Host Torq Setpnt 174 Host Acc Setpnt 175 Reset Personalty 176 Reset Drive 177 Reset Faults 178 Reset I Peaks 14 Commands Indexing only (otherwise reserved) The following parameters are reserved for Indexing Drives only 15 Publication 1398-5.4 .D-72 Programming Reference Parameter Group Object Group Instance ID 1.December 1999 Homing 179 Start Index Cmd 180 Start Homing Cmd 181 Host Index 182 Homing Velocity 183 Homing Accel/Dec 184 Home Offset Move 185 Home Position 186 Homing Type 187 Auto Start Home 188 Home Sens Bckoff 189 Homing Creep Vel . 25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 16 Indexing 190 Selected Index 191 Index Count 192 Auto-Start Index 193 Index 0 Type 202 Index 0 Dist/Pos 211 Index 0 Reg Dist 220 Index 0 Velocity 229 Index 0 Accel 238 Index 0 Decel 247 Index 0 Dwell 256 Index 0 Count 265 Index 0 Terminat 274 Index 0 Pointer 194 Index 1 Type 203 Index 1 Dist/Pos 212 Index 1 Reg Dist 221 Index 1 Velocity 230 Index 1 Accel 239 Index 1 Decel 248 Index 1 Dwell 257 Index 1 Count 266 Index 1 Terminat 275 Index 1 Pointer 195 Index 2 Type 204 Index 2 Dist/Pos 213 Index 2 Reg Dist 222 Index 2 Velocity 231 Index 2 Accel 240 Index 2 Decel 249 Index 2 Dwell 258 Index 2 Count 267 Index 2 Terminat 276 Index 2 Pointer 17 18 19 Index 0 Index 1 Index 2 Publication 1398-5.Programming Reference D-73 Parameter Group Object Group Instance ID 1.December 1999 .4 . 25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 20 Index 3 196 Index 3 Type 205 Index 3 Dist/Pos 214 Index 3 Reg Dist 223 Index 3 Velocity 232 Index 3 Accel 241 Index 3 Decel 250 Index 3 Dwell 259 Index 3 Count 268 Index 3 Terminat 277 Index 3 Pointer 197 Index 4 Type 206 Index 4 Dist/Pos 215 Index 4 Reg Dist 224 Index 4 Velocity 233 Index 4 Accel 242 Index 4 Decel 251 Index 4 Dwell 260 Index 4 Count 269 Index 4 Terminat 278 Index 4 Pointer 198 Index 5 Type 207 Index 5 Dist/Pos 216 Index 5 Reg Dist 225 Index 5 Velocity 234 Index 5 Accel 243 Index 5 Decel 252 Index 5 Dwell 261 Index 5 Count 270 Index 5 Terminat 279 Index 5 Pointer 21 22 Publication 1398-5.D-74 Programming Reference Parameter Group Object Group Instance ID 1.4 .December 1999 Index 4 Index 5 . December 1999 .4 .Programming Reference D-75 Parameter Group Object Group Instance ID 1.25 (Continued) Parameter Group Instance Parameter Group Name Parameter Number Parameter Name 23 Index 6 199 Index 6 Type 208 Index 6 Dist/Pos 217 Index 6 Reg Dist 226 Index 6 Velocity 235 Index 6 Accel 244 Index 6 Decel 253 Index 6 Dwell 262 Index 6 Count 271 Index 6 Terminat 280 Index 6 Pointer 200 Index 7 Type 209 Index 7 Dist/Pos 218 Index 7 Reg Dist 227 Index 7 Velocity 236 Index 7 Accel 245 Index 7 Decel 254 Index 7 Dwell 263 Index 7 Count 272 Index 7 Terminat 281 Index 7 Pointer 201 RAM Index Type 210 RAM Idx Dist/Pos 219 RAM Idx Reg Dist 228 RAM Idx Velocity 237 RAM Index Accel 246 RAM Index Decel 255 RAM Index Dwell 264 RAM Index Count 273 RAM Idx Terminat 282 RAM Idx Pointer 24 25 Index 7 RAM Index Publication 1398-5. December 1999 Service Description 0EH Get_Attribute_Single Returns the contents of the specified attribute.535 ms (0 invalid) default = 16 2 Get/Set Retry Limit USINT Number of Ack Time-outs to wait before informing the producing application of a RetryLimit_Reached event. Connection Instance ID Acknowledge Handler Object Common Services Service Service Code Name Publication 1398-5.D-76 Programming Reference Parameter Group Object Common Services Acknowledge Handler Object (Class ID 2B ) H Service Code Service Name Service Description 0EH Get_Attribute_Single Returns the contents of the specified attribute. 10H Set_Attribute_Single Used to modify an Acknowledge Handler object attribute value.4 . 7KH$FNQRZOHGJH+DQGOHU2EMHFWLVXVHGWRPDQDJHWKHUHFHSWLRQRIPHVVDJH DFNQRZOHGJPHQWV7KLVREMHFWFRPPXQLFDWHVZLWKDPHVVDJHSURGXFLQJ $SSOLFDWLRQ2EMHFWZLWKLQDGHYLFH7KH$FNQRZOHGJH+DQGOHU2EMHFWQRWLILHV WKHSURGXFLQJDSSOLFDWLRQRIDFNQRZOHGJHUHFHSWLRQDFNQRZOHGJHWLPHRXWV DQGSURGXFWLRQUHWU\OLPLW Acknowledge Handler Object Attributes for Instance ID = 1 Attr ID Access Rule Attribute Name Type Description Semantics of Values 1 Set Acknowledge Timer UINT Time to wait for acknowledge before resending Range 1-65. Range 0-255 default = 1 3 Set (Inactive) Get COS Producing (Active) connection Instance UINT Connection Instance that contains the path of the producing I/O application object that will be notified of Ack Handler events. . Appendix E Problem Solving 7RVROYHSUREOHPVWKDWFDQRFFXU\RXQHHGWRXQGHUVWDQG • WKHSK\VLFDO'HYLFH1HWOD\RXW • WKHGHYLFHVRQWKHQHWZRUNDQG • KRZDOOWKHSLHFHVZRUNWRJHWKHU Operator-level diagnostics 7KHPDQXDOVWKDWEHORQJWRGHYLFHVRQWKHQHWZRUNFDQXVXDOO\LVRODWHDQ\ SUREOHPVWRDVSHFLILFUHJLRQRIWKHQHWZRUNDQGWKHQWKHVSHFLILFGHYLFH FDXVLQJWKHSUREOHP'LDJQRVWLFWRROVDQGGHYLFHLQGLFDWRUVKHOSLGHQWLI\WKH RSHUDWLRQDOVWDWHRIGHYLFHVDQGQHWZRUNFRPPXQLFDWLRQVSUREOHPV LED displays 7KHIROORZLQJGLDJUDPDQGWDEOHVVKRZWKHPHDQLQJRIWKH0RGXOH6WDWXV /('DQG1HWZRUN6WDWXVELFRORUHG/('V8VHWKHVHVWDWXVLQGLFDWRUVDW SRZHUXSDQGGXULQJRSHUDWLRQWRFKHFNWKHVWDWHRIWKHGHYLFHDQGVWDWXVRI WKH'HYLFH1HWQHWZRUN Ultra Series Allen Bradley Figure E.4 . PGM) 1 5 6 4 Publication 1398-5.December 1999 .1 Module Status and Network Status LEDs Module Status Network Status Node Address (00-63. Reduce traffic or errors on the network so that messages can get through within the necessary time frame. Ensure that all nodes have unique addresses. Flashing-green • On-line • Passed Duplicate MAC ID check • Not connected • No connection established No action is needed. examine network for correct media installation. Check ULTRA 100 for power-up error using ULTRA Master. Ensure that all nodes have the same Data Rate. Steady-red Network Failure • Failed Duplicate MAC ID check • Bus-off 1. If all node addresses are unique. Steady-green • On-line • Connected One or more connections established No action needed. Network Status LED Viewed: Network Status LED Publication 1398-5. Any connection (I/O or explicit message) made to the ULTRA 100 over DeviceNet will cause the LED to stop flashing and remain Steady-ON for the duration of any open connection. Flashing-red/ green Self testing Self-test in progress The device is in self test.no action needed for input Flashing-red Recoverable fault Not operational Power cycle or reset the Ultra 100 with DeviceNet Steady-red Unrecoverable fault ULTRA 100 problem 1.December 1999 . wait. Check the Module Status LED to verify that ULTRA 100 is powered. Check that one or more nodes are communicating on the network. Check that at least one other node on the network is operational and the data rate is the same as the ULTRA 100.no action needed Flashing-green Device is in stand-by Processing or waiting Normal operation . Flashing-red • On-line • Time-out I/O connection timed out 1. 2. The LED is flashing to signify that there are no open communication connections between the ULTRA 100 and any other device. Re-initiate I/O messaging by the master controller. Replace ULTRA 100. 2.E-2 Problem Solving Module Status LED Viewed: Module Status LED If LED: State: Indicates: Action: Off Not powered No power There is no power going to the device Steady-green Operational Normal operation Normal operation . 3. 2. 3. 2. If LED: State: Indicates: Action: Off • Not powered • Not on-line • No power going to the device • Failed Duplicate MAC ID check 1.4 . Problem Solving E-3 Node Problems 3DUWLFXODUDWWHQWLRQVKRXOGEHJLYHQWRWKHWDVNRIVHWWLQJLQLWLDODGGUHVVHVDQG GDWDUDWHV$VXUYH\RIWKHQHWZRUNVKRXOGEHPDGHWRHQVXUHDOODVVLJQPHQWV DUHNQRZQ6RPHQRGHVFDQEHORJLFDOO\DVVLJQHGWRDJURXSRIGHYLFHVEXW SK\VLFDOO\ORFDWHGDZD\IURPWKRVHGHYLFHV2QHLQFRUUHFWQRGHFDQFDXVH RWKHUQRGHVWRDSSHDUWREH%XVRII 6WHDG\UHG/('. .IDQRGHJRHV%XVRII DQGWKHGHYLFHLVUHVHWRQO\WRJR%XVRIIDJDLQWKHSUREOHPLVOLNHO\QRWZLWK WKHGHYLFHEXWUDWKHUWKHVHWWLQJRIWKHDGGUHVVGDWDUDWHRUDQHWZRUNZLGH SUREOHPUHODWHGWRWRSRORJ\JURXQGLQJLQWHUPLWWHQWSRZHUGDWDFRQQHFWLRQV RUHOHFWULFDOQRLVH.IDVFDQQHUJRHV%XVRIIQRGHVZLOOQRWUHDOORFDWH )ODVKLQJJUHHQRUUHG. IV\PSWRPSHUVLVWVUHSODFHQRGHDGGUHVV ZLWKDQRWKHUDGGUHVVDQG FRUUHFWGDWDUDWH.IWKH1HWZRUN6WDWXV /('JRHV6WHDG\UHGDWSRZHUXSLWFRXOGPHDQWKHUHLVD'XSOLFDWH0$&.LED Status Check $6WHDG\UHG0RGXOH6WDWXV/('FDQPHDQDQHUURU.' 7KHXVHUUHVSRQVHVKRXOGEHWRWHVWDOOGHYLFHVIRUXQLTXHDGGUHVVHV.HYHQLIWKH\DUHIXQFWLRQLQJFRUUHFWO\ Device Failure .'WHVWVKRZVDOOGHYLFHV WRKDYHDXQLTXHQRGHDGGUHVVHVLWPHDQVD%XVRIIHUURU &KHFNGDWDUDWHVHWWLQJV .ID 6WHDG\UHG/('UHPDLQVRQDIWHUWKH'XSOLFDWH0$&. IXVLQJDVFDQQHUFKHFNWKHVFDQOLVWGDWDUDWHDQGDGGUHVVHVRIGHYLFHV9HULI\ VHULHVDQGUHYLVLRQRIWKHVFDQQHULVWKHODWHVW.IV\PSWRPSHUVLVWVFKHFNSRZHUIRUQRLVHZLWKRVFLOORVFRSHRUSRZHU GLVWXUEDQFHDQDO\]HU Scanner Problems .4 .IV\PSWRPSHUVLVWVUHSODFHWHHWDS . .December 1999 .IWKHVFDQQHULV%XVRIIUHF\FOH Publication 1398-5.IV\PSWRPSHUVLVWVFKHFNWRSRORJ\ . E-4 Problem Solving WKH9VXSSO\DQGWKHQUHVHWWKHVFDQQHU.IDVLQJOHSRZHUVXSSO\LVXVHGDGGXSWKHFXUUHQWUHTXLUHPHQWVRIDOOGHYLFHV GUDZLQJSRZHUIURPWKHQHWZRUN7KLVWRWDOVKRXOGEHFRQVLGHUHGWKH PLQLPXPFXUUHQWUDWLQJLQVHOHFWLQJWKHSRZHUVXSSO\XVHG.QDGGLWLRQFKHFN • • • • Publication 1398-5.4 .December 1999 OHQJWKDQGFXUUHQWOHYHOLQWUXQNDQGGURSFDEOHV VL]HDQGOHQJWKRIWKHFDEOHVXSSO\LQJSRZHUWRWKHWUXQN YROWDJHPHDVXUHGDWWKHPLGGOHDQGHQGVRIWKHQHWZRUNDQG QRLVHLQQHWZRUNSRZHUPHDVXUHGZLWKDQRVFLOORVFRSH .IWKHVFDQQHUJRHV%XVRIIDJDLQ WKHSUREOHPLVVRPHFRPELQDWLRQRI • • • • • • • • GHIHFWLYHQRGHGHYLFH LQFRUUHFWQRGHGDWDUDWH EDGQHWZRUNWRSRORJ\ IDXOW\ZLULQJ IDXOW\VFDQQHU IDXOW\SRZHUVXSSO\ EDGJURXQGLQJDQGRU HOHFWULFDOQRLVH Wiring Problems 9DULRXVVLWXDWLRQVLQDQGDURXQGFDEOHVFDQFDXVHSUREOHPVRQWKH'HYLFH1HW QHWZRUN7KLQJVWRFKHFNDUH • FDEOHVIRUH[FHVVLYHWZLVWLQJWHQVLRQRUEUHDNVDORQJWKHLUVSDQDQGDW FRQQHFWRUV • FDEOHSUR[LPLW\WRH[WUHPHWHPSHUDWXUH • FDEOHSUR[LPLW\WRPRWRUVUHOD\VFRQWDFWRUVVROHQRLGVRUSRZHUZLULQJ • FRQQHFWLRQVDWMXQFWLRQER[HVIRUOHDGGUHVVDQG • FRQQHFWRUVIRUFRQWDPLQDWLRQE\IRUHLJQPDWHULDO Power Supply Problems . 4 .Problem Solving E-5 Cable Installation and Design Problems &DEOHLQVWDOODWLRQDQGGHVLJQKDVWRGRZLWKWKHSK\VLFDOOD\RXWDQG FRQQHFWLRQVRQWKHQHWZRUN:DONWKHQHWZRUNLISRVVLEOHWRGHWHUPLQHWKH DFWXDOOD\RXWDQGFRQQHFWLRQV1HWZRUNPDQDJHPHQWVRIWZDUHGLVSOD\VRQO\D ORJLFDOUHFRUGRIWKHQHWZRUN(QVXUHWKDW\RXKDYHDGLDJUDPRIWKHSK\VLFDO OD\RXWDQGDUHFRUGRIWKHIROORZLQJLQIRUPDWLRQRQWKHOD\RXW Cable Checks Power Checks Number of nodes Terminator locations and size Individual drop lengths Break the earth ground of the V. V.0 Mohm to frame ground with power supply off Branched drop length Use a multi-meter to check for short circuit between CAN_H and CAN_L.December 1999 .or V+ Cumulative drop length Total power load and at its distribution points Total trunk length Spot check power for noise Power supply cable length and gauge Adjusting the Physical Network Configuration 6RPHZD\VWRKHOSLPSURYHWKHHIILFLHQF\RI\RXSK\VLFDOQHWZRUN FRQILJXUDWLRQDUH • • • • • • VKRUWHQWKHRYHUDOOOHQJWKRIWKHFDEOHV\VWHP PRYHWKHSRZHUVXSSO\LQWKHGLUHFWLRQRIDQRYHUORDGHGFDEOHVHFWLRQ PRYHGHYLFHVIURPDQRYHUORDGHGFDEOHVHFWLRQWRDOHVVORDGHGVHFWLRQ PRYHKLJKHUFXUUHQWORDGVFORVHUWRWKHSRZHUVXSSO\ DGGDQRWKHUSRZHUVXSSO\WRDQRYHUORDGHGQHWZRUNDQG PRYHWKHSRZHUVXSSO\IURPWKHHQGWRWKHPLGGOHRIWKHQHWZRUN Publication 1398-5.and Shield and verify >1. or CAN (H or L) to Shield. E-6 Problem Solving Publication 1398-5.December 1999 .4 . Appendix F Specifications 7KH8/75$'ULYHZLWK'HYLFH1HWKDVDSULQWHGFLUFXLWDVVHPEO\LQVLGH WKDWXVHVDVWDQGDUG'HYLFH1HWSLQGHYLFHFRQQHFWRUWRDFFHSWDQRSHQ FRQQHFWRURIID'HYLFH1HWFDEOHIURPD'HYLFH1HWQHWZRUN DeviceNet Features 7KH8/75$'ULYHZLWK'HYLFH1HWKDVLWVRZQPLFURSURFHVVRU.4 .WDOVR KDVDZDWFKGRJWLPHUWKDWLVHQDEOHGZKHQSRZHULVWXUQHGRQ7KH PLFURSURFHVVRUPXVWEHDEOHWRUHVHWWKHWLPHUZLWKLQDVSHFLILHGSHULRGRULW ZLOOVKXWGRZQWKH8/75$'ULYHZLWK'HYLFH1HWDQGWKHELFRORU 0RGXOH6WDWXV/('ZLOOGLVSOD\VWHDG\UHG'LDJQRVWLFVZLOOEHUXQDWVWDUWXS RQWKH&38(3520DQG5$0. Polled I/O.1 lbs) 2.December 1999 . Change of State. and Cyclic Messaging Status Indication Module Status: Bi-color (red/green) LED Network Status : Bi-color (red/green) LED Network Address 00-63 (63 default) Physical Data for an ULTRA 100 Drive with DeviceNet DDM-005(X) DN DDM-009(X) DN DDM-019(X) DN Weight 1.19 kg (4.IWKHUHLVDIDXOWGXULQJGLDJQRVWLFVWKH 0RGXOH6WDWXV/('ZLOOGLVSOD\DVWHDG\UHG:KHQDOOUHTXLUHPHQWVDUHPHW WKH0RGXOH6WDWXV/('ZLOOGLVSOD\DVWHDG\JUHHQ DeviceNet data for an ULTRA 100 Drive with DeviceNet Power Consumption DeviceNet current draw 60mA Data Rates (baud) 125k per second 250k per second 500k per second Messaging capabilities Explicit.84 kg (4.14 kg (4.8 lbs) 2.7 lbs) Environmental Conditions Operating Temperature: 0° to 55° C (32° to 131° F) Storage Temperature: -40° to 70° C (-40° to 158° F) Relative Humidity: 1 5% to 95% non-condensing 50% max @ 40° C (104° F) Publication 1398-5. 4 .December 1999 .F-2 Specifications Figure F.1 ULTRA 100 Drive with DeviceNet DDM-005-DN (front) Publication 1398-5. 4 .Specifications F-3 Figure F.December 1999 .2 ULTRA 100 Drive with DeviceNet DDM-005-DN (side and bottom) Publication 1398-5. December 1999 .F-4 Specifications Figure F.3 ULTRA 100 Drive with DeviceNet DDM-009(X)-DN and DDM-019(X)-DN (front) Publication 1398-5.4 . 4 .Specifications F-5 Figure F.4 ULTRA 100 Drive with DeviceNet DDM-009(X)-DN and DDM-019(X)-DN (side and bottom) Publication 1398-5.December 1999 . F-6 Specifications Publication 1398-5.4 .December 1999 . E-4.4 .December 1999 .5.2 A-1 Wiring connectors 3-2 Diagnostic tools E-1 Digital I/O Parameter Group D-69 DINT Data type D-5 Discrete I/O A-1 Discrete input and output A-2 Drop length design problems E-5 DWORD Data type D-5 Contamination E-4 Cumulative drop length E-5 Cyclic Messaging 2-2 Cyclic Messaging A-2 D Data type BOOL D-5 1 E Efficiency Network E-5 Electrical noise E-3. E-5 Electrical shock hazards 1-2 ENABLE Input 1-8 Environmental Conditions F-1 Publication 1398-5.Index A Acknowledge Handler Object D-76 Analog I/O Parameter Group D-69 Attribute Definition D-1 BYTE D-5 DINT D-5 DWORD D-5 INT D-5 SHORT_STRING D-5 SINT D-5 UDINT D-5 UINT D-5 USINT D-5 WORD D-5 B Bi-colored LEDs E-1 BOOL DC Bus Data type D-5 Device Bus-off LED Red E-3 BYTE Data type D-5 C Cabinet Mechanical hazard protection 1-6 Cable Installation E-5 System planning 3-1 Change of State Messaging 2-2 Change of State Messaging A-2 Client/Server Transaction Tables A-5 Command code A-8 Command messages B-2 Commands Parameter Group D-72 Communication Rate Baud rates F-1 Configuration data A-2 Connection Object D-23 Connector Floating requirement 1-5 Active Table A-5 Current draw 3-1 Failure Table A-5 I/O data A-2 In standby E-2 Input Data Table A-5 Output Data Table A-5 DeviceNet Interface (drawing) 2-1 Object D-8 Objects organize data D-1 Parameter Group D-67 Parameter Object D-24 Port A-8 Scanner Module (Pub 1747-5.8) A-1 Scanner Pub 1747-6. 1-7 Homing Parameter Group D-72 Homing routine C-2 I I/O Discrete A-2 Format Type B-2 Idenity object D-5 IDLE B-8. 1-2 Messaging 2-2 Explicit Message INT Program Control A-7 Explicit Messaging A-6 Extreme temperature E-4 Data type D-5 Intermittent power E-3 L F Faulty Scanner E-4 Fire hazards 1-2 Floating DC bus 1-5 G Grounding Problems E-3. E-3 Node Address F-1 . B-23 Index 0 Parameter Group D-73 1 Parameter Group D-73 2 Parameter Group D-73 3 Parameter Group D-74 4 Parameter Group D-74 5 Parameter Group D-74 6 Parameter Group D-75 7 Parameter Group D-75 Indexing Parameter Group D-73 Indicators Status E-1 Industrial environment 1-2 2Publication 1398-5.December 1999 Math register B-15 Mechanical hazards 1-2. 1-6 Stored energy 1-2. E-3 Manuals Using E-1 Master Protocols 2-2 Electrical 1-2 Fire 1-2 Mechanical 1-2.Index-2 Explicit Installation Safety 1-1. E-4 H Hazards LED Bi-colored E-1 Status check E-3 Logically assigned addresses E-3 M M0/M1 Transfer File A-7 M1/M0 file A-1 MAC ID A-8. 1-6 Message buffer A-7 Messages Command and Response B-2 Messaging Capabilities F-1 Change of State A-2 Cylic A-2 Polled I/O A-2 Protocols 2-2 Router Object D-8 Strobe A-2 Minor fault E-2 Module Status LED E-1 Motor Data Parameter Group D-68 Multicast data transfer A-2 N Network Baud rate 3-1 Cable system 3-1 Efficiency E-5 Network Status LED E-1.4 . C-18 No power E-2 Node Numbers E-5 Non-volatile memory A-5 O Open-style DeviceNet connector 3-2 Operating Mode Supply E-5 Supply problems E-4 Power-up Status E-1 Problems Node E-3 Q Qualified user Definition 1-1 Parameter Group D-70 P Parameter Index 6 D-75 Parameter Group Analog I/O D-69 Commands D-72 DeviceNet D-67 Digital I/O D-69 Homing D-72 Index 0 D-73 Index 1 D-73 Index 2 D-73 Index 3 D-74 Index 4 D-74 Index 5 D-74 Index 7 D-75 Indexing D-73 Motor Data D-68 Object D-66 Operating Mode D-70 Position Loop D-67 RAM Index D-75 Runtime Data D-71 Torque Current D-68 Velocity Loop D-68 Parameter Object D-24 PCMCIA interface cards 4-1 Physically assigned addresses E-3 Polled I/O Messaging 2-2 Polled I/O Messaging A-2 Port DeviceNet A-8 Position Loop Parameter Group D-67 Power DeviceNet current draw F-1 3 R RAM Index Parameter Group D-75 Recycle Power Scanner E-3 Response messages B-2 Rotary DIP switches 4-1 RS-232 Device module 4-1 RSLinx B-1.December 1999 . C-1 RUN B-8. C-1 RSNetWorx A-5. C-6. B-23 Runtime Data Parameter Group D-71 S Safety Guidelines 1-8 Hazards 1-2 Shutdown 1-8 Scaling value B-15. A-6.Index-3 Power problems E-4 Network traffic C-3. C-10. C-1 RSLogix 500 B-1. C-11 Scan List Table A-5 Scanner Problems E-3 Scanner Module A-1 Scanner Module Configuration Table A-5 Scanner Problems E-3 Self testing E-2 Service Definition D-1 Setting Addresses E-3 Baud rate E-3 Shield termination 1-4 SHORT_STRING Publication 1398-5. B-1.4 . C-14. 4 . F-1 Status code A-8 Stored energy hazards 1-2.December 1999 Wiring DeviceNet Connectors 3-2 Problems E-4 WORD Data type D-5 . 1-7 Strobe Messaging A-2 System Cable planning 3-1 T Tee tap Problems E-3 Temperature Affecting cables E-4 Termination Problems E-5 Terminology Attribute D-1 Service D-1 Torque Current Parameter Group D-68 Transaction body and header A-7 Transaction Tables A-5 Transfer File A-7 Trunk Length requirements E-5 Wiring problems E-4 TXID A-8 U UDINT Data type D-5 UINT Data type D-5 Unrecoverable fault E-2 USINT Data type D-5 V Velocity Loop Parameter Group D-68 Voltage Drop 3-1 4Publication 1398-5.Index-4 Data type D-5 Voltage potential 1-3 SINT Data type D-5 W Slave Protocols 2-2 Status A-2 Indicators E-1. December 1999 Supersedes Publication 1398-5. Inc.4 — May 1999 Part Number 0013-1067-003 Rev B © 1999 Allen-Bradley Company.com/motion Publication 1398-5.4 .For more information refer to our web site: www. Printed in the USA .ab.
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